A concrete multi-point synchronous vibration compaction path planning method and system

Abstract

The present application relates to the technical field of path planning, in particular to a concrete multi-point synchronous vibration path planning method and system, comprising: constructing a global grid map for the area to be vibrated; determining the sub-area unit of the current area to be vibrated and the corresponding reciprocating path based on the corresponding operation state of the global grid map and the number of grid required by the vibration work; performing path decomposition on the reciprocating path to generate a preliminary planning path containing vibration points; taking the position of the current vibrating robot as the center to construct a local perception area, and delimiting the spatial boundary of the preliminary planning path according to the path deviation of the local perception area; based on the spatial boundary of the preliminary planning path, synchronously calibrating the single-layered operation range, and when the path vector direction and path point sequence of each layer are consistent, aggregating the multi-layered path into the output vibration path. The accuracy of path planning and the pouring efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of path planning technology, specifically a method and system for planning the path of multi-point synchronous vibration of concrete. Background Technology

[0002] Concrete vibration is a crucial process that determines the density, strength, and durability of concrete structures, directly impacting the structural safety and service life of building projects. Large-area concrete slab projects, such as industrial plants, airport runways, bridge decks, high-rise building slabs, and large stadium foundations, are generally characterized by large pouring areas and high requirements for continuous construction. Currently, concrete vibration is performed manually, which involves a large number of workers, high labor intensity, long durations, and generally presents problems such as high safety risks, poor quality control, and significant difficulties in on-site management.

[0003] For example, Chinese Patent Publication No. CN115032978A discloses a vision-based path planning method for a concrete vibration robot, including: acquiring an image of the vibration area, obtaining the location of the vibration point in the vibration area based on the image; the initial location of the vibration robot and the location of the vibration point are both the starting point and the target point, and the path of the vibration robot is planned by alternating growth in opposite directions using a random tree growth method; the random tree growth direction includes: A, the direction from the nearest node around a random node in the random tree to the endpoint, and B, the direction from the nearest node around a random node in the random tree to the random node; during one growth process of the random tree, when there is an obstacle between the latest node generated along the growth direction A and the nearest node, the random tree grows according to the growth direction B; the endpoint pointed to by the nearest node of the random tree is the latest node generated by another random tree.

[0004] In existing technologies, the path of the vibratory compaction robot is planned by the region growth method of random trees. This method is a path iterative growth under static scene, with path cost as the overall growth guide. In essence, the path is laid out by global path coverage, ignoring the specific form of the distribution of obstacle points in local locations, as well as the overlap and sparsity of each point under random growth, which reduces the construction quality and scene adaptability of layered vibration compaction. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for planning the path of multi-point synchronous vibration of concrete, comprising: S1, constructing a spatial boundary and a time boundary for the area to be vibrated for area planning, forming a global grid map corresponding to the area to be vibrated; the spatial boundary responds to the layered placement sequence of concrete to determine the working surface range of the area to be vibrated in a single layer; the time boundary responds to the completion time of the single layer placement to define the vibration working period.

[0006] S2, based on the operation status corresponding to the global grid map and the number of grids required for vibration work, determines the sub-regional units of the current area to be vibrated and the reciprocating path corresponding to the sub-regional units.

[0007] S3. Based on the sub-regional unit, perform path decomposition on the reciprocating path to generate a preliminary planned path containing the spatial distribution of vibration points.

[0008] S4. Using the current position of the vibrating robot as the center, record the working radius when walking, construct a local perception area with the working direction as the central axis, and delineate the spatial boundary of the adjacent preliminary planned path based on the path deviation of the local perception area.

[0009] S5, based on the spatial boundary of the adjacent preliminary planning path, synchronously calibrates the working range of a single layer. When the path vector direction and path point sequence of each layer are consistent, the paths of multiple layers are aggregated into the output vibration path.

[0010] A concrete multi-point synchronous vibration path planning system includes: a region construction module, used to construct spatial and temporal boundaries for the region to be vibrated, forming a global grid map corresponding to the region to be vibrated; the spatial boundary responds to the layered placement sequence of concrete, determining the working surface range of the region to be vibrated in a single layer; the temporal boundary responds to the completion time of the single layer placement, defining the vibration working period.

[0011] The path coverage module is used to determine the sub-regional units and the reciprocating paths corresponding to the sub-regional units of the current area to be vibrated, based on the operation status corresponding to the global grid map and the number of grids required for the vibration work.

[0012] The path planning module is used to perform path decomposition on the reciprocating path based on the sub-regional unit, and generate a preliminary planned path containing the spatial distribution of vibration points.

[0013] The local adjustment module is used to record the working radius when the vibrating robot is moving, with the current position of the vibrating robot as the center, construct a local sensing area with the working direction as the central axis, and delineate the spatial boundary of the adjacent preliminary planned path based on the path deviation of the local sensing area.

