Intelligent control method for automatic distribution system for pipe pile production

Abstract

The application discloses an automatic material distribution system intelligent control method for pipe pile production and relates to automatic control of pipe pile production. The method comprises the following steps: by selecting a pipe pile specification model to be produced, calling pre-stored formula parameters and a theoretical center coordinate of a reinforcement cage, obtaining the formula parameters and the theoretical coordinate, and sending a standby instruction to a centrifugal driving module; by driving a pipe mold to rotate and accelerate through a centrifugal driving motor, obtaining rotation state data of the pipe mold, determining that the pipe mold enters a steady state centrifugal force field according to the rotation state data, generating a steady state determination result, and calculating basic sweeping parameters of a chute; based on a space compensation module, obtaining actual geometric center data of the reinforcement cage, calculating an offset amount of the actual geometric center of the reinforcement cage relative to the theoretical center of the reinforcement cage, and generating an eccentricity compensation vector. The application improves the adaptability of the automatic material distribution process, enhances the material distribution control precision and improves the pipe pile production stability.

Description

Technical Field

[0001] This invention relates to automated control of pipe pile production, and in particular to an intelligent control method for an automatic material distribution system used in pipe pile production. Background Technology

[0002] With the development of prestressed concrete pipe pile production technology, centrifugal molding technology has been widely applied in the pipe pile manufacturing process. In the existing production process, a centrifugal drive device is usually used to rotate the pipe mold to form a centrifugal force field. Then, concrete is transported into the pipe mold through a screw conveyor and a material distribution chute, realizing the spreading and shaping of concrete under centrifugal action. To improve production efficiency and automation, some production lines adopt automatic material distribution control, which controls the movement trajectory and conveying volume of the material distribution chute according to pre-set process parameters to complete the production of pipe piles of different specifications.

[0003] In existing automatic material distribution control technology, the material distribution trajectory is usually executed according to preset parameters. However, in actual production, the centrifugal state of the pipe mold changes with the rotation speed, and there may be deviations between the actual position and the theoretical position after the reinforcement cage is installed. When the material distribution process is still controlled according to a fixed trajectory, the adaptability between the material distribution trajectory and the actual centrifugal state and the actual position of the reinforcement cage needs to be further improved, which affects the distribution effect of concrete inside the pipe mold. How to combine the actual centrifugal force field state and the actual position of the reinforcement cage to dynamically correct the material distribution trajectory and accurately control the material distribution process is a key question. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, the present invention provides an intelligent control method for an automatic material distribution system for pipe pile production, which solves the problem of insufficient material distribution control accuracy caused by the inability to dynamically correct the material distribution trajectory according to the actual centrifugal force field state and the actual position of the reinforcing cage.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides an intelligent control method for an automatic material distribution system for pipe pile production, which includes: selecting the specifications and models of the pipe pile to be produced, calling the pre-stored formula parameters and the theoretical center coordinates of the reinforcing cage, obtaining the formula parameters and theoretical coordinates, and sending a standby command to the centrifugal drive module. The tube mold is driven to rotate and accelerate by a centrifugal drive motor. The rotation state data of the tube mold is obtained. Based on the rotation state data, the tube mold is determined to enter the steady-state centrifugal force field, and a steady-state determination result is generated. The basic sweeping parameters of the chute are then calculated. The actual geometric center data of the steel cage is obtained based on the spatial compensation module. The offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is calculated, and an eccentricity compensation vector is generated. The eccentricity compensation vector is calculated with the foundation sweep parameters to generate the final corrected material drop trajectory command. According to the final material drop trajectory command, the material distribution chute is driven to adjust its posture and prepare to perform sweeping, the screw conveyor is controlled to start and convey concrete to the weighing hopper, and the weighing sensor monitors the weight data of the falling material. By comparing the weight data with the target total weight of the material, the screw conveyor speed is adjusted when the predetermined approach condition is met, and a stop signal is sent to the screw conveyor and chute drive mechanism when the predetermined termination condition is met. After the material distribution process has completely stopped, record the relevant data for this distribution and upload the data to the production management unit database for storage.

[0008] As a preferred embodiment of the intelligent control method for the automatic material distribution system for pipe pile production described in this invention, the step of sending a standby command to the centrifugal drive module includes: Select the pipe pile specifications and models to be produced according to the production task, match the pipe pile specifications and models to be produced with the specification identifiers in the pre-stored process library, and call the corresponding pre-stored formula parameters and the theoretical center coordinates of the steel cage based on the matching results to form the process call results. Using the pre-stored formula parameters and the theoretical center coordinates of the steel cage in the process call result as the joint verification object, the self-inspection completion result is generated through collaborative verification of parameter integrity, consistency and correlation effectiveness. Based on the self-inspection completion result, the pre-stored formula parameters and the theoretical center coordinates of the steel cage that have passed the verification are selected. The pre-stored formula parameters and theoretical center coordinates of the steel cage that have passed verification are converted and data solidified to form formula parameters and theoretical coordinates. Based on the formula parameters and theoretical coordinates, standby instructions are generated and sent to the centrifugal drive module.

[0009] As a preferred embodiment of the intelligent control method for the automatic material distribution system used in pipe pile production according to the present invention, the calculation of the foundation sweeping parameters of the chute includes, The tube mold is driven to rotate and accelerate by a centrifugal drive motor, and the rotation state data of the tube mold is continuously acquired. The rotation state data of the tube mold is reorganized according to a continuous time window to construct a rotationally stable feature sequence of rotational change continuity. The trend deviation between adjacent time windows is calculated based on the rotationally stable characteristic sequence, and the trend deviation is analyzed for continuity consistency. When the trend deviation of multiple consecutive time windows meets the preset consistency condition, the tube mold is determined to have entered the steady-state centrifugal force field and a steady-state determination result is generated. Based on the steady-state determination results, the steady-state stage data interval corresponding to the rotation state data of the positioning tube mold is determined, and centrifugal stable distribution parameters are generated by analyzing the distribution pattern of different fluctuation characteristics within the steady-state stage data interval. Based on the steady-state centrifugal force field distribution characteristics characterized by centrifugal stability distribution parameters, dynamic mapping calculations are performed on the material drop coverage requirements at different locations to obtain the basic sweeping parameters of the chute corresponding to the steady-state centrifugal force field.

