Formwork construction trolley control method and system

Abstract

The invention relates to the technical field of automatic control, in particular to a formwork construction trolley control method and system. The method comprises the following steps: firstly, monitoring a functional part state of a formwork construction trolley in real time, generating equipment state monitoring data, and judging whether the data is abnormal or not; when the data is abnormal, a control instruction and an alarm are sent out; meanwhile, formwork position monitoring is started according to the control instruction, formwork position monitoring data are obtained, whether the retaining wall design requirement is met or not is judged, and if not, a formwork construction trolley is controlled to automatically adjust the formwork position, and the construction precision is improved; besides, river embankment condition characteristics in a construction area are monitored in real time, and working parameters of the formwork construction trolley are optimized according to river embankment condition changes and the retaining wall construction progress so as to adapt to the complex and changeable construction environment, and the construction safety is improved; through automatic control over the formwork construction trolley, the automation level and the overall benefit of river levee retaining wall construction are greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of automated control, and in particular to a control method and system for a formwork construction trolley. Background Art

[0002] With the continuous expansion of water conservancy project construction, river embankment retaining wall construction has become a critical link in water conservancy project construction. Traditional river embankment retaining wall construction is mainly manual, resulting in low construction efficiency, difficult to ensure project quality, and significant safety hazards. To improve the level of automation and construction quality of retaining wall construction, formwork construction trolleys are gradually being used in river embankment retaining wall construction.

[0003] At present, there are many forms construction trolleys on the market. For example, patent number CN114000539A discloses a side form trolley, which includes a bracket, a first side formwork and a second side formwork, multiple first drive devices and multiple second drive devices. The first drive device can drive the first side formwork to approach or move away from the bracket in the horizontal direction, and the second drive device can drive the second side formwork to approach or move away from the bracket in the horizontal direction, which facilitates the side formwork trolley to erect or demold during construction, thereby reducing the labor intensity of workers.

[0004] Existing technology incorporates various functional components into formwork construction trolleys to facilitate their movement and construction, such as travel mechanisms, lifting mechanisms, concrete pouring systems, formwork positioning systems, and safety devices. However, most existing formwork construction trolleys utilize open-loop control, which prevents real-time monitoring of equipment status and the construction environment. This makes them difficult to adapt to complex and changing construction conditions, resulting in low construction accuracy and significant safety risks. This situation warrants further improvement. Summary of the Invention

[0005] In order to solve the problems of low construction precision and high safety risks of existing formwork construction trolleys, this application provides a formwork construction trolley control method and system, which adopts the following technical solutions: In a first aspect, the present application provides a method for controlling a formwork construction trolley, comprising the following steps: Real-time monitoring of the functional component status of the formwork construction trolley, and generation of equipment status monitoring data based on the functional component status; Determining whether the device status monitoring data is abnormal, and issuing a control instruction and an alarm when the device status monitoring data is abnormal; When the equipment status monitoring data is abnormal, a formwork position monitoring instruction is issued according to the control instruction to monitor the formwork position of the formwork construction trolley and generate formwork position monitoring data; Determining whether the formwork position monitoring data meets the preset retaining wall design requirements, and when the formwork position monitoring data does not meet the preset retaining wall design requirements, controlling the formwork construction trolley to adjust the formwork position; The working parameters of the formwork construction trolley are dynamically adjusted according to the progress of the retaining wall construction and the characteristics of the river bank conditions in the construction area.

[0006] By adopting the above-mentioned technical solution, the present application first monitors the functional component status of the formwork construction trolley in real time, generates equipment status monitoring data, and determines whether the data is abnormal; when the data is abnormal, it issues control instructions and alarms to prompt the operator to deal with it in time; at the same time, the formwork position monitoring is started according to the control instructions, and the formwork position monitoring data is obtained to determine whether it meets the retaining wall design requirements. If not, the formwork construction trolley is controlled to automatically adjust the formwork position to improve construction accuracy; in addition, the river embankment condition characteristics in the construction area are monitored in real time, and according to the changes in river embankment conditions and the progress of retaining wall construction, the working parameters of the formwork construction trolley are dynamically optimized, such as walking speed, lifting height, concrete pouring rate, etc., to adapt to the complex and changeable construction environment and improve construction safety; through the automated control of the formwork construction trolley, the automation level and overall efficiency of river embankment retaining wall construction are greatly improved.

[0007] Optionally, real-time monitoring of the functional component status of the formwork construction trolley and generating equipment status monitoring data based on the functional component status specifically include the following steps: Real-time monitoring of the operating parameters of the formwork construction trolley's traveling mechanism, lifting mechanism, formwork positioning system, and concrete pouring system, and generating status data of corresponding functional components based on the operating parameters; Based on the preset functional component status threshold, determine whether the status data is within the normal range, and obtain the operating status evaluation results of each functional component; According to the evaluation results of the operating status of each functional component, the equipment status of the formwork construction trolley is determined and equipment status monitoring data is generated.

[0008] By adopting the above-mentioned technical solution, the present application first uses sensors to monitor the operating parameters of the walking mechanism, lifting mechanism, formwork positioning system and concrete pouring system of the formwork construction trolley in real time, such as walking speed, lifting displacement, formwork deviation, pouring pressure, etc., and generates status data of each functional component; then, according to the pre-set functional component status threshold, it judges whether the status data of each functional component is within the normal range, and obtains the operating status evaluation results of each functional component, such as normal, abnormal or fault level; finally, the operating status evaluation results of all functional components are integrated to determine the overall equipment status of the formwork construction trolley, and generate equipment status monitoring data. By comprehensively detecting the equipment status of the walking, lifting, positioning and pouring functions of the formwork construction trolley, the accuracy and reliability of equipment status diagnosis are improved.

