Remote control system for intelligent cloth distributing machine

Abstract

The application discloses a kind of remote control systems of intelligent cloth machine, comprising: remote controller, host computer and drive unit;Remote controller is used to receive input cloth instruction, and the analysis result obtained by analysis and processing of cloth instruction is sent to host computer;Host computer is used to receive and respond cloth instruction generation drive instruction, and drive instruction is sent to drive unit, to make drive unit control the discharge port of intelligent cloth machine to move based on drive instruction, and obtain the working state of intelligent cloth machine;Drive unit is used to receive and respond drive instruction, to drive intelligent cloth machine to execute cloth operation.By real-time monitoring and analysis of the state of intelligent cloth machine, intuitive control of the discharge port of intelligent cloth machine is realized using the remote controller, the accuracy of the operating state monitoring of the intelligent cloth machine is improved, and the job safety of the intelligent cloth machine is improved.

Description

Technical Field

[0001] This application relates to the field of control technology for fabric laying machines, and more particularly to a remote control system for an intelligent fabric laying machine. Background Technology

[0002] During on-site concrete pouring, a ground pump is used to transport the concrete, which is then delivered to the placing boom via a pump pipe. The boom is manually pushed or pulled, or remotely controlled, to move the pump pipe outlet to the pouring point.

[0003] Most of the work in this process requires manual participation, which is physically demanding for the workers. Furthermore, the construction sequence and the degree of standardization are subjectively determined by the concrete placing boom operator. Therefore, the work is highly arbitrary during the construction process. Utility Model Content

[0004] The purpose of this application is to provide a remote control system for an intelligent fabric placing machine to solve the technical problems of low operational accuracy and safety of intelligent fabric placing machines in related technologies.

[0005] This application provides a remote control system for an intelligent fabric laying machine, including: a remote controller, a main controller, and a drive unit; The remote controller is used to activate the fabric command, analyze and process the fabric command, and send the analysis results to the main controller. The main control unit is used to receive and respond to the fabric placement instruction to generate drive instructions, and send the drive instructions to the drive unit so that the drive unit controls the outlet of the intelligent fabric placement machine to move based on the drive instructions, and obtains the operating status of the intelligent fabric placement machine. The drive unit is used to receive and respond to the drive command to drive the intelligent fabric laying machine to perform fabric laying operations.

[0006] This application provides a remote control system for an intelligent concrete placing machine, comprising a remote controller, a main controller, and a drive unit. The remote controller receives input placing commands, analyzes and processes these commands, and sends the analysis results to the main controller. The main controller receives and responds to the placing commands, generates drive commands, and sends these commands to the drive unit. The drive unit then controls the movement of the intelligent concrete placing machine's outlet based on the drive commands and acquires the machine's operating status. The drive unit receives and responds to the drive commands to drive the intelligent concrete placing machine to perform placing operations. By monitoring and analyzing the intelligent concrete placing machine's status in real time, the accuracy of monitoring its operation is improved, thus enhancing its operational safety. Attached Figure Description

[0007] Figure 1 This is a block diagram of a remote control system for an intelligent fabric laying machine provided in an embodiment of this application; Figure 2 This is a schematic diagram of a structural block of a driving unit provided in an embodiment of this application. Figure 3 This is a schematic diagram of an interface of the remote control provided in an embodiment of this application. Detailed Implementation

[0008] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0009] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0010] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0011] In existing technologies, on-site concrete pouring operations use ground pumps to deliver concrete, which is then transported to a placing boom via pump pipes. The position of the pump pipe outlet is adjusted manually by pushing or pulling the boom arm or via remote control. This process requires full-time operator involvement, resulting in high labor intensity and reliance on operator judgment for standardized construction practices. Consequently, the operation is highly unpredictable, making it difficult to achieve standardized construction procedures.

[0012] To address the technical problems existing in related technologies, this application provides a remote control system for an intelligent fabric laying machine. Please refer to [link to relevant documentation]. Figure 1Specifically, the remote control system 100 of the intelligent concrete placing machine includes: a remote controller 101, a main controller 102, and a drive unit 103; the remote controller 101 is used to activate the placing command, analyze and process the placing command, and send the analysis results to the main controller 102; the main controller 102 is used to receive and respond to the placing command to generate drive commands, and send the drive commands to the drive unit 103, so that the drive unit 103 controls the material outlet of the intelligent concrete placing machine to move based on the drive commands, and obtains the operating status of the intelligent concrete placing machine; the drive unit 103 is used to receive and respond to the drive commands to drive the intelligent concrete placing machine to perform the placing operation.