[0010] As a preferred embodiment of the intelligent control method for the automatic material distribution system used in pipe pile production according to the present invention, the eccentricity compensation vector includes, The actual geometric center data of the steel cage is obtained based on the spatial compensation module. The actual geometric center data of the steel cage is reconstructed spatially according to the correspondence of different spatial positions to form a set of actual geometric center features. The actual geometric center feature set is spatially matched with the theoretical center coordinates of the steel cage. By analyzing the positional differences between the actual geometric center feature set and the theoretical center coordinates of the steel cage in different directions, the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is calculated. Based on the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage, an offset change feature sequence is constructed, and the spatial distribution characteristics of the offset are obtained by analyzing the spatial correlation between the offsets in each direction in the offset change feature sequence. Based on the spatial distribution characteristics of the offset, the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is reconstructed by directional weight, and an eccentricity compensation vector with offset direction information and offset degree information is generated.

[0011] As a preferred embodiment of the intelligent control method for the automatic material distribution system used in pipe pile production according to the present invention, the final corrected material dropping trajectory instruction includes: The eccentricity compensation vector and the basic sweep parameters are matched in coordinate correspondence in three-dimensional space. By establishing a position mapping relationship, the direction and offset information of the eccentricity compensation vector are superimposed on the basic sweep parameters to form intermediate trajectory parameters with spatial correction constraints. Motion continuity analysis is performed on intermediate trajectory parameters with spatial correction constraints. By analyzing the velocity, acceleration, and offset correction magnitude of adjacent trajectory points, the distribution of trajectory points is optimized. The optimized intermediate trajectory parameters are dynamically adjusted by combining them with the directional weight information of the eccentricity compensation vector to generate the final corrected material dropping trajectory instruction.

[0012] In a preferred embodiment of the intelligent control method for the automatic material distribution system used in pipe pile production according to the present invention, the weight data of the monitored falling material includes: Based on the final material drop trajectory command, the corresponding spatial position parameters and motion attitude parameters are analyzed, and the attitude of the material distribution chute is adjusted according to the spatial position parameters and motion attitude parameters to form the material distribution chute preparation state corresponding to the final material drop trajectory command. The preparation state of the material distribution chute is correlated and verified with the final material drop trajectory command. Based on the spatial position parameters corresponding to the preparation state of the material distribution chute, a conveying trigger condition is generated. When the conveying trigger condition is met, the screw conveyor is controlled to start and convey concrete to the weighing hopper, forming a concrete conveying state that is synchronous with the final material drop trajectory command. The time interval and falling interval of concrete entering the weighing hopper are determined based on the concrete conveying state, and a correlation between weight change and concrete conveying state is established to ensure that the weight change process corresponds to the concrete conveying state, thus forming weight monitoring conditions. Based on the weight monitoring conditions, the weight data of the falling material is continuously monitored using a weighing sensor, and the weight data is arranged in chronological order to form weight data corresponding to the concrete conveying status.

[0013] As a preferred embodiment of the intelligent control method for the automatic material distribution system for pipe pile production described in this invention, the step of sending a stop signal to the screw conveyor and the chute drive mechanism when a predetermined termination condition is met includes: The weight data of the falling material monitored by the weighing sensor is continuously compared with the target total weight of the material to be distributed. By extracting the difference sequence between the weight data and the target total weight of the material to be distributed, the deviation information of the screw conveyor speed is adjusted. Based on the deviation information, the weight data is identified as approaching the predetermined approach condition of the target total weight of material distribution. When the deviation information meets the predetermined approach condition, the speed of the screw conveyor is adjusted to achieve fine control of the material distribution rate, thus forming a screw conveyor speed adjustment state. Based on the adjustment state of the screw conveyor speed, the weight data is continuously compared with the target total weight of material distribution, and a stop signal is generated when the deviation information meets the predetermined termination condition. The stop signal is used to simultaneously control the screw conveyor and the material distribution chute drive mechanism to stop, and the stop signal is converted into a specific action execution command.

[0014] As a preferred embodiment of the intelligent control method for the automatic material distribution system for pipe pile production described in this invention, the step of uploading data to the production management unit database for storage includes: After the screw conveyor and the material distribution chute drive mechanism stop operating, the screw conveyor speed adjustment status, weight data, material distribution trajectory information and chute attitude adjustment status generated during the material distribution process are integrated to generate relevant data for this material distribution. Time series labeling and key parameter extraction were performed on the relevant data of this material distribution. The screw conveyor speed adjustment status, weight data and final material drop trajectory command were correlated and mapped to form structured relevant data of this material distribution. The relevant data for this material distribution will be uploaded to the production management unit database for storage.

[0015] In a second aspect, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein when the computer program is executed by the processor, it implements any step of the intelligent control method for an automatic material distribution system for pipe pile production as described in the first aspect of the present invention.

[0016] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the intelligent control method for an automatic material distribution system for pipe pile production as described in the first aspect of the present invention.

[0017] The beneficial effects of this invention are as follows: It generates basic sweeping parameters through a steady-state centrifugal force field, generates the final corrected material drop trajectory command using an eccentric compensation vector, controls the material distribution chute to perform sweeping based on the final corrected material drop trajectory command, and dynamically adjusts and terminates the control by combining weight data with the target total weight of the material. This achieves full-process correlation control from centrifugal state identification, trajectory correction, material drop execution to weight closed-loop control. It also stores relevant data from this material distribution, providing a data foundation for subsequent production management and process traceability, thereby improving the adaptability of the automatic material distribution process, enhancing the accuracy of material distribution control, and improving the stability of pipe pile production. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of an intelligent control method for an automated material distribution system used in pipe pile production. Detailed Implementation

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0021] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0022] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0023] Reference Figure 1 As one embodiment of the present invention, this embodiment provides an intelligent control method for an automatic material distribution system for pipe pile production, comprising the following steps: S1. By selecting the specifications and model of the pipe pile to be produced, the pre-stored formula parameters and theoretical center coordinates of the steel cage are called to obtain the formula parameters and theoretical coordinates, and a standby command is sent to the centrifugal drive module.

[0024] S1.1 Select the pipe pile specifications and models to be produced according to the production task, match the pipe pile specifications and models to be produced with the specification identifiers in the pre-stored process library, and call the corresponding pre-stored formula parameters and the theoretical center coordinates of the steel cage based on the matching results to form the process call results.