[0009] Optionally, determining whether the formwork position monitoring data meets preset retaining wall design requirements, and when the formwork position monitoring data does not meet the preset retaining wall design requirements, controlling the formwork construction trolley to adjust the formwork position specifically includes the following steps: Obtaining horizontal position coordinates and elevation data of the formwork positioning system; Determine the 3D formwork position model based on the formwork installation position requirements in the retaining wall design drawings; Calculating the formwork position deviation of the formwork construction trolley according to the horizontal position coordinates, the elevation data and the three-dimensional formwork position model; Comparing the formwork position deviation with a preset formwork position error threshold to determine whether the formwork position monitoring data meets the preset retaining wall design requirements; When the formwork position monitoring data does not meet the preset retaining wall design requirements, the module position monitoring data is determined to be abnormal, and a formwork position abnormality alarm message is generated; According to the formwork position deviation and the formwork installation position requirement, the formwork position adjustment amount of the formwork construction trolley is calculated, and the formwork construction trolley is controlled to adjust the formwork position according to the formwork position adjustment amount.

[0010] By adopting the above-mentioned technical solution, this application obtains the position coordinate data of the formwork positioning system, combines it with the three-dimensional formwork position model, calculates the formwork position deviation, and determines whether it meets the design requirements. If not, it automatically calculates the position adjustment amount and controls the formwork construction trolley to make adjustments, thereby achieving precise control of the formwork position.

[0011] Optionally, the working parameters of the formwork construction trolley are dynamically adjusted according to the progress of the retaining wall construction and the characteristics of the riverbank conditions in the construction area, specifically comprising the following steps: Real-time monitoring of riverbank conditions within the construction area, determining whether the riverbank conditions are abnormal based on preset thresholds, and generating an abnormal riverbank condition alert when the riverbank conditions are abnormal; Obtaining planned and actual progress data for retaining wall construction, calculating construction progress deviations, and determining a working parameter adjustment plan for the formwork construction trolley based on the construction progress deviations and the abnormal embankment condition alarms; Generate walking speed adjustment instructions, lifting speed adjustment instructions and concrete pouring speed adjustment instructions according to the working parameter adjustment plan; The working parameters of the formwork construction trolley are dynamically adjusted according to the walking speed adjustment instruction, the lifting speed adjustment instruction and the concrete pouring speed adjustment instruction.

[0012] By adopting the above-mentioned technical solution, this application monitors the characteristics of river embankment conditions in real time, determines whether the river embankment conditions are abnormal, obtains the planned progress and actual progress of retaining wall construction, calculates the construction progress deviation, and comprehensively considers the characteristics of river embankment conditions and progress factors. It dynamically generates the working parameter adjustment plan of the formwork construction trolley, and issues corresponding control instructions to achieve real-time optimization of process parameters such as walking, lifting, and pouring. It can timely discover and respond to river embankment condition risks and ensure construction safety. At the same time, by dynamically controlling the speeds of walking, lifting, pouring, etc., it maximizes construction efficiency while ensuring construction quality.

[0013] Optionally, obtaining planned and actual progress data of the retaining wall construction, calculating the construction progress deviation, and determining a working parameter adjustment plan for the formwork construction trolley based on the construction progress deviation and the abnormal embankment condition alarm, specifically includes the following steps: Obtain the planned and actual progress data of retaining wall construction and calculate the construction progress deviation; Obtain an abnormal embankment condition alarm, and determine the risk level of the current embankment condition based on the preset embankment condition risk level standard; calculate the adjustment range and adjustment direction of the working parameters of the formwork construction trolley based on the construction progress deviation and the current embankment condition risk level, and determine the working parameter adjustment plan of the formwork construction trolley.

[0014] By adopting the above-mentioned technical solution, this application first obtains the planned progress and actual progress data of the retaining wall construction, calculates the construction progress deviation, and grasps the progress of the construction. At the same time, by monitoring the river embankment slope, soil quality, terrain and other conditions, it determines whether the river embankment conditions are abnormal, and determines the risk level of the current river embankment conditions based on the preset risk level standards, quantifies the degree of influence of the river embankment conditions on the construction, comprehensively considers the construction progress deviation and the river embankment condition risk level, and calculates the adjustment range and adjustment direction of various working parameters of the formwork construction trolley such as walking speed, lifting speed, concrete pouring speed, etc., to form a complete working parameter adjustment plan.

[0015] Optionally, the adjustment range and direction of the working parameters of the formwork construction trolley are calculated according to the construction progress deviation and the risk level of the current riverbank conditions, which specifically includes the following steps: Calculate the walking speed adjustment range based on the construction progress deviation and the risk level of the current riverbank conditions. Calculate the adjustment range of the lifting speed based on the construction progress deviation and the risk level of the current river bank conditions. Calculate the adjustment range of concrete pouring speed based on the construction progress deviation and the risk level of the current riverbank conditions. Among them, λ w ,λ l ,λ p are the adjustment direction coefficients of walking speed, lifting speed and concrete pouring speed, Δp is the construction progress deviation, r is the risk level of the current riverbank conditions, are the initial values ​​of walking speed, lifting speed and concrete pouring speed, p0 is the planned progress, and r0 is the risk level when the embankment conditions are normal.

[0016] By adopting the above-mentioned technical solution, this application establishes a mathematical relationship between working parameters and influencing factors by setting adjustment coefficients and variables, thereby achieving precise control of the working parameters of the formwork construction trolley, and can adaptively generate the optimal adjustment plan according to actual conditions, thereby ensuring the efficiency and safety of retaining wall construction.

[0017] In a second aspect, the present application provides a formwork construction trolley control system, comprising: An equipment status monitoring data generation module is used to monitor the status of functional components of the formwork construction trolley in real time and generate equipment status monitoring data based on the status of the functional components; An equipment status monitoring data abnormality judgment module is used to judge whether the equipment status monitoring data is abnormal, and when the equipment status monitoring data is abnormal, issue a control instruction and sound an alarm; a formwork position monitoring data generating module, configured to, when the equipment status monitoring data is abnormal, issue a formwork position monitoring instruction according to the control instruction, monitor the formwork position of the formwork construction trolley, and generate formwork position monitoring data; The formwork position adjustment module is used to determine whether the formwork position monitoring data meets the preset retaining wall design requirements. When the formwork position monitoring data does not meet the preset retaining wall design requirements, the formwork construction trolley is controlled to adjust the formwork position; the working parameter adjustment module is used to dynamically adjust the working parameters of the formwork construction trolley according to the retaining wall construction progress and the river embankment conditions in the construction area.