[0014] The aggregation output module is used to synchronously calibrate the work area of ​​a single layer based on the spatial boundary of the adjacent preliminary planning path. When the path vector direction and path point sequence of each layer are consistent, the paths of multiple layers are aggregated into the output vibration path.

[0015] The beneficial effects of this invention are as follows: First, this invention defines a single-layer operation range and synchronizes scene constraints under multi-point joint operation by constructing a global grid map through spatial-temporal dual boundary constraints. Simultaneously, based on the operation status of the global grid map and the number of grids required for vibration work, it divides the area to be vibrated into sub-region units and generates corresponding reciprocating paths for each sub-region. This avoids the problems of path dead zones and boundary missed vibration caused by irregular shapes of factor regions, ensuring that different sub-region units are in a working scenario with equal load, laying the data foundation for multi-machine collaborative work, and improving the processing efficiency of each sub-region.

[0016] Second, this invention generates a preliminary planned path containing the spatial distribution of vibration points by performing path decomposition on the reciprocating path based on sub-regional units. The macroscopic reciprocating path is broken down into microscopic vibration point distributions, providing a data foundation for subsequent local path adjustments. Then, a local perception area is constructed centered on the real-time position of the vibration robot, with the working direction as the central axis, and the spatial boundaries of the adjacent preliminary planned path are delineated based on path deviations. This emphasizes the real-time allocation status under the working scenario, improving the adaptability and execution efficiency of real-time path configuration.

[0017] Third, this invention synchronously calibrates the single-layer operation range based on the spatial boundary of the adjacent preliminary planned path. When the vector direction and path point sequence of each layer path are consistent, the multi-layer paths are aggregated into the final output vibration path. This synchronous calibration verifies the allocation of vibration points for each layer within the single-layer operation range, ensuring that the layered construction conforms to the common consistency of path direction and operation sequence, thus improving the construction quality of layered vibration. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a flowchart illustrating a method for planning the path of multi-point synchronous vibration of concrete.

[0020] Figure 2 This is a flowchart illustrating step S2 of a method for planning the path of multi-point synchronous vibration of concrete.

[0021] Figure 3 This is a flowchart illustrating step S3 of a method for planning the path of multi-point synchronous vibration of concrete.

[0022] Figure 4 This is a flowchart illustrating step S4 of a method for planning the path of multi-point synchronous vibration of concrete.

[0023] Figure 5 This is a flowchart illustrating step S5 of a method for planning the path of multi-point synchronous vibration of concrete.

[0024] Figure 6 This is a system framework diagram of a multi-point synchronous vibration path planning system for concrete. Detailed Implementation

[0025] The embodiments of the present invention are described in detail below. The embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Where specific techniques or conditions are not specified in the embodiments, they shall be performed in accordance with the techniques or conditions described in the literature in the art or in accordance with the product manual.

[0026] See Figure 1 A method for planning the path of multi-point synchronous vibration of concrete includes: S1, constructing a spatial boundary and a time boundary for the area to be vibrated for area planning, forming a global grid map corresponding to the area to be vibrated; the spatial boundary responds to the layered placement sequence of concrete to determine the working surface range of the area to be vibrated in a single layer; the time boundary responds to the completion time of the single layer placement to define the vibration working period.

[0027] S2, based on the operation status corresponding to the global grid map and the number of grids required for vibration work, determines the sub-regional units of the current area to be vibrated and the reciprocating path corresponding to the sub-regional units.

[0028] S3. Based on the sub-regional unit, perform path decomposition on the reciprocating path to generate a preliminary planned path containing the spatial distribution of vibration points.

[0029] S4. Using the current position of the vibrating robot as the center, record the working radius when walking, construct a local perception area with the working direction as the central axis, and delineate the spatial boundary of the adjacent preliminary planned path based on the path deviation of the local perception area.

[0030] S5, based on the spatial boundary of the adjacent preliminary planning path, synchronously calibrates the working range of a single layer. When the path vector direction and path point sequence of each layer are consistent, the paths of multiple layers are aggregated into the output vibration path.

[0031] The aforementioned layered concrete placement sequence refers to the placement order of concrete under different concrete types, mix designs, and slump spreads. The vibration path here needs to be based on the layered concrete pouring, with each layer vibrating sequentially. Each layer represents a different area, such as a work area at a specific slope or height, and vibration points are configured to operate synchronously at fixed intervals. In the current implementation scenario, using slab structures as the main vibration component, the optimal vibration parameters are selected: a vibration spacing of 40cm, a vibration time of 40s, a slump of 190-200mm, a 50-frequency vibrator, and a 1200mm working radius. These parameters enable the optimal placement of the vibration path for the vibration robot. When the vibration robot is working, it moves to the designated vibration points, extending the vibrator downwards, and then rotates the vehicle to vibrate around its circumference.