[0013] In practical applications, the remote control system 100 of the intelligent concrete placing boom is connected to the intelligent concrete placing boom that needs to be controlled. Control of the intelligent concrete placing boom is achieved through operation on this system. The remote controller 101 refers to a command input device with human-machine interaction capabilities, specifically a wireless controller with physical buttons or a touchscreen. The main control unit 102 is a control center with data processing capabilities, used to analyze and process the command information sent by the remote controller 101. The drive unit 103 is the actuator control module, which receives drive commands sent by the main control unit to control the intelligent concrete placing boom, including its movement and the movement of its boom sections.

[0014] Specifically, the remote controller 101 is connected to the main controller 102, and the main controller 102 is connected to the drive unit 103. Then, the operator can control and adjust the intelligent fabric laying machine by operating the remote controller 101.

[0015] For example, after the operator uses the remote control 101 to input the construction planning document to activate the concrete placing command, the main control unit 102 will simultaneously acquire real-time status data such as the boom angle and pumping status of the concrete placing boom. Then, by performing logical operations on the operation command and the equipment status, it will generate a drive command containing motion trajectory and speed parameters, which will be sent to the drive unit 103. Upon receiving the command, the drive unit 103 will drive the intelligent concrete placing boom to perform adjustments, such as moving it to the target position or controlling the boom movement of the intelligent concrete placing boom. In addition, the drive unit 103 is also used to control the pumping status.

[0016] In actual control, the remote control system 100 of the intelligent placing boom is connected to the intelligent placing boom being controlled. The operator operates the remote control system 100 of the intelligent placing boom to control and adjust the intelligent placing boom, such as controlling the movement of the intelligent placing boom or the movement of the boom section.

[0017] In practice, when the intelligent placing machine is controlled by the control system 100, the operator can send the corresponding placing instructions on the remote controller 101 and then send the obtained control information to the main controller 102 through wireless communication protocols. The main controller 102 then analyzes the placing instructions to determine the control information for the intelligent placing machine so that the placing machine can place the material.

[0018] In addition to the operator's activation command for the placing boom, the remote controller 101 can also receive the position and orientation information of the intelligent placing boom obtained by the main controller. In other words, the operating status of the intelligent placing boom can be displayed in real time on one end of the remote controller 101, for example, on the relevant display interface of the remote controller 101, to display the status of the placing boom, including but not limited to boom status information, placing equipment mode and fault information.

[0019] Furthermore, referring to Figure 1 The main control unit 102 includes a remote control analysis program 1021, which includes: an instruction receiving unit for receiving fabric instructions sent by the remote controller; and an information processing unit for analyzing and processing the fabric instructions to obtain the analysis results corresponding to the fabric instructions.

[0020] For example, the main controller 102 can perform different functions to control and adjust the intelligent concrete placing machine according to operational requirements, such as... Figure 1 As shown, the main controller 102 includes a remote control parsing program 1021, which is mainly used to parse and analyze the relevant information sent by the remote controller 101. Therefore, the remote control parsing program 1021 includes an instruction receiving unit and an information processing unit. The instruction receiving unit is used to establish a communication connection with the remote controller and receive the fabric instructions sent by the remote controller. The information processing unit analyzes the received fabric instructions to determine how to control and adjust the intelligent fabric laying machine.

[0021] In practical applications, the main controller 102 is connected to the remote controller 101 and the drive unit 103 respectively. It generates corresponding control information by receiving the fabric laying instructions sent by the remote controller 101, and then sends the control information to the drive unit 103 to adjust and control the intelligent fabric laying machine.

[0022] For example, when the operator sends a material placement command through the remote controller 101, the command receiving unit in the remote control parsing program 1021 can receive the material placement command sent by the remote controller 101 through the wireless channel, and use the command analysis unit to analyze and process the material placement command to obtain the control command on how to control the operation and running of the intelligent material placement machine, thereby realizing the control and adjustment of the intelligent material placement machine.

[0023] Furthermore, referring to Figure 1 The main control unit 102 also includes a feasible domain analysis program 1022, which includes: a scene acquisition unit for acquiring imported construction scene models; and a scene analysis unit for analyzing and processing the scene models to determine the feasible area of ​​the intelligent concrete placing machine operating in the construction scene.

[0024] For example, based on the adjustment and control of the intelligent concrete placing boom, when placing the concrete, the intelligent concrete placing boom can be controlled to perform the placing action, such as controlling the intelligent concrete placing boom to move to the target position. Alternatively, the position control of the concrete placing boom outlet can be converted into the boom angle control through inverse kinematics, and then the boom angle of the intelligent concrete placing boom can be adjusted to move the position of the concrete placing boom outlet. Alternatively, the intelligent concrete placing boom can be processed for movement planning. Therefore, the placing command sent by the remote controller 101 can be a global operation command to control the overall running path of the concrete placing boom. Specifically, a preset path planning algorithm can be used to divide the construction area into grid coordinates and then generate the motion trajectory.