[0018] Optionally, the equipment status monitoring data generation module includes: A status data generating unit is used to monitor the operating parameters of the traveling mechanism, lifting mechanism, formwork positioning system and concrete pouring system of the formwork construction trolley in real time, and generate status data of corresponding functional components according to the operating parameters; An operating status evaluation unit, configured to determine whether the status data is within a normal range based on a preset functional component status threshold, and obtain an operating status evaluation result for each functional component; The equipment status monitoring data generating unit is used to determine the equipment status of the formwork construction trolley according to the operating status evaluation results of each functional component and generate equipment status monitoring data.

[0019] Optionally, the mold frame position adjustment module includes: A position information acquisition unit, used to acquire the horizontal position coordinates and elevation data of the mold frame positioning system; a position model determining unit for determining a three-dimensional formwork position model based on formwork installation position requirements in the retaining wall design drawing; a position deviation calculating unit for calculating the formwork position deviation of the formwork construction trolley based on the horizontal position coordinates, the elevation data, and the three-dimensional formwork position model; a design requirement judgment unit, configured to compare the formwork position deviation with a preset formwork position error threshold to determine whether the formwork position monitoring data meets a preset retaining wall design requirement; an abnormality alarm unit, configured to determine that the module position monitoring data is abnormal and generate a formwork position abnormality alarm message when the formwork position monitoring data does not meet the preset retaining wall design requirements; The formwork position adjustment unit is used to calculate the formwork position adjustment amount of the formwork construction trolley according to the formwork position deviation and the formwork installation position requirement, and control the formwork construction trolley to adjust the formwork position according to the formwork position adjustment amount.

[0020] Optionally, the operating parameter adjustment module includes: A riverbank abnormality alarm generating unit is used to monitor the riverbank condition characteristics in the construction area in real time, determine whether the riverbank condition is abnormal based on a preset threshold, and generate a riverbank abnormality alarm when the riverbank condition is abnormal; a working parameter adjustment scheme determining unit, configured to obtain the planned progress and actual progress data of the retaining wall construction, calculate the construction progress deviation, and determine the working parameter adjustment scheme of the formwork construction trolley based on the construction progress deviation and the abnormal embankment condition alarm; An adjustment instruction generating unit, configured to generate a walking speed adjustment instruction, a lifting speed adjustment instruction, and a concrete pouring speed adjustment instruction according to the working parameter adjustment scheme; The working parameter adjustment unit is used to dynamically adjust the working parameters of the formwork construction trolley according to the walking speed adjustment instruction, the lifting speed adjustment instruction and the concrete pouring speed adjustment instruction.

[0021] Optionally, the working parameter adjustment scheme determining unit includes: The progress deviation calculation subunit is used to obtain the planned and actual progress data of the retaining wall construction and calculate the construction progress deviation. The risk level determination subunit is used to obtain abnormal embankment condition alerts and determine the current embankment condition risk level based on the preset embankment condition risk level standards. The parameter adjustment scheme determination subunit is used to calculate the adjustment range and adjustment direction of the working parameters of the formwork construction trolley according to the construction progress deviation and the risk level of the current riverbank conditions, and determine the working parameter adjustment scheme of the formwork construction trolley.

[0022] Optionally, the parameter adjustment scheme determination subunit performs the following steps: Calculate the walking speed adjustment range based on the construction progress deviation and the risk level of the current riverbank conditions. Calculate the adjustment range of the lifting speed based on the construction progress deviation and the risk level of the current river bank conditions. Calculate the adjustment range of concrete pouring speed based on the construction progress deviation and the risk level of the current riverbank conditions. Among them, λ w ,λ l ,λ p are the adjustment direction coefficients of walking speed, lifting speed and concrete pouring speed, Δp is the construction progress deviation, r is the risk level of the current riverbank conditions, are the initial values ​​of walking speed, lifting speed and concrete pouring speed, p0 is the planned progress, and r0 is the risk level when the embankment conditions are normal.

[0023] In summary, this application includes at least one of the following beneficial technical effects: 1. This application first monitors the status of functional components of the formwork construction trolley in real time, generates equipment status monitoring data, and determines whether the data is abnormal; when the data is abnormal, it issues control instructions and alarms to prompt the operator to deal with it in time; at the same time, according to the control instructions, the formwork position monitoring is started, the formwork position monitoring data is obtained, and it is determined whether it meets the retaining wall design requirements. If not, the formwork construction trolley is controlled to automatically adjust the formwork position to improve construction accuracy; in addition, the river embankment condition characteristics in the construction area are monitored in real time, and according to the changes in river embankment conditions and the progress of retaining wall construction, the working parameters of the formwork construction trolley are dynamically optimized, such as walking speed, lifting height, concrete pouring rate, etc., to adapt to the complex and changeable construction environment and improve construction safety; through the automated control of the formwork construction trolley, the river embankment retaining wall is greatly improved. The automation level and overall efficiency of construction; 2. This application first uses sensors to monitor the operating parameters of the walking mechanism, lifting mechanism, formwork positioning system and concrete pouring system of the formwork construction trolley in real time, such as walking speed, lifting displacement, formwork deviation, pouring pressure, etc., and generates status data of each functional component; then, based on the pre-set functional component status threshold, it is judged whether the status data of each functional component is within the normal range, and the operating status evaluation results of each functional component are obtained, such as normal, abnormal or fault level; finally, the operating status evaluation results of all functional components are combined to determine the overall equipment status of the formwork construction trolley, and generate equipment status monitoring data. By comprehensively detecting the equipment status of the walking, lifting, positioning and pouring functions of the formwork construction trolley, the accuracy and reliability of equipment status diagnosis are improved; 3. This application monitors the characteristics of river embankment conditions in real time to determine whether the river embankment conditions are abnormal, obtains the planned and actual progress of retaining wall construction, calculates the construction progress deviation, and dynamically generates a working parameter adjustment plan for the formwork construction trolley based on the characteristics of river embankment conditions and progress factors. It also issues corresponding control instructions to achieve real-time optimization of process parameters such as walking, lifting, and pouring, and can promptly detect and respond to river embankment condition risks to ensure construction safety. At the same time, by dynamically controlling the speeds of walking, lifting, and pouring, it maximizes construction efficiency while ensuring construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flow chart of a method for controlling a formwork construction trolley according to an embodiment of the present application; Figure 2 This is a flow chart of step S100 in a method for controlling a formwork construction trolley according to an embodiment of the present application; Figure 3 This is a flow chart of step S200 in a method for controlling a formwork construction trolley according to an embodiment of the present application; Figure 4 This is a flow chart of step S500 in a method for controlling a formwork construction trolley according to an embodiment of the present application; Figure 5 This is a flow chart of step S520 in a method for controlling a formwork construction trolley according to an embodiment of the present application; Figure 6 This is a flow chart of step S523 in a method for controlling a formwork construction trolley according to an embodiment of the present application; Figure 7 This is a module diagram of a formwork construction trolley control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] The terms used in the following examples of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "said," "above," "the," and "this" are intended to include plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in this application refers to any or all possible combinations comprising one or more of the listed items.