[0032] Furthermore, when setting the concrete vibration path, the area is first divided into multiple units by using a full-coverage path. Each unit is covered by a bow-shaped, square-shaped, or spiral reciprocating path, and the next position of the reciprocating path is recorded in real time. At the same time, the continuous reciprocating paths are filled with space, and local path adjustments are performed based on their dynamic obstacle avoidance and path deviation as the main identification criteria, thereby completing the path planning.

[0033] Step S1 uses LiDAR and cameras to scan environmental images in real time, dividing the vibratory working environment into uniform grid units; and fills the grid map with configured sensors.

[0034] One implementation of step S1 includes: S11, collecting the layered material placement sequence and single-layer material working status of the area to be vibrated, and determining the basic data of the area to be vibrated.

[0035] S12, responding to the working radius of the vibratory robot, uses its working radius as the basis for grid setting, and gradually sets grids along the boundary of the area to be vibrated to construct a global grid map; wherein, each set grid is less than or equal to half of the working radius, and the grids are evenly distributed according to the current size of the area to be vibrated to form a global grid map of the grid network; if the vibration spacing in the current scene is less than half of the working radius, the vibration spacing is selected as the size of each grid setting; or when the vibration point is located at the grid boundary, the size of each grid in the overall grid network is adjusted to make it uniformly smaller, and the configured vibration point is always located at the center of a single grid.

[0036] Specifically, its working status includes: the spatial range of the area to be vibrated, the location of the area to be vibrated after the material has been laid, the location of the area after the vibration has been completed, the location of obstacles and other unlaid areas corresponding to the embedded steel bars; it converts the identified spatial location into a grid network, and generates a real-time construction map layer by layer through the layered material laying sequence.

[0037] In one embodiment of the present invention, step S2 is used to perform statistics on the global grid map, divide the workable area into several polygonal sub-regions of similar size, and configure a full-coverage reciprocating route for each sub-region.

[0038] like Figure 2 As shown, the implementation method of the sub-region unit in step S2 includes: S21, based on the operation status corresponding to the global grid map, using the operation status at each grid as the dividing guide, identifying the grid to be vibrated and the obstacle grid in the current area to be vibrated.

[0039] S22, calculate the maximum number of grids in a single vibration process based on the time length corresponding to the vibration working period.

[0040] S23, using the maximum number of grid cells as the maximum limit for dividing a single sub-region, performs region growth processing on the grid cells to be vibrated and the obstacle grid cells, and then adjusts the shape of the region after the region growth processing to obtain a sub-region unit that presents a convex polygon.

[0041] Among them, the vibration working period represents the operation time of the vibration work, which indicates the time urgency of completing the vibration work; after knowing the vibration time of each time and the overall time, the number of grids that a single vibration robot can vibrate in a specific time period can be estimated, and the number of grids is used as the maximum limit for dividing a single sub-region. Multiple sub-regions are set according to the position of the identified obstacle grids.

[0042] Specifically, by examining historical vibration records, we can view the average time for the vibration robot to turn, the average time for movement, and the vibration time. Then, after determining the number of grids moved during each vibration movement in the historical data, we can calculate the number of vibration points corresponding to each movement. Simultaneously, by fixing the vibration robot's turning scenario in a bow-shaped path, we can divide the current area width by the number of grids moved to determine the number of rows formed by the vibration points at this time. Subtracting one from this row number gives us the number of turns. Finally, by using the time length corresponding to the vibration work period, we can solve for the maximum number of grids allowed under normal construction conditions.

[0043] It should be noted that the total working time of a single vibratory robot is expressed as the product of the number of vibratory points and the vibratory time, the product of the number of vibratory points minus one and the movement time, and the product of the number of turns and the turning time. These three represent the total time cost under normal circumstances. After knowing the time limit corresponding to the vibratory working period, the number of grids corresponding to the number of vibratory points can be calculated by reverse calculation of the total time, and then the maximum allowable limit of the current sub-region can be obtained.

[0044] Furthermore, the region growth process includes the following implementation: marking the grid to be vibrated as growable, marking the obstacle grid and the grid that has been vibrated as non-growable, and aggregating adjacent grids to be vibrated to form multiple continuous vibrating blocks.

[0045] For each vibratory block, extend it along the direction of layered fabric, and select initial seed points at intervals based on the maximum number of grids. Each seed point corresponds to the core position of a sub-region. Seed points must fall on a growable grid and be at least 2 grids away from obstacle grids to avoid the sub-region being too close to obstacles, which would cause irregular region generation.

[0046] Centered on each seed point, the grid expands outwards in an eight-neighborhood manner. The expansion rules are: only expand the growable grid, avoid the non-growable grid, and pause growth when the number of grids in each sub-region reaches 80%-90% of the maximum number of grids. If obstacles are encountered during growth, they are automatically bypassed to prevent obstacles from crossing the sub-region.