[0025] Furthermore, after selecting the pipe pile specifications to be produced based on the production task, the specifications are matched with the specification identifiers in the pre-stored process library. This matching process determines the corresponding production specifications and establishes a unique correspondence between the pipe pile specifications and the pre-stored formula parameters and the theoretical center coordinates of the reinforcing cage. Once the pipe pile specifications are matched, the corresponding pre-stored formula parameters and the theoretical center coordinates of the reinforcing cage are directly called based on the matching results. The pre-stored formula parameters and the theoretical center coordinates of the reinforcing cage are then integrated and linked according to the same specification identifier to form the process call result. Using the pipe pile specifications as a unified index entry point ensures that the pre-stored formula parameters and the theoretical center coordinates of the reinforcing cage originate from the same specification system, avoiding cross-referencing of parameters between different specifications that could cause subsequent process deviations. This ensures that the process call result simultaneously provides both process control and spatial positioning basis, forming the final process call result.

[0026] S1.2. Using the pre-stored formula parameters and theoretical center coordinates of the reinforcing cage in the process call result as the joint verification object, the self-inspection completion result is generated through collaborative verification of parameter integrity, consistency and correlation effectiveness. Based on the self-inspection completion result, the pre-stored formula parameters and theoretical center coordinates of the reinforcing cage that have passed the verification are selected.

[0027] Furthermore, the parameter completeness of the pre-stored formula parameters is verified to confirm that the process call result contains all the parameters required for current production; the consistency of the correspondence between the parameters within the pre-stored formula parameters is verified to confirm that all parameters originate from the same specification system; and the association validity is verified by using the theoretical center coordinates of the rebar cage and the specification information corresponding to the pre-stored formula parameters to confirm that the theoretical center coordinates of the rebar cage and the pre-stored formula parameters belong to the same matching result. When the parameter completeness, consistency, and association validity all meet the requirements, a self-inspection completion result is generated, and the pre-stored formula parameters and theoretical center coordinates of the rebar cage that have passed the verification are selected based on the self-inspection completion result, completing the joint verification process.

[0028] S1.3. The pre-stored formula parameters and theoretical center coordinates of the steel cage that have passed the verification are converted into a format and the data is solidified to form formula parameters and theoretical coordinates. Based on the formula parameters and theoretical coordinates, standby command content is generated and sent to the centrifugal drive module.

[0029] Furthermore, the verified pre-stored formula parameters and theoretical center coordinates of the reinforcing cage undergo format conversion and data solidification. Format conversion unifies the data organization of the pre-stored formula parameters and theoretical center coordinates, ensuring a consistent data structure. Data solidification fixes the verified pre-stored formula parameters and theoretical center coordinates into the execution parameter set corresponding to the current production task, forming the formula parameters and theoretical coordinates. Subsequently, standby instructions are generated based on the formula parameters and theoretical coordinates and sent to the centrifugal drive module. This allows the centrifugal drive module to obtain the process parameters and spatial positioning data corresponding to the current production task, thus completing the transmission of standby instructions to the centrifugal drive module.

[0030] S2. Drive the tube mold to rotate and accelerate by a centrifugal drive motor, obtain the rotation state data of the tube mold, determine the tube mold to enter the steady-state centrifugal force field based on the rotation state data, generate steady-state determination results, and calculate the basic sweeping parameters of the chute.

[0031] S2.1. Drive the tube mold to rotate and accelerate by a centrifugal drive motor and continuously acquire the rotation state data of the tube mold. Reorganize the rotation state data of the tube mold according to a continuous time window to construct a rotationally stable feature sequence of rotational change continuity.

[0032] Furthermore, the rotational state data of the tube mold is divided and reorganized according to continuous time windows. This allows the rotational state data within the same continuous time window to characterize the rotational changes within the corresponding time period, while adjacent continuous time windows reflect the continuous evolution of the rotational change process. During the reorganization process, the rotational state data of the tube mold at a single moment is not directly used for analysis. Instead, the overall change relationship of the rotational state data of the tube mold within the continuous time window is used to construct a rotationally stable feature sequence. This sequence preserves the trajectory of the tube mold during its transition from the acceleration phase to the stable phase. When the tube mold is in a continuous acceleration state, the rotationally stable feature sequences corresponding to different continuous time windows exhibit continuous change characteristics. As the tube mold gradually approaches a stable operating state, the change amplitude of the rotationally stable feature sequences corresponding to adjacent continuous time windows gradually decreases. The rotationally stable feature sequence can serve as an important basis for subsequent judgment of the steady-state centrifugal force field, constructing a rotationally stable feature sequence that demonstrates the continuity of rotational changes.

[0033] S2.2 Calculate the degree of trend deviation between adjacent time windows based on the rotational stability feature sequence, and perform continuous consistency analysis on the degree of trend deviation. When the degree of trend deviation of multiple consecutive time windows meets the preset consistency condition, determine that the tube mold has entered the steady-state centrifugal force field and generate a steady-state determination result.

[0034] Furthermore, in the steady-state determination process based on the rotationally stable feature sequence, the rotationally stable feature sequence constructed within a continuous time window is first used as the analysis object. The trend deviation between adjacent time windows is calculated according to the time sequence. By quantifying the change amplitude between rotationally stable feature vectors, a trend deviation data sequence for each time window is formed. On this basis, a continuity consistency analysis is performed on the trend deviation sequence. By identifying the state in which the trend deviation in multiple consecutive time windows meets the preset consistency condition, the tube model is determined to have entered the steady-state centrifugal force field, and a steady-state determination result is generated. This ensures that the steady-state determination not only considers the instantaneous rotational state but also fully reflects the temporal continuity and changing trend of the rotation process, forming a reliable judgment on the actual centrifugal steady-state.

[0035] The expression for the degree of trend deviation is: ; in, For the first The degree of trend deviation within each time window, For the first The degree of trend deviation within each time window, For the first The rotationally stable feature vector corresponding to each time window For stability coefficient, This is the time window number.

[0036] S2.3. Based on the steady-state determination results, locate the steady-state stage data interval corresponding to the rotation state data of the tube mold, and generate centrifugal stable distribution parameters by analyzing the distribution law of different fluctuation characteristics within the steady-state stage data interval.

