Carrying device and control method for concrete box girder

Abstract

The invention discloses a carrying device and a control method for a concrete box girder, the concrete box girder carrying device is used for carrying advancing control of a box girder transfer vehicle which is equipped with a traveling controller used controlling advancing and steering thereof. The carrying control method comprises the following steps of: S1, obtaining a road surface image in front of an advancing route of the box girder transfer vehicle and generating a real-time advancing image; S2, obtaining the real-time advancing image, identifying a pavement fluctuation part in the real-time advancing image, and generating pavement fluctuation data; S3, acquiring driving speed data and frame jitter data of the box girder transfer vehicle to associate with the road surface fluctuation data to obtain data correlation information; and S4, generating a driving control instruction for controlling the speed change of the box girder transfer vehicle according to the data correlation information, and calling, selecting and executing the driving control instruction by a driving controller of the box girder transfer vehicle. According to the scheme adopted by the invention, the carrying control method provides a new thought for inhibiting carrying vibration for unmanned driving and auxiliary driving of box girder carrying, is quick in response, and is reliable to implement.

Description

technical field [0001] The invention relates to the technical field of box girder transportation, in particular to a concrete box girder handling device and a control method. Background technique [0002] Box girder handling is an important link in the construction of roads and bridges. Since precast concrete box girders weigh dozens or even hundreds of tons, the reliability and stability of the box girder during transportation directly affects whether the box girder can reach construction safely with quality and quantity. In the preset area on site, the box girder transfer vehicle is usually equipped with a positioning and placement mechanism to cooperate with the positioning structure on the lower end surface of the box girder, so as to stabilize the box girder on the frame of the box girder transfer vehicle. [0003] When the box girder is loaded on the box girder transfer vehicle for transportation, if the road surface is uneven and the driving speed is fast, the frame w...

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Problems solved by technology

[0003] When the box girder is loaded on the box girder transfer vehicle for transportation, if the road surface is uneven and the driving speed is fast, the frame will swing due to the contact of the road surface undulations transmitted by the tires, which will cause the box girder to swing. However, due to the weight of the frame and the box girder, the state presented is a certain degree of vibration (that is, regular reciprocating swing), because the traditional manual driving method is mostly based on the intuitive feeling of the operator or the entourage, Fleet feedback to make adjustments, which makes operator experience requirements higher

[0004] With the introduction of the concept of automated and unmanned transportation operations, more and more application scenarios have begun to explore unmanned automatic transportation. When the box girder transportation is transferred on the construction site, it completely has the site conditions for unmanned transportation. In addition, , in some specific internal transportation sites, it is also possible to try accordingly. However, in the process of box girder handling, the vibration control of the frame of the box girder transfer vehicle is a very key technology, which is not only related to the box girder loaded on the frame. Whether the force cracking due to vibration will not occur is also related to whether the tires of the box girder transfer vehicle can remain reliable when driving. The inertial force generated is enough to cause the tires of the transfer vehicle to burst, the frame to deform, and even the box girder to slip off. At present, there are few technical records on the monitoring, prediction and feedback control of the frame vibration in the box girder handling. Therefore, starting from this aspect and conducting in-depth research will have great practical significance for the subsequent box girder unmanned transportation and auxiliary transportation

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