[0047] After all seed points have been grown, if there are any remaining corresponding grid cells, they are assigned to adjacent sub-regions that have not reached the maximum number of grid cells, and finally the sub-regions are divided.

[0048] Specifically, the eight neighboring regions mentioned above represent the eight directions of east, south, west, north, northeast, northwest, southeast, and southwest, and are used to characterize the relative spatial position of the path extension.

[0049] Furthermore, the shape of each sub-region needs to be adjusted to transform it into a convex polygon to avoid increased movement costs for the vibratory robot due to concave corners or dead zones in the path.

[0050] When adjusting to a convex polygon, if the current sub-region cell has a concave corner, the grid corresponding to the concave corner is adjusted to the adjacent sub-region to ensure that the adjusted sub-region still meets the maximum grid number limit, and to make the vertices of the convex polygon fall on the grid boundary as much as possible, so that the grid boundary can reflect the distribution form of the convex polygon.

[0051] Preferably, the reciprocating path implementation in step S2 includes: for each sub-region unit, starting from the deployment position of the vibrating robot and taking the layered material laying sequence as the initial direction, path planning is assisted based on the boundary direction of the sub-region unit.

[0052] Along the initial direction, the single-row grid is expanded according to the single-step movement distance of the vibrating robot until the boundary of the sub-region cell is reached.

[0053] Upon reaching the boundary of the sub-region cell, the path turns and repeats along the boundary direction perpendicular to the initial direction, and then repeats the single-row grid expansion in the opposite direction to the initial direction until all grids within the sub-region cell are covered by the path, thus completing the initial setup of the reciprocating path.

[0054] Specifically, when setting up the reciprocating path, with the goal of full coverage, each sub-region unit is traversed in a loop. Based on the shape of the sub-region and the distribution of obstacles, the boundary areas and obstacle surrounding areas that need to be optimized and adjusted in the initial planned path are determined.

[0055] In one embodiment of the present invention, step S3 decomposes the reciprocating path based on the distribution of obstacles identified in the global grid map, checks the spatial range corresponding to the reciprocating path, determines whether the reciprocating path can fit the current sub-region unit, and expands the path for the non-fitted position to solve the problem of missing vibration at the edge and corner of the convex polygon sub-unit boundary and around the obstacle, and prevents the existence of some missing and unvibrated areas during path planning.

[0056] like Figure 3 As shown, one implementation of step S3 is as follows: S31, based on the rectangular bounding box of the reciprocating path in a single row, the reciprocating path is decomposed into multiple vibration points, and spatial proximity search is performed for each vibration point to determine the obstacle and the candidate target corresponding to the adjacent vibration point.

[0057] S32. Based on the spatial proximity retrieval results, fit the longitudinal distribution of adjacent vibration points within the same bounding box and the lateral distribution within adjacent bounding boxes to determine the target to be optimized.

[0058] S33 connects all the optimized vibration points to form the initial planned path for output.

[0059] Specifically, the aforementioned rectangular bounding box is defined as the rectangular bounding box of the reciprocating path in a single row decomposition. Its length is the distance from the start point to the end point of the row path, and the width of the bounding box is the area of ​​one grid cell on each side centered on the row path. The boundary of the rectangular bounding box does not exceed the working surface of the single layer.

[0060] Furthermore, when continuously decomposing the vibration points, the vibration spacing between adjacent vibration points is 400mm, so that they are decomposed sequentially from the starting point of the reciprocating path and from the center line of the reciprocating path, thus obtaining multiple vibration points.

[0061] Furthermore, the spatial proximity retrieval in step S31 includes: taking each vibration point as the center, performing data retrieval on the grid of the neighborhood, including but not limited to viewing adjacent vibration points within the same bounding box, vibration points within adjacent bounding boxes, and boundary points of obstacles.

[0062] If an obstacle is found, the boundary point corresponding to the obstacle is considered as a candidate target and is used as the output search result; otherwise, based on the relative spatial distance and type of the search, it is grouped into a set of neighboring points.

[0063] For each vibration point in the set of neighboring points, if the distance from the current vibration point to the adjacent vibration point within the same bounding box is not greater than the distance from the current vibration point to the vibration point within the adjacent bounding box, the adjacent vibration point within the same bounding box is used as the candidate target.

[0064] Otherwise, select the vibration points within the adjacent bounding box as candidate targets and treat them as the output search results.

[0065] In the current spatial optimization process, the boundary points of obstacles are first optimized to prevent the movement path from getting too close to the obstacles, and the vibration processing of the vibratory locations near the obstacles is completed as much as possible in the scenario where the obstacles appear. Secondly, for other vibration points, it is necessary to find a set of data with smaller distances in the same bounding box and adjacent bounding boxes according to the distance between the current vibration point, as the main analysis process, to avoid the problems of over-vibration or sparse vibration.

[0066] Furthermore, in step S32, the vibration points of the candidate targets and the boundary points of the obstacles are checked one by one to determine whether the vibration points are within the working coverage area of ​​the current robot.