[0037] Furthermore, based on the steady-state determination results, the steady-state stage data interval corresponding to the rotational state data of the tube mold is located, and the corresponding rotational state data of the tube mold is extracted from the steady-state stage data interval. Then, the distribution patterns of different fluctuation characteristics within the steady-state stage data interval are analyzed. Since the steady-state stage data interval meets the steady-state determination results, different degrees of local fluctuations may still exist at different locations. Therefore, by statistically analyzing the occurrence, distribution, and variation patterns of different fluctuation characteristics within the steady-state stage data interval, centrifugal stability distribution parameters that characterize the actual steady-state centrifugal state are obtained. These centrifugal stability distribution parameters not only reflect the overall centrifugal state of the steady-state stage data interval but also reflect the differences in centrifugal state at different locations within the steady-state stage data interval, thus generating the centrifugal stability distribution parameters.

[0038] S2.4. Based on the steady-state centrifugal force field distribution characteristics characterized by centrifugal stable distribution parameters, perform dynamic mapping calculations on the material drop coverage requirements at different locations to obtain the basic sweeping parameters of the chute corresponding to the steady-state centrifugal force field.

[0039] Furthermore, the steady-state centrifugal force field distribution characteristics at each polar coordinate position inside the pipe mold are calculated using the centrifugal stability distribution parameters extracted during the steady-state phase. This describes the centrifugal intensity variation at different radii and circumferential angles. The steady-state centrifugal force field distribution characteristics are mapped to the material drop coverage requirements at each position. The instantaneous material drop volume at each circumferential position is calculated using the material drop flow rate expression. The real-time sweeping angular velocity is calculated by combining the cross-sectional area of ​​the chute outlet and the flow coefficient, enabling dynamic matching between the chute movement and the material drop requirements at different positions. Finally, complete basic sweeping parameters are generated based on the sweeping angular velocity, the chute sweeping start angle, the end angle, and the time required to complete a single sweep. This ensures that the chute movement can adapt to the steady-state centrifugal force field distribution, guaranteeing uniform material drop coverage and the compactness of the concrete inside the pipe pile.

[0040] Steady-state centrifugal force field distribution characteristic expression ; in, In polar coordinates The intensity of the centrifugal force field at that location, The radial distance from the center of rotation of the mold tube. For circumferential angle, The effective density of the concrete mixture. The steady-state rotational angular velocity of the tube mold, This is a correction factor for force field inhomogeneity. The force field attenuation coefficient, This is the initial phase angle corresponding to the maximum strength of the force field.

[0041] The expression for material discharge flow rate is: ; in, In the circumferential angle The required material discharge flow rate, For the inner radius of the steel cage Location, circumferential angle The intensity of the centrifugal force field at the location, This refers to the total material distribution for a single pipe pile. The radius of the inner ring of the reinforcing cage. It is an infinitesimal increment of the circumferential angle.

[0042] The expression for sweep angular velocity is: ; in, For the chute at time The sweep angular velocity, Real-time position of the chute The instantaneous material flow rate requirement at the current centrifugal force field intensity The flow rate coefficient at the chute outlet is [value missing]. The effective cross-sectional area of ​​the chute discharge port. For the chute at time The real-time deflection angle.

[0043] The basic sweep parameter expression is: ; in, Based on sweep parameters, The starting angle for chute sweeping. The chute sweep termination angle, The total time for a single sweep of the chute.

[0044] S3. Based on the spatial compensation module, obtain the actual geometric center data of the steel cage, calculate the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage, generate the eccentricity compensation vector, and calculate the eccentricity compensation vector with the foundation sweep parameters to generate the final corrected material drop trajectory command.

[0045] S3.1. Based on the spatial compensation module, obtain the actual geometric center data of the steel cage, and reconstruct the actual geometric center data of the steel cage according to the spatial position correspondence to form a set of actual geometric center features.

[0046] Furthermore, after obtaining the actual geometric center data of the rebar cage based on the spatial compensation module, instead of directly using the data corresponding to a single spatial location for offset analysis, the actual geometric center data of the rebar cage is correlated and organized according to the correspondence between different spatial locations, so that the actual geometric center data of the rebar cage obtained from different locations can form a unified spatial representation result. During processing, the actual geometric center data of the rebar cage corresponding to different spatial locations are mapped to the same spatial reference system. By eliminating the representation differences between different spatial locations, the actual geometric center data of the rebar cage can truly reflect the overall spatial state of the rebar cage. Subsequently, spatial consistency reconstruction is completed based on the spatial location correspondence, and the reconstructed results are aggregated and organized to form an actual geometric center feature set, achieving the purpose of forming an actual geometric center feature set.

[0047] S3.2. Perform spatial correspondence matching between the actual geometric center feature set and the theoretical center coordinates of the steel cage. By analyzing the positional differences between the actual geometric center feature set and the theoretical center coordinates of the steel cage in different directions, calculate the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage.

[0048] Furthermore, the actual geometric center feature set is spatially matched with the theoretical center coordinates of the reinforcing cage, establishing a correspondence between the spatial positional features in the actual geometric center feature set and the theoretical positional features in the theoretical center coordinates of the reinforcing cage. The positional differences between the actual geometric center feature set and the theoretical center coordinates of the reinforcing cage in different directions are analyzed, and the offset of the actual geometric center of the reinforcing cage relative to the theoretical center is calculated based on these positional differences. The calculation process obtains not only the degree of positional deviation but also the direction of positional deviation, ensuring that the offset of the actual geometric center of the reinforcing cage relative to the theoretical center can fully characterize the spatial offset state.

[0049] The expression for the offset distance is: ; in, Radial eccentricity distance, For the actual geometric center Axis coordinates Centered on theory Axis coordinates For the actual geometric center Axis coordinates Centered on theory Axis coordinates.

[0050] The expression for the offset azimuth angle is: ; in, This is the offset azimuth angle; The expression for axial offset is: ; in, This is the axial offset. For the actual geometric center Axis coordinates Centered on theory Axis coordinates.

[0051] The expression for the eccentricity compensation vector is: ; in, This is the eccentricity compensation vector; S3.3. Based on the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage, construct the offset change feature sequence, and obtain the spatial distribution characteristics of the offset by analyzing the spatial correlation between the offsets in each direction in the offset change feature sequence.