[0026] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0027] The embodiments of the present application are described in further detail below with reference to the accompanying drawings.

[0028] In the first aspect, the present application provides a method for controlling a formwork construction trolley, referring to Figure 1 , including the following steps: S100, monitor the status of functional components of the formwork construction trolley in real time, and generate equipment status monitoring data according to the status of the functional components.

[0029] In this embodiment, the functional components include but are not limited to a walking mechanism, a lifting mechanism, a formwork positioning system, and a concrete pouring system.

[0030] Specifically, sensors are installed at key positions of functional components, such as speed sensors on the walking mechanism and pressure sensors on the lifting mechanism, to collect the operating parameters of each component in real time, and generate equipment status monitoring data after data processing.

[0031] S200: Determine whether the equipment status monitoring data is abnormal. When the equipment status monitoring data is abnormal, issue a control instruction and sound an alarm.

[0032] Among them, anomaly refers to the deviation of equipment status monitoring data from the normal range or exceeding the preset threshold, indicating that functional components may have faults or safety hazards and need to be dealt with in a timely manner.

[0033] Specifically, the status monitoring data is compared with the pre-set normal value range. Once a deviation is found, an alarm signal is triggered and corresponding control instructions are sent to the control system of the formwork construction trolley, such as reducing the driving speed, stopping the operation, etc., to avoid accidents.

[0034] S300: When the equipment status monitoring data is abnormal, a formwork position monitoring instruction is issued according to the control instruction to monitor the formwork position of the formwork construction trolley and generate formwork position monitoring data.

[0035] Formwork position refers to the spatial location and posture of the formwork system on the formwork construction trolley used to pour retaining wall concrete. Abnormal equipment status can cause the formwork position to shift or deform, necessitating real-time monitoring of formwork position accuracy.

[0036] Specifically, a GPS positioning device and inclination sensor are installed on the formwork construction trolley to collect data such as the formwork's three-dimensional coordinates and inclination angle in real time. After coordinate conversion and error compensation, monitoring data reflecting the formwork's actual position is generated. Simultaneously, this monitoring data is compared with the theoretical position in the design drawings to calculate positional deviations.

[0037] S400, determining whether the formwork position monitoring data meets the preset retaining wall design requirements; when the formwork position monitoring data does not meet the preset retaining wall design requirements, controlling the formwork construction trolley to adjust the formwork position.

[0038] Among them, the retaining wall design requirements refer to the allowable deviation range of technical parameters such as the retaining wall's geometric dimensions, flatness, verticality, etc.

[0039] Specifically, the formwork position monitoring data is compared with the retaining wall design requirements to determine whether it is within the allowable deviation range. If the monitoring data exceeds the design requirements, the formwork position adjustment program is activated, and the formwork position is restored to the designed state by controlling the movement, lifting, and pushing of the formwork construction trolley.

[0040] S500. Dynamically adjust the working parameters of the formwork construction trolley according to the progress of the retaining wall construction and the characteristics of the riverbank conditions in the construction area.

[0041] Among them, the construction progress reflects the completion status and planned arrangements of the retaining wall construction. The river embankment condition characteristics include riverbed topography, hydrological conditions, meteorological conditions and other environmental factors that affect construction. By reasonably adjusting the working parameters of the formwork construction trolley, the construction efficiency and economy can be improved while ensuring the quality and safety of the project.

[0042] Specifically, 3D laser scanning and other technologies are used to obtain a digital terrain model of the construction site, which is matched with the retaining wall design model to automatically generate the optimal construction path and operation plan. At the same time, Internet of Things technology is used to collect real-time data on river water level, flow rate, weather, riverbank slope, soil quality, etc., to assess the risk of their impact on construction, and dynamically optimize operating parameters such as the travel speed of the formwork construction trolley and daily pouring volume, so as to maximize the construction progress while ensuring safety and quality.

[0043] In one embodiment, referring to Figure 2 In step S100, the functional component status of the formwork construction trolley is monitored in real time, and equipment status monitoring data is generated according to the functional component status, which specifically includes the following steps: S110 , monitoring the operating parameters of the traveling mechanism, lifting mechanism, formwork positioning system, and concrete pouring system of the formwork construction trolley in real time, and generating status data of corresponding functional components according to the operating parameters.

[0044] Operating parameters refer to physical quantities such as speed, pressure, and temperature of functional components during operation, which can intuitively reflect the working condition and performance of the components. By installing sensors at key locations, these parameter values ​​can be collected in real time.

[0045] Specifically, for the walking mechanism, the operating speed of the crawler and the current of the drive motor are monitored; for the lifting mechanism, the pressure and displacement of the hydraulic cylinder are monitored; for the formwork positioning system, the coordinate value and attitude angle of the positioning device are monitored; for the concrete pouring system, the operating frequency and power of the concrete placing boom and vibrator are monitored.

[0046] S120 : Based on a preset functional component status threshold, determine whether the status data is within a normal range, and obtain an evaluation result of the operating status of each functional component.