[0067] The method for determining the implementation of the target to be optimized in step S32 includes: based on the type corresponding to the candidate target, performing continuous space fitting on the candidate targets under the same type.

[0068] Based on the spatial distance corresponding to the rectangular bounding box, the distance values ​​of the candidate targets in the horizontal and vertical distributions are sorted, and the adjacent vibration points to be optimized are determined in turn.

[0069] By utilizing the distribution of adjacent vibration points, continuous spatial fitting analysis is performed sequentially on adjacent vibration points with both horizontal and vertical distributions to determine the adjacent vibration points to be optimized.

[0070] The adjacent vibration points distributed laterally above belong to the vibration points within adjacent enclosures. Their verification values ​​are based on the spacing between adjacent reciprocating paths to avoid excessive spacing between reciprocating paths. The adjacent vibration points distributed longitudinally belong to the adjacent vibration points under the same enclosure. Their direction is dominated by the forward direction of the layered fabric, and their verification values ​​are based on the movement of the vehicle body at a fixed distance.

[0071] Specifically, since the reciprocating path is configured based on sub-regional units after obstacle avoidance, during longitudinal decomposition, if two vibration points are located on the left and right sides of an obstacle respectively, the vibration points on both sides of the obstacle (such as reserved holes, areas with dense reinforcement, and embedded parts) need to be densified, with the spacing reduced to 50%-70% of the normal spacing. Taking a 50 low-frequency vibrator as an example, the vibration spacing here needs to be ≤300mm to ensure that the vibration can cover the bottom area of ​​the obstacle. Then, by checking the longitudinal distribution between the vibration points, the vibration points are aligned and rearranged to form the preliminary planned path.

[0072] For adjacent vibration points distributed laterally, the spacing between vibration points on different paths must be less than or equal to 1.5 times the working radius of the vibrator, and the overlap rate of the coverage area of ​​vibration points on adjacent paths must be ≥20%. Therefore, it can be seen that the adjacent vibration points distributed laterally need to meet the requirement of 1-1.5 times their working radius so that the current area to be vibrated can be covered by the decomposed vibration points.

[0073] Then, the adjacent vibration points distributed laterally and longitudinally satisfy the following conditions in sequence: For adjacent vibration points distributed longitudinally, if there is an obstacle corresponding to the adjacent vibration point, the vibration point with a distance between adjacent vibration points less than the preset vibration distance is regarded as the target to be optimized; here the preset vibration distance is 300mm, in order to quantify the densification operation processing around the obstacle.

[0074] For adjacent vibration points distributed laterally, vibration points whose spacing exceeds the preset working radius range are selected as targets for optimization. Here, the preset working radius range is 1-1.5 times the normal working radius. When the current scheme uses 1200mm as the working radius, its value is further quantified to 1200mm-1800mm.

[0075] Furthermore, the optimization target is processed by redistributing the vibration points marked for optimization to meet the requirements of the horizontal vibration spacing and the vertical working radius. This completes the optimization of the vibration points. After connecting all the vibration points, the preliminary planning path for the location of the vibration points is obtained.

[0076] In one embodiment of the present invention, step S4 is used to perform local spatial perception analysis on the preliminary planned path of the vibration point layout, determine the path deviation of the vibration robot body during real-time operation, and make local adjustments to the overall movement according to the local path deviation to complete the perception optimization of the global path.

[0077] Specifically, the system inputs the preliminary planned path into the control module of the vibratory compaction robot. The robot travels along the layered material placement direction from one side of the area to be compacted, using the compaction points marked on the preliminary planned path. Upon reaching a compaction point, it lowers the vibratory rod to perform compaction at that location. After reaching the preset compaction time, it collects information about the surrounding environment. If the collected information matches the information marked on the preliminary planned path, it moves to the next compaction point and executes the process step by step until one path in the reciprocating path is completed. Then, it turns and travels along the adjacent path, compacting each point one by one. During the journey, it needs to simultaneously receive the left and right distance measurements to determine whether the vehicle's heading and position are consistent with the preliminary plan. If there is any inconsistency, it needs to be adjusted in time to cope with the construction scenario of the panel structure.

[0078] like Figure 4 As shown, one implementation of step S4 includes: S41, projecting the preliminary planned path onto the local sensing area to determine the real-time position of the vibrating robot during each vibration.

[0079] S42 uses the left and right distance measurements corresponding to the real-time position to determine whether the vibratory robot has a path deviation.

[0080] S43, if there is a path deviation on either side, trigger a path correction command based on the path deviation type, update the coordinates of the corrected vibration point to the spatial boundary of the adjacent preliminary planned path; then obtain the working boundary that dynamically conforms to the preliminary planned path with the robot's real-time position as the center.