[0025] Specifically, when the main control unit 102 performs different functions, it can determine the feasible area of ​​the intelligent concrete placing machine, so as to plan the path and adjust the movement of the intelligent concrete placing machine. Therefore, the main control unit 102 determines the feasible area of ​​the intelligent concrete placing machine in the construction scene by identifying and analyzing the construction scene in which the intelligent concrete placing machine is operating. The scene acquisition unit is used to acquire scene images of the construction scene, while the scene analysis unit is used to analyze and process the acquired scene images to obtain the feasible area of ​​the intelligent concrete placing machine. For example, the scene layout and obstacle positions of the construction scene are identified, and then the feasible area of ​​the intelligent concrete placing machine in the construction scene is obtained by combining information such as the size of the intelligent concrete placing machine.

[0026] Furthermore, referring to Figure 1 The main control unit also includes a pouring planning program 1023, which includes: a pouring analysis unit, used to analyze and process the analysis results to obtain control information for the intelligent placing boom, wherein the control information includes movement information and pouring information, the movement information includes movement path and movement speed, and the pouring information includes pouring volume, pump start / stop and pouring time, etc.; and a pouring planning control unit, used to control the movement of the intelligent placing boom and the intelligent placing boom's discharge port according to the control information, and to control the discharge port to perform pouring processing based on the pouring volume and pouring thickness in the control information.

[0027] For pouring planning and control, adjustments can be made in real time according to the actual operating conditions of the construction scenario. For example, the moving speed can be adjusted according to the pumping displacement, and the start and stop of the concrete placing boom can be controlled according to the pumping status. During the planning and construction process, the planning and construction can be paused at any time according to the site conditions to proceed with other operations. After the other operations are completed, the concrete placing boom can autonomously track back to the planned breakpoint position and continue the subsequent planning operations according to the reset function.

[0028] Furthermore, referring to Figure 1 The main control unit 102 also includes an autonomous tracking program 1024, which includes: a position acquisition unit for acquiring the position information and target position information of the intelligent fabric placing machine; and a path tracking unit for analyzing the position information, fabric placing instructions and feasible areas to generate a planned path from the current position corresponding to the position information to the target position corresponding to the target position information.

[0029] For example, the main control unit 102 can autonomously plan the path of the intelligent concrete placing machine. Specifically, the main control unit 102 includes a planning control program 1024. Through the position acquisition unit and path planning unit in the planning control program 1024, the current position of the intelligent concrete placing machine, the feasible area and the received placing instructions are analyzed and processed to obtain the planned path of the intelligent concrete placing machine when executing the placing instructions in the construction scenario.

[0030] Furthermore, referring to Figure 1 The main control unit 102 also includes a motion control program 1025, wherein the motion control program 1025 includes: a status acquisition unit, used to acquire the spatial position of the discharge port on the intelligent concrete placing machine; and an arm adjustment unit, used to adjust the arm angle of the intelligent concrete placing machine according to the spatial position and the arm adjustment range of the intelligent concrete placing machine.

[0031] In practice, when the main control unit 102 controls the intelligent concrete placing boom to complete the pouring operation, it adjusts the position of the boom's discharge port by adjusting the boom section connected to the discharge port. This adjustment is achieved by adjusting the angle of the boom section. During this process, the status acquisition unit in the motion control program 1025 acquires the spatial position of the intelligent concrete placing boom's discharge port, then analyzes and processes this spatial position using the boom section adjustment unit to determine how to adjust the boom section. Finally, based on the pouring requirements, the boom section angle is adjusted so that the discharge port reaches the correct position to complete the pouring operation.

[0032] In addition, the motion control program 105 also includes an autonomous remote control program for controlling the concrete placing boom's outlet to move linearly in a specified direction, ensuring that when the concrete placing boom is manually remotely controlled, the outlet can be controlled to move linearly along the pouring path of the component to be poured. The motion control program 105 also includes a position and posture adjustment program for adjusting the position and posture data of the concrete placing boom to ensure that the placement position and posture of the concrete placing boom on site are consistent with the position and posture in the control program.