[0052] Furthermore, an offset change feature sequence is constructed based on the offset of the actual geometric center of the reinforcing cage relative to its theoretical center. The offsets in different directions are organized according to spatial relationships, enabling the offset change feature sequence to reflect the spatial distribution of the offsets. Subsequently, the spatial relationships between offsets in each direction within the offset change feature sequence are analyzed to identify the collaborative change characteristics and spatial distribution patterns of offsets in different directions. Based on these patterns, spatial distribution features of the offsets are extracted, allowing them to reflect the overall offset state of the reinforcing cage. The offset change feature sequence analysis reveals spatial relationships between offsets in different directions; for example, multiple offsets may collectively reflect the same spatial offset trend; or, local offset changes may be influenced by offset changes in other directions. By establishing a correlation analysis mechanism between offsets through the offset change feature sequence, the spatial distribution features of the offsets can reflect the overall spatial offset pattern, improving the spatial expressive power of the eccentricity compensation vector.

[0053] S3.4. Based on the spatial distribution characteristics of the offset, the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is reconstructed with directional weights to generate an eccentricity compensation vector with offset direction information and offset degree information.

[0054] Furthermore, based on the spatial distribution characteristics of the offset, the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is reconstructed by directional weight. The spatial influence degree corresponding to the offset in different directions is converted into the corresponding directional weight. Based on the directional weight, the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is recombined so that the recombined result retains both the offset direction information and the offset degree information, and finally generates the eccentricity compensation vector.

[0055] Specifically, the directional weights of the offset relative to the theoretical center of the rebar cage are reconstructed using the spatial distribution characteristics of the offset. For example, different directional offsets have varying degrees of impact on the subsequent material dropping trajectory; furthermore, the compensation requirements for the same degree of offset differ in different directions. By reconstructing the directional weights, the eccentricity compensation vector reflects not only the magnitude of the offset but also the degree of its influence, thus improving the vector's ability to express the actual spatial offset state.

[0056] S3.5. Match the eccentricity compensation vector with the basic sweep parameters in three-dimensional space. By establishing a position mapping relationship, superimpose the direction and offset information of the eccentricity compensation vector onto the basic sweep parameters to form intermediate trajectory parameters with spatial correction constraints.

[0057] Furthermore, the eccentricity compensation vector and the basic sweep parameters are matched in coordinate correspondence in three-dimensional space. This establishes a spatial correspondence between the offset direction and degree information in the eccentricity compensation vector and the motion trajectory information in the basic sweep parameters. Then, based on the position mapping relationship, the direction and offset information of the eccentricity compensation vector are superimposed onto the basic sweep parameters, and the basic sweep parameters are spatially corrected to form intermediate trajectory parameters with spatial correction constraints. The basic sweep parameters mainly reflect the steady-state centrifugal force field requirements, while the eccentricity compensation vector mainly reflects the actual installation state of the reinforcing cage. By fusing these two types of information into the same trajectory space through the position mapping relationship, the intermediate trajectory parameters with spatial correction constraints simultaneously possess centrifugal state adaptability and spatial offset compensation capabilities.

[0058] S3.6 Perform motion continuity analysis on intermediate trajectory parameters with spatial correction constraints. Optimize the distribution of trajectory points by analyzing the velocity, acceleration, and offset correction magnitude of adjacent trajectory points.

[0059] Furthermore, motion continuity analysis is performed on the intermediate trajectory parameters with spatial correction constraints. By analyzing the changes in velocity, acceleration, and offset correction magnitude between adjacent trajectory points, local abrupt change regions in the intermediate trajectory parameters with spatial correction constraints are identified, and the trajectory point distribution is adjusted to maintain a continuous motion transition between adjacent trajectory points, thereby optimizing the trajectory point distribution. Velocity, acceleration, and offset correction magnitude are all used as the basis for motion continuity analysis. For example, considering only the offset correction magnitude may lead to discontinuous motion changes; conversely, considering only motion parameters may not reflect the spatial compensation effect. By optimizing the trajectory point distribution through multi-dimensional analysis, the trajectory correction results satisfy both spatial compensation and motion continuity requirements, improving the stability of subsequent material dropping trajectory execution.

[0060] S3.7. The optimized intermediate trajectory parameters are dynamically adjusted in combination with the directional weight information of the eccentricity compensation vector to generate the final corrected material dropping trajectory instruction.

[0061] Furthermore, the optimized intermediate trajectory parameters are dynamically adjusted by combining them with the directional weight information of the eccentricity compensation vector. Based on the directional weights corresponding to different directions in the eccentricity compensation vector, the optimized intermediate trajectory parameters are differentially corrected. This ensures that the degree of correction of the optimized intermediate trajectory parameters in different spatial directions matches the actual degree of offset influence, generating the final corrected material dropping trajectory command. The spatial influence corresponding to offsets in different directions varies, and the compensation requirements in different directions are not entirely consistent. By involving directional weights in the final correction process, the final corrected material dropping trajectory command can simultaneously reflect the centrifugal force field requirements corresponding to the foundation sweep parameters and the compensation requirements corresponding to the actual installation state of the rebar cage, improving the matching degree between the final corrected material dropping trajectory command and the actual production state.

[0062] S4. Drive the material distribution chute to adjust its posture and prepare to perform sweeping according to the final material drop trajectory command, control the screw conveyor to start and transport concrete to the weighing hopper, and the weighing sensor monitors the weight data of the falling material.

[0063] S4.1. Based on the final material drop trajectory command, analyze the corresponding spatial position parameters and motion attitude parameters, and adjust the attitude of the material distribution chute according to the spatial position parameters and motion attitude parameters to form the material distribution chute preparation state corresponding to the final material drop trajectory command.

[0064] Furthermore, after parsing the corresponding spatial position parameters and motion attitude parameters based on the final material drop trajectory command, the spatial position parameters are mapped to the current spatial position of the material distribution chute, and the motion attitude parameters are mapped to the current direction of movement of the material distribution chute. By continuously adjusting the spatial position and motion attitude of the material distribution chute, the actual spatial state of the material distribution chute gradually approaches the target spatial state corresponding to the final material drop trajectory command. During the adjustment process, the spatial position parameters and motion attitude parameters are processed synchronously to ensure that the changes in the spatial position and motion attitude of the material distribution chute are consistent, avoiding situations where the spatial position has reached the target position but the motion attitude has not yet been adjusted, or vice versa. When both the spatial position parameters and motion attitude parameters meet the requirements corresponding to the final material drop trajectory command, a preparation state for the material distribution chute corresponding to the final material drop trajectory command is formed.

[0065] S4.2. Verify the association between the preparation state of the material distribution chute and the final material drop trajectory command. Generate the conveying trigger condition based on the spatial position parameters corresponding to the preparation state of the material distribution chute. When the conveying trigger condition is met, control the screw conveyor to start conveying concrete to the weighing hopper, forming a concrete conveying state that is synchronous with the final material drop trajectory command.

