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A platform for research: civil engineering, architecture and urbanism
Concrete pump truck 3D printing control method and system
The invention discloses a concrete pump truck 3D printing control method and system. The concrete pump truck 3D printing control method comprises the steps that 1, a space coordinate system is built, and the initial coordinates of a node and a tail end of a supporting arm frame of a concrete pump truck are obtained; 2, the displacement of the tail end of the arm frame to be moved is input into a control module; 3, the control module decomposes the displacement amount into a plurality of displacement components; and 4, the control module sequentially sends the displacement components to a driving module, and the driving module drives all nodes of the supporting arm frame of the pump truck to complete corresponding displacement in real time. The system comprises a main control module, an angle sensor, a driving module, an encoder and an acceleration sensor. The concrete pump truck 3D printing control method and system has the beneficial effects of high control precision, stable movement, automatic path planning and automatic obstacle avoidance.
本发明公开了一种混凝土泵车3D打印控制方法及系统，所述方法包括：步骤1、建立空间坐标系，获取混凝土泵车支撑臂架的节点和末端的初始坐标；步骤2、在控制模块中输入臂架末端拟移动的位移；步骤3、所述控制模块将上述位移量分解为多个位移分量；步骤4、所述控制模块将所述位移分量依次发送至驱动模块，所述驱动模块实时驱动所述泵车支撑臂架的各节点完成对应的位移。所述系统包括主控模块、角度传感器、驱动模块、编码器、加速度传感器。本发明的有益效果在于：控制精度高、运动平稳、自动规划路径、自动避障。
Concrete pump truck 3D printing control method and system
The invention discloses a concrete pump truck 3D printing control method and system. The concrete pump truck 3D printing control method comprises the steps that 1, a space coordinate system is built, and the initial coordinates of a node and a tail end of a supporting arm frame of a concrete pump truck are obtained; 2, the displacement of the tail end of the arm frame to be moved is input into a control module; 3, the control module decomposes the displacement amount into a plurality of displacement components; and 4, the control module sequentially sends the displacement components to a driving module, and the driving module drives all nodes of the supporting arm frame of the pump truck to complete corresponding displacement in real time. The system comprises a main control module, an angle sensor, a driving module, an encoder and an acceleration sensor. The concrete pump truck 3D printing control method and system has the beneficial effects of high control precision, stable movement, automatic path planning and automatic obstacle avoidance.
本发明公开了一种混凝土泵车3D打印控制方法及系统，所述方法包括：步骤1、建立空间坐标系，获取混凝土泵车支撑臂架的节点和末端的初始坐标；步骤2、在控制模块中输入臂架末端拟移动的位移；步骤3、所述控制模块将上述位移量分解为多个位移分量；步骤4、所述控制模块将所述位移分量依次发送至驱动模块，所述驱动模块实时驱动所述泵车支撑臂架的各节点完成对应的位移。所述系统包括主控模块、角度传感器、驱动模块、编码器、加速度传感器。本发明的有益效果在于：控制精度高、运动平稳、自动规划路径、自动避障。
Concrete pump truck 3D printing control method and system
混凝土泵车3D打印控制方法及系统
LIU QINGWEN (author)
2021-12-10
Patent
Electronic Resource
Chinese
IPC:
E04G
SCAFFOLDING
,
Baugerüste
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