[0047] Among them, the status threshold is the normal operating range set based on the technical parameters of the functional components and historical experience. When the status data exceeds this range, it means that the component may be abnormal or faulty.

[0048] S130. Determine the equipment status of the formwork construction trolley based on the evaluation results of the operating status of each functional component and generate equipment status monitoring data.

[0049] In one embodiment, referring to Figure 3 In step S200, it is determined whether the formwork position monitoring data meets the preset retaining wall design requirements. When the formwork position monitoring data does not meet the preset retaining wall design requirements, the formwork construction trolley is controlled to adjust the formwork position, which specifically includes the following steps: S210: Acquire the horizontal position coordinates and elevation data of the mold base positioning system.

[0050] Among them, the horizontal position coordinate reflects the spatial position of the mold frame in the horizontal plane, and the elevation reflects the vertical height of the mold frame. The two together determine the three-dimensional installation position of the mold frame.

[0051] S220. Determine the three-dimensional formwork position model based on the formwork installation position requirements in the retaining wall design drawings.

[0052] Among them, the retaining wall design drawings include the geometric parameters of the retaining wall such as the plane layout, elevation direction, cross-sectional dimensions, as well as construction requirements such as the installation position, support method, and pouring sequence of the formwork. They are an important basis for guiding the positioning and operation of the formwork construction trolley.

[0053] Specifically, BIM technology is used to convert the design drawings into three-dimensional digital models, which include the theoretical installation position coordinates of the formwork, forming parametric construction instructions; then three-dimensional visualization software is used to generate the formwork position model.

[0054] S230: Calculate the formwork position deviation of the formwork construction trolley based on the horizontal position coordinates, elevation data, and the three-dimensional formwork position model.

[0055] Among them, the mold frame position deviation refers to the difference between the actual installation position of the mold frame and the designed theoretical position, including two components: plane deviation and elevation deviation.

[0056] S240: Compare the formwork position deviation with a preset formwork position error threshold to determine whether the formwork position monitoring data meets the preset retaining wall design requirements.

[0057] Among them, the formwork position error threshold is the upper limit of the allowable deviation set according to the structural characteristics of the retaining wall and the construction process requirements. It usually includes two aspects: plane position error and elevation error, reflecting the minimum accuracy requirement for formwork installation.

[0058] S250: When the formwork position monitoring data does not meet the preset retaining wall design requirements, the module position monitoring data is determined to be abnormal, and a formwork position abnormality alarm message is generated.

[0059] Specifically, when the mold base position deviation exceeds the error threshold, the system automatically records the abnormal data, generates an alarm message, and issues an alert through an audible and visual alarm. Simultaneously, an alarm window pops up on the control interface, displaying a 3D schematic diagram of the abnormal position and the critical deviation value, guiding the operator to make corrections. Furthermore, the alarm message can be pushed to on-site management personnel via text message or email, enabling remote monitoring and dispatch.

[0060] S260. Calculate the formwork position adjustment amount of the formwork construction trolley based on the formwork position deviation and the formwork installation position requirement, and control the formwork construction trolley to adjust the formwork position based on the formwork position adjustment amount.

[0061] The mold frame position adjustment amount refers to the distance or angle required to move to eliminate position deviation, and the adjustment direction is opposite to the deviation direction.

[0062] Specifically, this application takes into account the stiffness and position sensing accuracy of the mold frame itself and adopts a hierarchical adjustment strategy, that is, first performing a large-scale coarse adjustment, and then performing a small-scale fine adjustment until the deviation value converges to the threshold range.

[0063] In one embodiment, referring to Figure 4 In step S500, the working parameters of the formwork construction trolley are dynamically adjusted according to the progress of the retaining wall construction and the characteristics of the river bank conditions in the construction area, which specifically includes the following steps: S510. Real-time monitoring of riverbank condition characteristics within the construction area, determining whether the riverbank condition is abnormal based on a preset threshold, and generating an abnormal riverbank condition alarm when the riverbank condition is abnormal.

[0064] Among them, the river embankment condition characteristics include river water level, flow velocity, sediment content, weather, river embankment slope, soil quality and other environmental factors that affect construction safety and technology.

[0065] Specifically, online monitoring instruments such as radar water level gauges, current meters, and turbidity meters are used to automatically collect data on river water level, flow rate, and sediment concentration at regular intervals. These data are then wirelessly transmitted to the monitoring center. Meteorological information such as wind speed and rainfall is also collected from the weather station and correlated with riverbank monitoring data for analysis. When monitored values ​​exceed pre-set safety thresholds (e.g., water level exceeds warning levels, flow rates exceed allowable limits), the system automatically generates an abnormality alert, notifying on-site personnel via audible and visual alarms, text message push notifications, and other means. Adjustments are then made to the construction schedule, initiating emergency response plans.

[0066] S520. Obtain the planned progress and actual progress data of the retaining wall construction, calculate the construction progress deviation, and determine the working parameter adjustment plan of the formwork construction trolley based on the construction progress deviation and abnormal riverbank condition alarm.

[0067] Construction schedule deviation refers to the difference between the actual amount of work completed and the planned amount of work. When the deviation is too large, measures must be taken to adjust construction organization and resource allocation to ensure on-time completion.

[0068] S530: Generate a walking speed adjustment instruction, a lifting speed adjustment instruction, and a concrete pouring speed adjustment instruction according to the working parameter adjustment plan.

[0069] Among them, the speed adjustment instruction is a control command issued to each executive component of the formwork construction trolley to implement the working parameter adjustment plan, which directly determines the operating efficiency and energy consumption level of the trolley.

[0070] Specifically, an intelligent optimization algorithm is adopted, with construction progress, energy consumption, safety, etc. as optimization targets, and the structural parameters of the formwork construction trolley such as maximum walking speed, rated lifting speed, standard pouring speed, etc. as constraints, to solve the optimal value of each speed instruction.

[0071] S540. Dynamically adjust the working parameters of the formwork construction trolley according to the walking speed adjustment instruction, the lifting speed adjustment instruction and the concrete pouring speed adjustment instruction.