[0066] Furthermore, when verifying the correlation between the preparation state of the material distribution chute and the final material drop trajectory command, the spatial position parameters corresponding to the preparation state of the material distribution chute are first extracted, and then compared with the target position in the final material drop trajectory command. When the correspondence meets the requirements, a conveying trigger condition is generated based on the spatial position parameters corresponding to the preparation state of the material distribution chute. If the conveying trigger condition is not met, a waiting state is maintained. When the conveying trigger condition is met, the screw conveyor is controlled to start conveying concrete to the weighing hopper, ensuring that the concrete conveying process is synchronized with the spatial position corresponding to the final material drop trajectory command, thus forming a concrete conveying state synchronized with the final material drop trajectory command.

[0067] S4.3 Determine the time interval and falling interval of concrete entering the weighing hopper based on the concrete conveying state, and establish a correlation between weight change and concrete conveying state to ensure that the weight change process corresponds to the concrete conveying state, thus forming weight monitoring conditions.

[0068] Furthermore, when determining the time interval and descent interval of concrete entering the weighing hopper based on the concrete conveying status, the process of concrete entering and exiting the weighing hopper is first identified based on the concrete conveying status, and the corresponding process is divided into time intervals and descent intervals. A correlation between weight changes and the concrete conveying status is established, linking weight changes within the time intervals to the corresponding concrete conveying status, and vice versa. This ensures that the weight change process accurately reflects the changes in the concrete conveying status, thus forming the conditions for weight monitoring.

[0069] S4.4. Based on the weight monitoring conditions, continuously monitor the weight data of the falling material using a weighing sensor, and arrange the weight data in chronological order to form weight data corresponding to the concrete conveying status.

[0070] Furthermore, when continuously monitoring the weight data of falling materials using a weighing sensor according to the weight monitoring conditions, the weighing sensor continuously acquires the weight change information corresponding to the falling material according to the weight monitoring conditions, and collects the weight change information based on the time interval and falling interval defined by the weight monitoring conditions. After the collection is completed, the weight data is sorted by time according to the acquisition order to maintain a complete temporal correlation between each weight data point. The weight data is then associated with the corresponding concrete conveying state and stored, so that each set of weight data corresponds to a specific concrete conveying state, forming weight data corresponding to the concrete conveying state.

[0071] S5. By comparing the weight data with the target total weight of the material, the screw conveyor speed is adjusted when the predetermined approach condition is met, and a stop signal is sent to the screw conveyor and chute drive mechanism when the predetermined termination condition is met.

[0072] S5.1 Continuously compare the weight data of the falling material monitored by the weighing sensor with the target total weight of the material to be distributed. By extracting the difference sequence between the weight data and the target total weight of the material to be distributed, adjust the deviation information of the screw conveyor speed.

[0073] Furthermore, weight data corresponding to the concrete conveying state is read sequentially over time, and the difference between the weight data and the target total weight is extracted in real time. This creates a continuously changing difference sequence between the weight data and the target total weight. The difference sequence is dynamically tracked and analyzed to identify the direction and magnitude of change, allowing it to reflect the approximation between the current material distribution process and the target total weight. Based on the difference sequence, deviation information for adjusting the screw conveyor speed is extracted, ensuring that the deviation information continuously characterizes the deviation between the current material distribution state and the target material distribution state. By extracting deviation information using the difference sequence formed between the weight data and the target total weight, the control requirements corresponding to the same weight data differ at different material distribution stages. A single weight data point can only reflect the current state, while the difference sequence can reflect the changing trend of the entire approximation process. By continuously describing the dynamic relationship between the weight data and the target total weight through the difference sequence, the deviation information exhibits continuous evolution characteristics, improving the responsiveness of material distribution control.

[0074] S5.2. Based on the deviation information, identify the predetermined proximity condition when the weight data is close to the target total weight of the material. When the deviation information meets the predetermined proximity condition, adjust the speed of the screw conveyor to achieve fine control of the material distribution rate, thus forming a screw conveyor speed adjustment state.

[0075] Furthermore, based on deviation information, when the weight data approaches the predetermined approach condition of the target total weight, the changing trend and remaining deviation status of the deviation information are analyzed. The system then determines whether the weight data has entered the control stage of approaching the target total weight. When the deviation information meets the predetermined approach condition, the screw conveyor speed is adjusted to gradually adapt the concrete conveying speed to the current remaining material distribution demand. By continuously updating the deviation information, the matching relationship between the screw conveyor speed and the remaining material distribution demand is maintained, forming a screw conveyor speed adjustment state. Using higher conveying efficiency in the initial stage of material distribution is beneficial to improving production efficiency, while maintaining the same conveying state in the stage of approaching the target total weight can easily lead to over-distribution. Different material distribution stages correspond to different control requirements. By identifying key transition nodes in the material distribution process through predetermined approach conditions, the screw conveyor speed can smoothly transition from a fast conveying state to a fine conveying state, improving the control accuracy in the stage of approaching the target total weight.

[0076] S5.3. Based on the adjustment state of the screw conveyor speed, continuously compare the weight data with the target total weight of material distribution, and generate a stop signal when the deviation information meets the predetermined termination condition.

[0077] Furthermore, while continuously comparing the weight data with the target total weight of the distributed material while adjusting the screw conveyor speed, the system continues to acquire weight data and update deviation information in chronological order. This ensures that the deviation information continuously reflects the remaining deviation between the current material distribution status and the target total weight. Based on the updated deviation information, it is determined whether a predetermined termination condition is met. When the deviation information meets the predetermined termination condition, it indicates that the current material distribution process has reached the target total weight requirement. At this point, a stop signal is generated and used as the basis for subsequent action control. Differences may exist in the conveying process of different batches of concrete; for example, the actual material distribution amount corresponding to the same conveying time may not be completely consistent. By continuously updating the deviation information and determining the predetermined termination condition based on the deviation information, the stop signal is established based on the actual material distribution result, improving the matching degree between the stop timing and the target total weight.

[0078] S5.4. Based on the stop signal, simultaneously control the screw conveyor and the material distribution chute drive mechanism to stop, and convert the stop signal into a specific action execution command.