[0033] Furthermore, referring to Figure 2 The drive unit 103 further includes: a motion data acquisition subunit 1031, used to acquire the real-time motion status of the intelligent placing machine, wherein the real-time motion status includes the position information of the intelligent placing machine, the position information of the discharge port of the intelligent placing machine, the movement information of the intelligent placing machine, and the angle information of the boom of the intelligent placing machine; and a motion data transmission subunit 1032, used to send the real-time motion status to the main controller.

[0034] The drive unit 103 can also monitor and acquire the real-time status of the intelligent placing boom to ensure that the intelligent placing boom is in a normal and safe operating state. Therefore, the motion data acquisition subunit 1031 in the drive unit 103 can also acquire the real-time motion status of the intelligent placing boom, such as the actual angle, speed, and enable status of the boom segment. The motion data transmission subunit 1032 in the drive unit 103 can transmit the obtained real-time motion data to the main control unit. The main control unit 102 compares the feasible domain analysis results through the data information of each boom segment to determine whether the operating state of the intelligent placing boom is safe.

[0035] Furthermore, referring to Figure 1 The main controller 102 also includes an information feedback unit, which sends the real-time motion status to the remote controller so that the remote controller can display the real-time motion status.

[0036] For example, the real-time motion status acquired by the drive unit 103 is sent to the main control unit 102. To allow operators to promptly view the operational status of the intelligent concrete placing machine, the main control unit 102 also includes an information feedback unit to send the acquired real-time motion status to the remote controller 101, allowing the real-time motion status to be displayed on the remote controller 101. In other words, the remote controller 101 can be a device with a display screen to display the real-time operation of the intelligent concrete placing machine.

[0037] Furthermore, refer to Figure 1The main control unit 102 also includes a pumping control program 1026, which includes: a pumping control unit for acquiring the pumping displacement status; and a pumping adjustment unit for controlling the operating status of the pump according to the pumping displacement status, wherein the operating status includes start and stop.

[0038] For example, the main control unit 102 also includes a pumping control program 1026 for monitoring and controlling the operating status of the ground pump. Specifically, the pumping control program 1026 uses the pumping control unit to acquire the pumping displacement status, and then the pumping adjustment unit controls and adjusts the ground pump associated with the intelligent concrete placing boom according to the pumping displacement status. Specifically, when using a remote control or planning construction, the pumping start / stop data can be parsed from the remote control command or planning construction command to send a stop / start command to the ground pump to control the pumping status; when a sudden event is detected that causes the pumping to start or stop, the status data is simultaneously uploaded to the concrete placing boom main control unit, and the main control unit adjusts the movement status of the concrete placing boom according to the actual pumping status.

[0039] Meanwhile, the pumping control program monitors the pumping displacement data in real time and transmits the displacement information to the main control equipment for fabric placement in real time. This allows for adjustments to the fabric placement machine's movement status (movement speed / pumping position dwell time) and other data during the planned construction process, thereby achieving coordination between the fabric placement action and the pumping action.

[0040] Based on the aforementioned remote control system 100 for the intelligent concrete placing boom, and considering the system's functions, corresponding programs are set on the main control unit 102 to meet different operational needs. Specifically, the programs set on the main control unit 102 include: a remote control parsing program 1021, used to process the remote control's transmit and receive signals; a feasible domain analysis program 1022, used to read the concrete placing construction scene map and analyze and calculate the reachable domain range of the concrete placing boom's outlet; a position and posture adjustment program, used to adjust the concrete placing boom's position and posture data; and a pouring planning analysis program 1023, used to read the concrete placing construction planning file and analyze the planned construction control of the concrete placing boom. The system includes a motion control program 1025, which controls the concrete placing boom's pouring thickness by controlling its speed, interval, start / stop, and the status of the ground pump. The program also includes an autonomous planning program 1024 for autonomous tracking, handling the execution of the planned path. A motion control program 1025 controls various motion modes of the concrete placing boom, converting the end-position control into boom angle control and interacting with the drive unit. The motion control program 1025 includes an autonomous remote control program to control the concrete placing boom's outlet to move linearly in a specified direction. A pumping control program 1026 communicates with the ground pump module to obtain the pumping displacement status and controls the start / stop of the ground pump.

[0041] When operators use remote control 101, the user interface of remote control 101 can be as follows: Figure 3As shown, the interface of the remote controller 101 can also include a display interface (not shown in the figure) to display the real-time operating status of the intelligent fabric placing machine, such as a display screen, or an external display screen can be connected, without any specific restrictions.