[0072] In one embodiment, referring to Figure 5 In step S520, the planned progress and actual progress data of the retaining wall construction are obtained, the construction progress deviation is calculated, and the working parameter adjustment plan of the formwork construction trolley is determined based on the construction progress deviation and the abnormal embankment condition alarm. The specific steps include the following: S521. Obtain the planned progress and actual progress data of the retaining wall construction and calculate the construction progress deviation.

[0073] The system connects with the construction management system to obtain the planned progress data of the retaining wall construction, including the planned start time, planned completion time, key nodes, etc. of each construction stage; at the same time, through various construction sensors and manual input, it obtains the actual construction progress data, including the actual start time, actual completion percentage, and completed cubic meters.

[0074] S522. Obtain an abnormal riverbank condition alert, and determine the risk level of the current riverbank condition based on a preset riverbank condition risk level standard.

[0075] The system receives alerts and parameter values ​​for abnormal embankment conditions, including those related to exceeding water levels, excessive flow rates, high sediment concentrations, severe weather conditions, abnormal embankment slopes, and loose soil. The system also pre-determines risk levels for embankment conditions, comprehensively considering risk level descriptions and response measures for different combinations of water levels, flow rates, sediment concentrations, weather conditions, slopes, and soil types.

[0076] Specifically, a risk assessment model based on the Analytic Hierarchy Process (AHP) was pre-established, using water level and flow velocity as primary features, sediment content as a secondary feature, and weather, slope, and soil quality as tertiary features. Through feature stratification and combination, a risk level determination rule was formed. Using water level and flow velocity as primary features, a baseline risk level was set based on different combinations of water level and flow velocity. For example, when the water level exceeded the warning value by 10% and the flow velocity exceeded 2 meters per second, the baseline risk level was set to Level II. Sediment content was then used as a secondary feature, and a risk level correction factor was set based on the sediment content. For example, when the sediment content exceeded 5 kilograms per cubic meter, the risk level increased by one level; when the sediment content was less than 2 kilograms per cubic meter, the risk level decreased by one level. Weather, slope, and soil quality were then used as tertiary features to further modify the risk level. For example, the risk level increased by one level when accompanied by strong winds and heavy rain; when the riverbank slope was greater than 1:2; and when the soil was loose sand.

[0077] S523. Based on the construction progress deviation and the risk level of the current riverbank conditions, calculate the adjustment range and direction of the working parameters of the formwork construction trolley, and determine the adjustment plan for the working parameters of the formwork construction trolley.

[0078] In one embodiment, referring to Figure 6 In step S523, the adjustment range and direction of the working parameters of the formwork construction trolley are calculated according to the construction progress deviation and the risk level of the current riverbank conditions, which specifically includes the following steps: S5231. Calculate the walking speed adjustment range based on the construction progress deviation and the risk level of the current riverbank conditions.

[0079] in,

[0080] S5232. Calculate the adjustment range of the lifting and lowering speed based on the construction progress deviation and the risk level of the current riverbank conditions.

[0081] in,

[0082] S5233. Calculate the adjustment range of concrete pouring speed based on the construction progress deviation and the risk level of the current riverbank conditions.

[0083] in,

[0084] Among them, λ w ,λ l ,λ p are the adjustment direction coefficients of walking speed, lifting speed and concrete pouring speed, Δp is the construction progress deviation, r is the risk level of the current riverbank conditions, are the initial values ​​of walking speed, lifting speed and concrete pouring speed, p0 is the planned progress, and r0 is the risk level when the embankment conditions are normal.

[0085] Specifically, this application first determines the safety threshold and optimization direction of speed adjustment according to the construction process and equipment performance requirements, and then pre-establishes the mapping relationship between the speed adjustment direction coefficient and the construction progress deviation and risk level based on expert experience, and uses a piecewise linear function to convert the speed adjustment direction coefficient λ into w ,λ l ,λ p Expressed as a function of Δp / p0 and r / r0. For example, when Δp / p0≤-10% and r / r0≤1, λ w =0.2,λ l =0.15,λ p =0.1; when -10%<Δp / p0≤0 and r / r0≤1, λ w =0.1,λ l =0.05,λ p =0.

[0086] Through this, a mathematical relationship between working parameters and influencing factors is established, which enables precise control of the working parameters of the formwork construction trolley. It can also adaptively generate the optimal adjustment plan based on actual conditions to ensure the efficiency and safety of retaining wall construction.

[0087] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0088] In the second aspect, the present application provides a formwork construction trolley control system. The formwork construction trolley control system of the present application is described below in combination with the above-mentioned formwork construction trolley control method.

[0089] Reference Figure 7 , a formwork construction trolley control system, comprising: Equipment status monitoring data generation module, used to monitor the status of functional components of the formwork construction trolley in real time and generate equipment status monitoring data based on the status of functional components; The equipment status monitoring data abnormality judgment module is used to judge whether the equipment status monitoring data is abnormal. When the equipment status monitoring data is abnormal, it issues a control instruction and sounds an alarm; The formwork position monitoring data generation module is used to issue a formwork position monitoring instruction according to the control instruction when the equipment status monitoring data is abnormal, monitor the formwork position of the formwork construction trolley and generate formwork position monitoring data; The formwork position adjustment module is used to determine whether the formwork position monitoring data meets the preset retaining wall design requirements. When the formwork position monitoring data does not meet the preset retaining wall design requirements, the formwork construction trolley is controlled to adjust the formwork position; The working parameter adjustment module is used to dynamically adjust the working parameters of the formwork construction trolley according to the progress of retaining wall construction and the characteristics of river embankment conditions in the construction area.

[0090] Optionally, the equipment status monitoring data generation module includes: A status data generation unit is used to monitor the operating parameters of the formwork construction trolley's traveling mechanism, lifting mechanism, formwork positioning system, and concrete pouring system in real time, and to generate status data of corresponding functional components based on the operating parameters; An operating status evaluation unit is used to determine whether the status data is within a normal range based on a preset functional component status threshold, and obtain an operating status evaluation result of each functional component; The equipment status monitoring data generating unit is used to determine the equipment status of the formwork construction trolley based on the operating status evaluation results of each functional component and generate equipment status monitoring data.