[0081] Furthermore, the aforementioned local sensing area is used to emphasize the environment around the vibratory robot's body. Based on the distance to the left and right sides, the movement of the vibratory robot is monitored in real time, and the robot's path planning is adjusted in real time according to the monitored distance.

[0082] Specifically, lidar and ultrasonic ranging sensors are symmetrically arranged on the left and right sides of the robot to scan the surrounding environment in real time and determine the actual distance between the robot body and structures such as formwork, reinforcing bars, precast components, and walls. Given the location of each vibration point in the initial planned path, the robot's right and left distances at each vibration point can be calculated based on its size. By comparing the real-time distances with the calculated distances, it ensures that vibration does not exceed the boundaries, calibrates the robot's lateral position in the construction area in real time, ensures the straightness of the path, and reduces path deviation during the overall vibration of the slab structure.

[0083] Specifically, the estimated distance is based on the location of the vibration point in the initial planned path. After knowing the location, the distance between the vibration point and the marked formwork, steel bars, precast components and walls is calculated. The estimated distance is set in combination with the actual size of the vehicle body.

[0084] Furthermore, when determining path deviation, the implementation method includes: taking the difference between the actual measured distance on the left and the estimated distance on the left as the lateral position deviation; continuously collecting the lateral position deviation over multiple time periods; if the lateral position deviation occurs at least three times in a continuous time period and shows a continuous increase or decrease, the current path deviation is marked as heading angle deviation; otherwise, the path deviation is marked as lateral position deviation.

[0085] Simultaneously, based on the range of lateral positional deviation values, path deviation levels are classified, and the path correction instructions to be executed are determined according to the path deviation level.

[0086] Specifically, when classifying path deviation levels, they are marked as no deviation, correctable deviation, and warning deviation, respectively. Among them, correctable deviation and warning deviation are determined by using the working radius mentioned above as the median value. Only when the lateral path deviation is ≤ half of the working radius, i.e., 60mm, is the current lateral position deviation considered as correctable deviation. Otherwise, it is considered as an emergency deviation that triggers emergency correction. Correctable deviation is corrected according to whether it deviates to the right or left. As for the no-deviation scenario, 10mm is used as the dividing value, and the part not greater than this value is considered as no deviation.

[0087] In one embodiment of the present invention, step S5 calibrates the corrected vibration points with the global range to determine that during the vibration operation period, the direction of vibration movement is consistent with the direction of layered material distribution, and the timing sequence of vibration point allocation on the path is continuous. Then, the multi-layered path is taken as the output vibration path.

[0088] Among them, the path vector direction is the direction vector of the real-time movement of the vibratory robot under each layer, and the path point sequence is the time order of the vibratory points.

[0089] Specifically, such as Figure 5 As shown, one implementation of step S5 includes: S51, based on the spatial boundary of the adjacent preliminary planning path, align the spatial coordinates of all layers, and determine the operation sequence of all layers with the completion time of the first layer of the bottom layer as the starting reference.

[0090] S52 uses the path vector direction of the first layer as a reference to verify the path vector direction of the remaining layers, and considers the vector direction to be consistent when all layers are consistent.

[0091] S53, using the path point sequence of the first layer as a benchmark, verify the arrangement order of vibration points in the remaining layers, and determine the layers with consistent path point sequences based on the matching degree of the path point sequence.

[0092] Specifically, when the above vector directions are consistent, the angle difference between the path vector directions of each layer is calculated. Only when the angle deviation in all directions is ≤5% is the path vector direction considered consistent. This ensures that the vibration path of the upper and lower layers is uniform, and that the depth of the upper layer vibration inserted into the lower layer is uniform and controllable, thereby explaining the accuracy of the vibration execution path direction.

[0093] Furthermore, the matching degree of the path point sequence is calculated by the relative time order of the vibration point arrangement. That is, after aligning the construction time sequence of all layers, the total time difference of each vibration point during construction is taken as the matching degree of the path time sequence. Specifically, the current processing is based on DTW dynamic time warping calculation, and the normalized value of the minimum cumulative distance is used to quantify the time sequence similarity. When the time sequence similarity of all layers with its first layer is greater than 90%, it is considered to meet the path time sequence consistency. The statistically completed data is combined into the output vibration path.

[0094] Specifically, in the DTW dynamic time warping calculation, the time point of each vibration point in the corresponding layer construction is introduced. After being forcibly aligned according to the time point of the first vibration start, the temporal similarity of multiple layer constructions is calculated based on the time point corresponding to each subsequent vibration point. Secondly, the difference between time points is calculated using Euclidean distance, and the minimum time difference after accumulation is obtained in the dynamic warping method, which is the minimum cumulative distance of dynamic time warping.

[0095] Meanwhile, to avoid local over-vibration caused by vertical overlap of vibration points in upper and lower layers, the vibration points in upper and lower layers are allowed to be staggered by 0.5 working radius in the horizontal direction. At this time, the path timing will be checked according to the time points corresponding to the vibration points after the staggered distribution, and the time sequence of each vibration point will be integrated to check the consistency of the overall vibration operation.