[0042] In summary, this application discloses a remote control system for an intelligent concrete placing boom, comprising: a remote controller, a main controller, and a drive unit; the remote controller is used to receive input placing commands, analyze and process the placing commands, and send the analysis results to the main controller; the main controller is used to receive and respond to placing commands to generate drive commands, and send the drive commands to the drive unit, so that the drive unit controls the movement of the intelligent concrete placing boom's outlet based on the drive commands, and acquires the operating status of the intelligent concrete placing boom; the drive unit is used to receive and respond to drive commands to drive the intelligent concrete placing boom to perform placing operations. By monitoring and analyzing the status of the intelligent concrete placing boom in real time, the accuracy of monitoring the operating status of the intelligent concrete placing boom is improved, and the operational safety of the intelligent concrete placing boom is enhanced.

[0043] The foregoing has provided a detailed description of a remote control system for an intelligent fabric laying machine according to embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application. Moreover, those skilled in the art can make several improvements and modifications without departing from the principles of this application, and these improvements and modifications are also considered within the scope of protection of this application.

Claims

1. A remote control system for an intelligent fabric laying machine, characterized in that, include: Remote control, main controller, and drive unit; The remote controller is used to activate the fabric command, analyze and process the fabric command, and send the analysis results to the main controller. The main control unit is used to receive and respond to the fabric placement instruction to generate drive instructions, and send the drive instructions to the drive unit so that the drive unit controls the outlet of the intelligent fabric placement machine to move based on the drive instructions, and obtains the operating status of the intelligent fabric placement machine. The drive unit is used to receive and respond to the drive command to drive the intelligent fabric laying machine to perform fabric laying operations.

2. The remote control system for the intelligent fabric laying machine as described in claim 1, characterized in that, The main control unit includes a remote control parsing program, wherein the remote control parsing program includes: The instruction receiving unit is used to receive the fabric instruction sent by the remote controller; The information processing unit is used to analyze and process the fabric command to obtain the analysis result corresponding to the fabric command.

3. The remote control system for the intelligent fabric laying machine as described in claim 2, characterized in that, The main control unit further includes a feasible domain analysis program, wherein the feasible domain analysis program includes: The scene acquisition unit is used to acquire the scene model of the construction scene; The scene analysis unit is used to analyze and process the scene model to determine the feasible area of ​​the intelligent concrete placing machine's discharge port in the construction scene.

4. The remote control system for the intelligent fabric laying machine as described in claim 1, characterized in that, The main control unit also includes a pouring planning program, wherein the pouring planning program includes: The pouring analysis unit is used to analyze and process the analysis results to obtain control information for the intelligent concrete placing machine. The control information includes movement information and pouring information. The movement information includes movement path and movement speed, and the pouring information includes pouring thickness and pouring position. The pouring control unit is used to control the movement of the intelligent concrete placing machine and its outlet according to the control information, and to control the outlet to perform pouring processing based on the pouring volume and pouring thickness in the control information.

5. The remote control system for the intelligent fabric laying machine as described in claim 3, characterized in that, The main control unit also includes an autonomous tracking program, wherein the autonomous tracking program includes: A location acquisition unit is used to acquire the location information and target location information of the intelligent fabric laying machine; The path-finding unit is used to analyze the location information, the target location information, the fabric command, and the feasible area to generate a planned path for moving from the current location corresponding to the location information to the target location corresponding to the target location information.

6. The remote control system for the intelligent fabric laying machine as described in claim 1, characterized in that, The main control unit also includes a motion control program, wherein the motion control program includes: A status acquisition unit is used to acquire the spatial position of the discharge port on the intelligent fabric laying machine; The boom adjustment unit is used to adjust the boom angle of the intelligent fabric placing machine according to the spatial position and the boom adjustment range of the intelligent fabric placing machine.

7. The remote control system for the intelligent fabric laying machine as described in claim 1, characterized in that, The drive unit further includes: The motion data acquisition subunit is used to acquire the real-time motion status of the intelligent fabric placing machine, wherein the real-time motion status includes the position information of the intelligent fabric placing machine, the position information of the discharge port of the intelligent fabric placing machine, the movement information of the intelligent fabric placing machine, and the angle information of the boom segment of the intelligent fabric placing machine. The motion data transmission subunit is used to send the real-time motion status to the main controller.

8. The remote control system for the intelligent fabric laying machine as described in claim 7, characterized in that, The main control unit also includes: An information feedback unit is used to send the real-time motion status to the remote controller so that the remote controller can display the real-time motion status.

9. The remote control system for the intelligent fabric laying machine as described in claim 1, characterized in that, The main control unit further includes a pumping control program, wherein the pumping control program includes: Pumping control unit, used to obtain pumping displacement status; A pumping regulation unit is used to control the operating state of the ground pump according to the pumping displacement status, wherein the operating state includes starting and stopping.

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