[0091] Optional, mold base position adjustment module includes: Position information acquisition unit, used to obtain the horizontal position coordinates and elevation data of the mold frame positioning system; The position model determination unit is used to determine the three-dimensional formwork position model based on the formwork installation position requirements in the retaining wall design drawings; the position deviation calculation unit is used to calculate the formwork position deviation of the formwork construction trolley based on the horizontal position coordinates, elevation data and the three-dimensional formwork position model; A design requirement judgment unit is used to compare the formwork position deviation with a preset formwork position error threshold to determine whether the formwork position monitoring data meets the preset retaining wall design requirements; An abnormality alarm unit is used to determine that the module position monitoring data is abnormal and generate a formwork position abnormality alarm message when the formwork position monitoring data does not meet the preset retaining wall design requirements; The formwork position adjustment unit is used to calculate the formwork position adjustment amount of the formwork construction trolley according to the formwork position deviation and the formwork installation position requirements, and control the formwork construction trolley to adjust the formwork position according to the formwork position adjustment amount.

[0092] Optionally, the working parameter adjustment module includes: A riverbank abnormality alarm generating unit is used to monitor the riverbank condition characteristics in the construction area in real time, determine whether the riverbank condition is abnormal based on a preset threshold, and generate a riverbank abnormality alarm when the riverbank condition is abnormal; The working parameter adjustment plan determination unit is used to obtain the planned and actual progress data of the retaining wall construction, calculate the construction progress deviation, and determine the working parameter adjustment plan of the formwork construction trolley based on the construction progress deviation and abnormal riverbank condition alarms; the adjustment instruction generation unit is used to generate travel speed adjustment instructions, lifting speed adjustment instructions, and concrete pouring speed adjustment instructions based on the working parameter adjustment plan; The working parameter adjustment unit is used to dynamically adjust the working parameters of the formwork construction trolley according to the walking speed adjustment instruction, the lifting speed adjustment instruction and the concrete pouring speed adjustment instruction.

[0093] Optionally, the working parameter adjustment scheme determining unit includes: The progress deviation calculation subunit is used to obtain the planned and actual progress data of the retaining wall construction and calculate the construction progress deviation. The risk level determination subunit is used to obtain abnormal embankment condition alerts and determine the current embankment condition risk level based on the preset embankment condition risk level standards. The parameter adjustment plan determination subunit is used to calculate the adjustment range and direction of the working parameters of the formwork construction trolley based on the construction progress deviation and the risk level of the current riverbank conditions, and determine the working parameter adjustment plan of the formwork construction trolley.

[0094] Optionally, the parameter adjustment scheme determination subunit performs the following steps: Calculate the walking speed adjustment range based on the construction progress deviation and the risk level of the current riverbank conditions. Calculate the adjustment range of lifting speed according to the construction progress deviation and the risk level of the current river bank conditions. Calculate the adjustment range of concrete pouring speed based on the construction progress deviation and the risk level of the current riverbank conditions. Among them, λ w ,λ l ,λ p are the adjustment direction coefficients of walking speed, lifting speed and concrete pouring speed, Δp is the construction progress deviation, r is the risk level of the current riverbank conditions, are the initial values ​​of walking speed, lifting speed and concrete pouring speed, p0 is the planned progress, and r0 is the risk level when the embankment conditions are normal.

[0095] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A control method for a formwork construction trolley, characterized in that: The steps include: Monitor the status of functional components of the formwork construction trolley in real time, and generate equipment status monitoring data according to the status of the functional components; Determine whether the equipment status monitoring data is abnormal, and when the equipment status monitoring data is abnormal, issue a control instruction and sound an alarm; When the equipment status monitoring data is abnormal, a formwork position monitoring instruction is issued according to the control instruction, the formwork position of the formwork construction trolley is monitored and formwork position monitoring data is generated; Determine whether the formwork position monitoring data meets the preset retaining wall design requirements, and when the formwork position monitoring data does not meet the preset retaining wall design requirements, control the formwork construction trolley to adjust the formwork position; The working parameters of the formwork construction trolley are dynamically adjusted according to the progress of the retaining wall construction and the characteristics of the river bank conditions in the construction area.

2. The control method of the formwork construction trolley according to claim 1, characterized in that: Real-time monitoring of the functional component status of the formwork construction trolley and generation of equipment status monitoring data according to the functional component status specifically include the following steps: Real-time monitoring of the operating parameters of the traveling mechanism, lifting mechanism, formwork positioning system and concrete pouring system of the formwork construction trolley, and generating status data of corresponding functional components according to the operating parameters; Based on the preset functional component status threshold, determine whether the status data is within the normal range, and obtain the operating status evaluation result of each functional component; According to the evaluation results of the operating status of each functional component, the equipment status of the formwork construction trolley is determined and equipment status monitoring data is generated.

3. The control method of the formwork construction trolley according to claim 2, characterized in that: Determining whether the formwork position monitoring data meets the preset retaining wall design requirements, and when the formwork position monitoring data does not meet the preset retaining wall design requirements, controlling the formwork construction trolley to adjust the formwork position, specifically includes the following steps: Obtaining the horizontal position coordinates and elevation data of the mold frame positioning system; Determine the three-dimensional formwork position model based on the formwork installation position requirements in the retaining wall design drawings; Calculating the formwork position deviation of the formwork construction trolley according to the horizontal position coordinates, the elevation data and the three-dimensional formwork position model; Compare the formwork position deviation with a preset formwork position error threshold to determine whether the formwork position monitoring data meets the preset retaining wall design requirements; When the formwork position monitoring data does not meet the preset retaining wall design requirements, the module position monitoring data is determined to be abnormal, and a formwork position abnormality alarm message is generated; The formwork position adjustment amount of the formwork construction trolley is calculated according to the formwork position deviation and the formwork installation position requirement, and the formwork construction trolley is controlled to adjust the formwork position according to the formwork position adjustment amount.