[0079] Furthermore, the stop signals are analyzed to determine their corresponding stop actions: one for the screw conveyor and the other for the distribution chute drive mechanism. The stop signals are control commands for both the screw conveyor to stop concrete conveying and the distribution chute to stop its trajectory movement. These stop signals are converted into specific action execution commands and simultaneously sent to both the screw conveyor and the distribution chute drive mechanism. Upon receiving the specific action execution command, the screw conveyor stops conveying concrete, and upon receiving the same command, the distribution chute drive mechanism stops its trajectory movement. This ensures that both the concrete conveying and trajectory movement cease simultaneously, achieving the goal of simultaneously controlling the screw conveyor and the distribution chute drive mechanism to stop based on the stop signals.

[0080] S6. After the material distribution process has completely stopped, record the relevant data for this material distribution and upload the data to the production management unit database for storage.

[0081] S6.1 After the screw conveyor and the material distribution chute drive mechanism stop operating, the screw conveyor speed adjustment status, weight data, material distribution trajectory information and chute attitude adjustment status generated during the material distribution process are integrated to generate relevant data for this material distribution.

[0082] Furthermore, after the screw conveyor and the material distribution chute drive mechanism stop operating, the end time of this material distribution process is used as the starting point for data collection. The screw conveyor speed adjustment status, weight data, material distribution trajectory information, and chute attitude adjustment status generated during the material distribution process are uniformly extracted. Correspondence is established according to the execution sequence of the material distribution process. The screw conveyor speed adjustment status is mapped to the concrete conveying process at each stage, the weight data is mapped to the actual material distribution result at each stage, the material distribution trajectory information is mapped to the material drop position change process at each stage, and the chute attitude adjustment status is mapped to the trajectory execution status at each stage. By linking and integrating the screw conveyor speed adjustment status, weight data, material distribution trajectory information, and chute attitude adjustment status, different types of information can reflect the correspondence in the same material distribution process, ultimately generating relevant data for this material distribution.

[0083] S6.2. Perform time series labeling and key parameter extraction on the relevant data of this material distribution, and associate and map the screw conveyor speed adjustment status, weight data and final material drop trajectory command to form structured relevant data of this material distribution.

[0084] Furthermore, when performing time-series labeling on the relevant data for this material distribution, a unified time correlation is first established for each piece of information in the relevant data according to the order of the material distribution process. This ensures that the screw conveyor speed adjustment status, weight data, material distribution trajectory information, and chute attitude adjustment status can be mapped to specific execution stages. Key parameters are extracted from the relevant data for this material distribution, and the screw conveyor speed adjustment status, weight data, and final material drop trajectory command are correlated and mapped. This establishes a correspondence between speed changes, weight changes, and trajectory execution processes at each stage, forming structured data related to this material distribution.

[0085] S6.3 Upload the structured data related to this material distribution to the production management unit database for storage.

[0086] Furthermore, the data is written according to the data structure corresponding to the relevant data of this material allocation. Then, based on the pipe pile specification information, material allocation trajectory information, and time series annotation information, an index relationship is established with the historical material allocation data in the production management unit database. This enables the relevant data of this material allocation to form an associated storage relationship with the historical material allocation data. After the index relationship is established, the relevant data of this material allocation is saved to the corresponding storage area of ​​the production management unit database. This allows subsequent queries to quickly locate the corresponding historical material allocation data and the current material allocation data based on the index relationship, ultimately achieving the storage of relevant data for this material allocation.

[0087] This embodiment also provides a computer device applicable to the intelligent control method of an automatic material distribution system for pipe pile production, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the intelligent control method of an automatic material distribution system for pipe pile production as proposed in the above embodiment.

[0088] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0089] This embodiment also provides a storage medium storing a computer program. When executed by a processor, the program implements the intelligent control method for an automatic material distribution system used in pipe pile production as proposed in the above embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0090] In summary, this invention generates basic sweeping parameters through a steady-state centrifugal force field, generates the final corrected material drop trajectory command using an eccentric compensation vector, controls the material distribution chute to perform sweeping based on the final corrected material drop trajectory command, and dynamically adjusts and terminates the process by combining weight data with the target total weight of the material to achieve full-process interconnected control from centrifugal state identification, trajectory correction, material drop execution to weight closed-loop control; it also stores relevant data from this material distribution, providing a data foundation for subsequent production management and process traceability, thereby improving the adaptability of the automatic material distribution process, enhancing the accuracy of material distribution control, and improving the stability of pipe pile production.

[0091] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An intelligent control method for an automatic material distribution system used in pipe pile production, characterized in that: include, By selecting the specifications and models of the pipe piles to be produced, calling the pre-stored formula parameters and the theoretical center coordinates of the steel cage, the formula parameters and theoretical coordinates are obtained, and a standby command is sent to the centrifugal drive module. The tube mold is driven to rotate and accelerate by a centrifugal drive motor. The rotation state data of the tube mold is obtained. Based on the rotation state data, the tube mold is determined to enter the steady-state centrifugal force field, and a steady-state determination result is generated. The basic sweeping parameters of the chute are then calculated. The actual geometric center data of the steel cage is obtained based on the spatial compensation module. The offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is calculated, and an eccentricity compensation vector is generated. The eccentricity compensation vector is calculated with the foundation sweep parameters to generate the final corrected material drop trajectory command. According to the final material drop trajectory command, the material distribution chute is driven to adjust its posture and prepare to perform sweeping, the screw conveyor is controlled to start and convey concrete to the weighing hopper, and the weighing sensor monitors the weight data of the falling material. By comparing the weight data with the target total weight of the material, the screw conveyor speed is adjusted when the predetermined approach condition is met, and a stop signal is sent to the screw conveyor and chute drive mechanism when the predetermined termination condition is met. After the material distribution process has completely stopped, record the relevant data for this distribution and upload the data to the production management unit database for storage.

2. The intelligent control method for the automatic material distribution system for pipe pile production as described in claim 1, characterized in that: Sending a standby command to the centrifugal drive module includes... Select the pipe pile specifications and models to be produced according to the production task, match the pipe pile specifications and models to be produced with the specification identifiers in the pre-stored process library, and call the corresponding pre-stored formula parameters and the theoretical center coordinates of the steel cage based on the matching results to form the process call results. Using the pre-stored formula parameters and the theoretical center coordinates of the steel cage in the process call result as the joint verification object, the self-inspection completion result is generated through collaborative verification of parameter integrity, consistency and correlation effectiveness. Based on the self-inspection completion result, the pre-stored formula parameters and the theoretical center coordinates of the steel cage that have passed the verification are selected. The pre-stored formula parameters and theoretical center coordinates of the steel cage that have passed verification are converted and data solidified to form formula parameters and theoretical coordinates. Based on the formula parameters and theoretical coordinates, standby instructions are generated and sent to the centrifugal drive module.