[0096] like Figure 6 As shown, the present invention also provides a concrete multi-point synchronous vibration path planning system, including: a region construction module, a path coverage module, a path planning module, a local adjustment module, and an aggregate output module; wherein, the output end of the region construction module is connected to the path coverage module, the output end of the path coverage module is connected to the path planning module, the output end of the path planning module is connected to the local adjustment module, and the output end of the local adjustment module is connected to the aggregate output module.

[0097] The region construction module is used to construct the spatial and temporal boundaries of the area to be vibrated for region planning, forming a global grid map corresponding to the area to be vibrated; the spatial boundary responds to the layered placement sequence of concrete, determining the working surface range of the area to be vibrated in a single layer; the temporal boundary responds to the completion time of the single layer placement, defining the vibration working period.

[0098] The path coverage module is used to determine the sub-regional units and the reciprocating paths corresponding to the sub-regional units of the current area to be vibrated, based on the operation status corresponding to the global grid map and the number of grids required for the vibration work.

[0099] The path planning module is used to perform path decomposition on the reciprocating path based on the sub-regional unit, and generate a preliminary planned path containing the spatial distribution of vibration points.

[0100] The local adjustment module is used to record the working radius when the vibrating robot is moving, with the current position of the vibrating robot as the center, construct a local sensing area with the working direction as the central axis, and delineate the spatial boundary of the adjacent preliminary planned path based on the path deviation of the local sensing area.

[0101] The aggregation output module is used to synchronously calibrate the work area of ​​a single layer based on the spatial boundary of the adjacent preliminary planning path. When the path vector direction and path point sequence of each layer are consistent, the paths of multiple layers are aggregated into the output vibration path.

[0102] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention, which are still covered within the protection scope of the present invention.

Claims

1. A method for planning the path of multi-point synchronous vibration of concrete, characterized in that, include: S1, construct the spatial and temporal boundaries of the area to be vibrated for regional planning, and form a global grid map corresponding to the area to be vibrated; The spatial boundary responds to the layered placement sequence of concrete, determining the area to be vibrated within the working surface of a single layer; the temporal boundary responds to the completion time of a single layer placement, defining the vibration working period. S2, based on the operation status corresponding to the global grid map and combined with the number of grids required for vibration work, determine the sub-regional units of the current area to be vibrated and the reciprocating path corresponding to the sub-regional units. S3, Based on the sub-regional unit, perform path decomposition on the reciprocating path to generate a preliminary planned path containing the spatial distribution of vibration points; S4. Using the current position of the vibrating robot as the center, record the working radius when walking, construct a local perception area with the working direction as the central axis, and delineate the spatial boundary of the adjacent preliminary planned path based on the path deviation of the local perception area. S5, based on the spatial boundary of the adjacent preliminary planning path, synchronously calibrates the working range of a single layer. When the path vector direction and path point sequence of each layer are consistent, the paths of multiple layers are aggregated into the output vibration path.

2. The method for planning the path of multi-point synchronous vibration of concrete according to claim 1, characterized in that, The implementation methods of the global raster map in step S1 include: S11, collect the layered material placement sequence and single-layer material working status of the area to be vibrated, and determine the basic data of the area to be vibrated; S12, responding to the working radius of the vibratory robot, uses its working radius as the basis for grid setting, and gradually sets up grids along the boundary of the area to be vibrated to build a global grid map.

3. The method for planning the path of multi-point synchronous vibration of concrete according to claim 1, characterized in that, The implementation methods of the sub-region units in step S2 include: S21, based on the operation status corresponding to the global grid map, using the operation status of each grid as the dividing guide, identify the grid to be vibrated and the obstacle grid in the current area to be vibrated. S22, Calculate the maximum number of grids in a single vibration process based on the time length corresponding to the vibration working period; S23, using the maximum number of grid cells as the maximum limit for dividing a single sub-region, performs region growth processing on the grid cells to be vibrated and the obstacle grid cells, and then adjusts the shape of the region after the region growth processing to obtain a sub-region unit that presents a convex polygon.

4. The method for planning the path of multi-point synchronous vibration of concrete according to claim 1, characterized in that, The reciprocating path implementation in step S2 includes: For each sub-region unit, the path planning is assisted by the deployment position of the vibratory robot as the starting point and the layered material laying sequence as the initial direction, based on the boundary direction of the sub-region unit. Along the initial direction, the single-row grid is expanded according to the single-step movement distance of the vibrating robot until the boundary of the sub-region cell is reached; Upon reaching the boundary of the sub-region cell, the path turns and repeats along the boundary direction perpendicular to the initial direction, and then repeats the single-row grid expansion in the opposite direction to the initial direction until all grids within the sub-region cell are covered by the path, thus completing the initial setup of the reciprocating path.