4. The control method of the formwork construction trolley according to claim 1, characterized in that: According to the progress of retaining wall construction and the characteristics of riverbank conditions in the construction area, the working parameters of the formwork construction trolley are dynamically adjusted, specifically including the following steps: Monitor the riverbank conditions in the construction area in real time, determine whether the riverbank conditions are abnormal based on preset thresholds, and generate an abnormal riverbank condition alarm when the riverbank conditions are abnormal; Obtaining the planned progress and actual progress data of the retaining wall construction, calculating the construction progress deviation, and determining the working parameter adjustment plan of the formwork construction trolley according to the construction progress deviation and the abnormal alarm of the river bank condition; According to the working parameter adjustment scheme, a walking speed adjustment instruction, a lifting speed adjustment instruction and a concrete pouring speed adjustment instruction are generated; The working parameters of the formwork construction trolley are dynamically adjusted according to the walking speed adjustment instruction, the lifting speed adjustment instruction and the concrete pouring speed adjustment instruction.

5. The control method of the formwork construction trolley according to claim 4, characterized in that: Obtaining the planned progress and actual progress data of the retaining wall construction, calculating the construction progress deviation, and determining the working parameter adjustment plan of the formwork construction trolley according to the construction progress deviation and the abnormal alarm of the river bank condition, specifically includes the following steps: Obtain the planned and actual progress data of retaining wall construction and calculate the construction progress deviation; Obtain an abnormal embankment condition alarm, and determine the risk level of the current embankment condition based on the preset embankment condition risk level standard; calculate the adjustment range and direction of the working parameters of the formwork construction trolley based on the construction progress deviation and the current embankment condition risk level, and determine the working parameter adjustment plan of the formwork construction trolley.

6. The control method of the formwork construction trolley according to claim 5, characterized in that: According to the construction progress deviation and the risk level of the current riverbank conditions, the adjustment range and direction of the working parameters of the formwork construction trolley are calculated, which specifically includes the following steps: According to the construction progress deviation and the risk level of the current riverbank conditions, the walking speed adjustment range is calculated. According to the construction progress deviation and the risk level of the current river bank conditions, the adjustment range of the lifting speed is calculated. According to the construction progress deviation and the risk level of the current riverbank conditions, the adjustment range of the concrete pouring speed is calculated. Among them, λ w , l , p are the adjustment direction coefficients of walking speed, lifting speed and concrete pouring speed, Δp is the construction progress deviation, r is the risk level of the current riverbank conditions, are the initial values ​​of walking speed, lifting speed and concrete pouring speed, p0 is the planned progress, and r0 is the risk level when the embankment conditions are normal.

7. A control system for a formwork construction trolley, characterized in that: include: An equipment status monitoring data generating module is used to monitor the status of functional components of the formwork construction trolley in real time and generate equipment status monitoring data according to the status of the functional components; The device status monitoring data abnormality judgment module is used to judge whether the device status monitoring data is abnormal, and when the device status monitoring data is abnormal, issue a control instruction and sound an alarm; A formwork position monitoring data generating module, which is used to issue a formwork position monitoring instruction according to the control instruction when the equipment status monitoring data is abnormal, monitor the formwork position of the formwork construction trolley and generate formwork position monitoring data; A formwork position adjustment module is used to determine whether the formwork position monitoring data meets the preset retaining wall design requirements, and when the formwork position monitoring data does not meet the preset retaining wall design requirements, control the formwork construction trolley to adjust the formwork position; The working parameter adjustment module is used to dynamically adjust the working parameters of the formwork construction trolley according to the progress of the retaining wall construction and the characteristics of the river bank conditions in the construction area.

8. The formwork construction trolley control system according to claim 7, characterized in that: The equipment status monitoring data generation module includes: A status data generating unit is used to monitor the operating parameters of the traveling mechanism, lifting mechanism, formwork positioning system and concrete pouring system of the formwork construction trolley in real time, and generate status data of corresponding functional components according to the operating parameters; An operation status evaluation unit, used to determine whether the status data is within a normal range based on a preset functional component status threshold, and obtain an operation status evaluation result of each functional component; The equipment status monitoring data generating unit is used to determine the equipment status of the formwork construction trolley according to the operating status evaluation results of each functional component and generate equipment status monitoring data.

9. The formwork construction trolley control system according to claim 8, characterized in that: The mold frame position adjustment module comprises: A position information acquisition unit, used to acquire the horizontal position coordinates and elevation data of the mold frame positioning system; A position model determination unit is used to determine the three-dimensional formwork position model based on the formwork installation position requirements in the retaining wall design drawings; a position deviation calculation unit is used to calculate the formwork position deviation of the formwork construction trolley according to the horizontal position coordinates, the elevation data and the three-dimensional formwork position model; A design requirement judgment unit, used to compare the formwork position deviation with a preset formwork position error threshold to judge whether the formwork position monitoring data meets the preset retaining wall design requirements; An abnormal alarm unit is used to determine that the module position monitoring data is abnormal and generate a formwork position abnormal alarm message when the formwork position monitoring data does not meet the preset retaining wall design requirements; The formwork position adjustment unit is used to calculate the formwork position adjustment amount of the formwork construction trolley according to the formwork position deviation and the formwork installation position requirement, and control the formwork construction trolley to adjust the formwork position according to the formwork position adjustment amount.

10. The formwork construction trolley control system according to claim 7, characterized in that: The working parameter adjustment module comprises: A riverbank condition abnormality alarm generating unit is used to monitor the riverbank condition characteristics in the construction area in real time, determine whether the riverbank condition is abnormal according to a preset threshold, and generate a riverbank condition abnormality alarm when the riverbank condition is abnormal; A working parameter adjustment scheme determining unit is used to obtain the planned progress and actual progress data of the retaining wall construction, calculate the construction progress deviation, and determine the working parameter adjustment scheme of the formwork construction trolley according to the construction progress deviation and the abnormal embankment condition alarm; An adjustment instruction generating unit, used for generating a walking speed adjustment instruction, a lifting speed adjustment instruction and a concrete pouring speed adjustment instruction according to the working parameter adjustment scheme; The working parameter adjustment unit is used to dynamically adjust the working parameters of the formwork construction trolley according to the walking speed adjustment instruction, the lifting speed adjustment instruction and the concrete pouring speed adjustment instruction.

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