3. The intelligent control method for the automatic material distribution system for pipe pile production as described in claim 2, characterized in that: The calculated basic sweep parameters of the chute include, The tube mold is driven to rotate and accelerate by a centrifugal drive motor, and the rotation state data of the tube mold is continuously acquired. The rotation state data of the tube mold is reorganized according to a continuous time window to construct a rotationally stable feature sequence of rotational change continuity. The trend deviation between adjacent time windows is calculated based on the rotationally stable characteristic sequence, and the trend deviation is analyzed for continuity consistency. When the trend deviation of multiple consecutive time windows meets the preset consistency condition, the tube mold is determined to have entered the steady-state centrifugal force field and a steady-state determination result is generated. Based on the steady-state determination results, the steady-state stage data interval corresponding to the rotation state data of the positioning tube mold is determined, and centrifugal stable distribution parameters are generated by analyzing the distribution pattern of different fluctuation characteristics within the steady-state stage data interval. Based on the steady-state centrifugal force field distribution characteristics characterized by centrifugal stability distribution parameters, dynamic mapping calculations are performed on the material drop coverage requirements at different locations to obtain the basic sweeping parameters of the chute corresponding to the steady-state centrifugal force field.

4. The intelligent control method for the automatic material distribution system for pipe pile production as described in claim 3, characterized in that: The eccentricity compensation vector includes, The actual geometric center data of the steel cage is obtained based on the spatial compensation module. The actual geometric center data of the steel cage is reconstructed spatially according to the correspondence of different spatial positions to form a set of actual geometric center features. The actual geometric center feature set is spatially matched with the theoretical center coordinates of the steel cage. By analyzing the positional differences between the actual geometric center feature set and the theoretical center coordinates of the steel cage in different directions, the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is calculated. Based on the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage, an offset change feature sequence is constructed, and the spatial distribution characteristics of the offset are obtained by analyzing the spatial correlation between the offsets in each direction in the offset change feature sequence. Based on the spatial distribution characteristics of the offset, the offset of the actual geometric center of the steel cage relative to the theoretical center of the steel cage is reconstructed by directional weight, and an eccentricity compensation vector with offset direction information and offset degree information is generated.

5. The intelligent control method for the automatic material distribution system for pipe pile production as described in claim 4, characterized in that: The final corrected material dropping trajectory instruction includes, The eccentricity compensation vector and the basic sweep parameters are matched in coordinate correspondence in three-dimensional space. By establishing a position mapping relationship, the direction and offset information of the eccentricity compensation vector are superimposed on the basic sweep parameters to form intermediate trajectory parameters with spatial correction constraints. Motion continuity analysis is performed on intermediate trajectory parameters with spatial correction constraints. By analyzing the velocity, acceleration, and offset correction magnitude of adjacent trajectory points, the distribution of trajectory points is optimized. The optimized intermediate trajectory parameters are dynamically adjusted by combining them with the directional weight information of the eccentricity compensation vector to generate the final corrected material dropping trajectory instruction.

6. The intelligent control method for the automatic material distribution system for pipe pile production as described in claim 5, characterized in that: The weight data of the monitored falling material includes, Based on the final material drop trajectory command, the corresponding spatial position parameters and motion attitude parameters are analyzed, and the attitude of the material distribution chute is adjusted according to the spatial position parameters and motion attitude parameters to form the material distribution chute preparation state corresponding to the final material drop trajectory command. The preparation state of the material distribution chute is correlated and verified with the final material drop trajectory command. Based on the spatial position parameters corresponding to the preparation state of the material distribution chute, a conveying trigger condition is generated. When the conveying trigger condition is met, the screw conveyor is controlled to start and convey concrete to the weighing hopper, forming a concrete conveying state that is synchronous with the final material drop trajectory command. The time interval and falling interval of concrete entering the weighing hopper are determined based on the concrete conveying state, and a correlation between weight change and concrete conveying state is established to ensure that the weight change process corresponds to the concrete conveying state, thus forming weight monitoring conditions. Based on the weight monitoring conditions, the weight data of the falling material is continuously monitored using a weighing sensor, and the weight data is arranged in chronological order to form weight data corresponding to the concrete conveying status.

7. The intelligent control method for the automatic material distribution system for pipe pile production as described in claim 6, characterized in that: The step of sending a stop signal to the screw conveyor and chute drive mechanism when the predetermined termination condition is met includes... The weight data of the falling material monitored by the weighing sensor is continuously compared with the target total weight of the material to be distributed. By extracting the difference sequence between the weight data and the target total weight of the material to be distributed, the deviation information of the screw conveyor speed is adjusted. Based on the deviation information, the weight data is identified as approaching the predetermined approach condition of the target total weight of material distribution. When the deviation information meets the predetermined approach condition, the speed of the screw conveyor is adjusted to achieve fine control of the material distribution rate, thus forming a screw conveyor speed adjustment state. Based on the adjustment state of the screw conveyor speed, the weight data is continuously compared with the target total weight of material distribution, and a stop signal is generated when the deviation information meets the predetermined termination condition. The stop signal is used to simultaneously control the screw conveyor and the material distribution chute drive mechanism to stop, and the stop signal is converted into a specific action execution command.

8. The intelligent control method for the automatic material distribution system for pipe pile production as described in claim 7, characterized in that: The step of uploading the data to the production management unit database for storage includes, After the screw conveyor and the material distribution chute drive mechanism stop operating, the screw conveyor speed adjustment status, weight data, material distribution trajectory information and chute attitude adjustment status generated during the material distribution process are integrated to generate relevant data for this material distribution. Time series labeling and key parameter extraction were performed on the relevant data of this material distribution. The screw conveyor speed adjustment status, weight data and final material drop trajectory command were correlated and mapped to form the structured relevant data of this material distribution. The relevant data for this material distribution will be uploaded to the production management unit database for storage.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the intelligent control method for the automatic material distribution system for pipe pile production as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the intelligent control method for the automatic material distribution system for pipe pile production as described in any one of claims 1 to 8.

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