5. The method for planning the path of multi-point synchronous vibration of concrete according to claim 1, characterized in that, The preliminary path planning in step S3 is implemented as follows: S31, based on the rectangular bounding box of the reciprocating path in a single row, the reciprocating path is decomposed into multiple vibration points, and spatial proximity search is performed for each vibration point to determine the obstacles and candidate targets corresponding to adjacent vibration points. S32. Based on the spatial proximity retrieval results, fit the longitudinal distribution of adjacent vibration points within the same bounding box and the lateral distribution within adjacent bounding boxes to determine the target to be optimized. S33 connects all the optimized vibration points to form the initial planned path for output.

6. The method for planning the path of multi-point synchronous vibration of concrete according to claim 5, characterized in that, The spatial proximity search in step S31 is implemented in the following ways: Centered on each vibration point, data retrieval is performed on the grid of the neighborhood, including but not limited to viewing adjacent vibration points within the same bounding box, vibration points within adjacent bounding boxes, and boundary points of obstacles; If an obstacle is found, the boundary point corresponding to the obstacle is regarded as a candidate target and is used as the output search result; otherwise, based on the relative spatial distance and type of the search, it is grouped into a set of neighboring points. For each vibration point in the set of neighboring points, if the distance from the current vibration point to the adjacent vibration point in the same bounding box is not greater than the distance from the current vibration point to the vibration point in the adjacent bounding box, the adjacent vibration point in the same bounding box is used as the candidate target. Otherwise, select the vibration points within the adjacent bounding box as candidate targets and treat them as the output search results.

7. The method for planning the path of multi-point synchronous vibration of concrete according to claim 5, characterized in that, Step S32, which determines the methods for achieving the target to be optimized, includes: Based on the type of the candidate target, candidate targets of the same type are fitted to a continuous space; Based on the spatial distance corresponding to the rectangular bounding box, the distance values ​​of the candidate targets in the horizontal and vertical distributions are sorted, and the adjacent vibration points to be optimized are determined in turn. For adjacent vibration points distributed longitudinally, if there is an obstacle corresponding to an adjacent vibration point, the vibration point with a distance between adjacent vibration points that is less than the preset vibration distance is regarded as the target to be optimized. For adjacent vibration points distributed laterally, vibration points whose spacing exceeds the preset working radius are selected as targets to be optimized.

8. The method for planning the path of multi-point synchronous vibration of concrete according to claim 1, characterized in that, The methods for defining the spatial boundaries of the adjacent preliminary planning path in step S4 include: S41, Project the preliminary planned path onto the local sensing area to determine the real-time position of the vibrating robot during each vibration; S42, using the left and right distances corresponding to the real-time position, determine whether the vibrating robot has a path deviation; S43, if there is a path deviation on either side, trigger a path correction command based on the path deviation type, and update the coordinates of the corrected vibration point to the spatial boundary of the adjacent preliminary planned path.

9. The method for planning the path of multi-point synchronous vibration of concrete according to claim 1, characterized in that, The methods for ensuring that the path vector direction and path point order are consistent in each layer in step S5 include: S51, based on the spatial boundary of the adjacent preliminary planning path, align the spatial coordinates of all layers, and determine the operation sequence of all layers with the completion time of the first layer of the bottom layer as the starting benchmark. S52, using the path vector direction of the first layer as a reference, verify the path vector direction of the remaining layers, and consider the vector directions to be consistent when all layers are consistent; S53, using the path point sequence of the first layer as a benchmark, verify the arrangement order of vibration points in the remaining layers, and determine the layers with consistent path point sequences based on the matching degree of the path point sequence.

10. A concrete multi-point synchronous vibration path planning system, characterized in that, include: The region construction module is used to construct the spatial and temporal boundaries of the region to be vibrated, forming a global raster map corresponding to the region to be vibrated. The spatial boundary responds to the layered placement sequence of concrete, determining the area to be vibrated within the working surface of a single layer; the temporal boundary responds to the completion time of a single layer placement, defining the vibration working period. The path coverage module is used to determine the sub-region units and the reciprocating paths corresponding to the sub-region units of the current area to be vibrated, based on the operation status corresponding to the global grid map and the number of grids required for the vibration work. The path planning module is used to perform path decomposition on the reciprocating path based on the sub-regional unit, and generate a preliminary planned path containing the spatial distribution of vibration points. The local adjustment module is used to record the working radius when the vibrating robot is moving, with the current position of the vibrating robot as the center, construct a local sensing area with the working direction as the central axis, and delineate the spatial boundary of the adjacent preliminary planned path based on the path deviation of the local sensing area. The aggregation output module is used to synchronously calibrate the work area of ​​a single layer based on the spatial boundary of the adjacent preliminary planning path. When the path vector direction and path point sequence of each layer are consistent, the paths of multiple layers are aggregated into the output vibration path.

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