A transmission control system for steel mesh

Abstract

The present invention provides a transmission control system for steel mesh, comprising a hoisting control module: used to hoist the steel mesh onto the installation outer formwork of the pipe gallery through a hoisting device and to fix the installation; a tensioning control module: used to control the transmission accuracy of the hoisting device through a tensioning wheel and a chain arranged on the tensioning wheel; a transmission control module: used to control the movement of the hoisting device at the top of the pipe gallery through a hydraulic drive device to control the position of the steel mesh; a limiting module: used to limit the moving position of the hoisting device through a limiting mechanism to control the start and stop of the hoisting device. The beneficial effects of the present invention are: the present invention can realize the efficient, fast and accurate installation of the steel mesh, realize the automated installation control of the steel mesh, reduce or even eliminate the need for the installation equipment for controlling the steel mesh, simple installation, and can greatly reduce the occurrence of accidents.

Description

Technical Field

[0001] The present invention relates to the technical field of steel mesh, and in particular to a transmission control system of a steel mesh. Background Art

[0002] Currently, when installing steel mesh, it is necessary to use a lifting device to lift the steel mesh to the target location, and then use a lifting cylinder to transfer the steel mesh to a fixed position for manual installation. However, because the control of the lifting device and the lifting cylinder in the existing technology is manual and lacks automation, the installation of steel mesh is time-consuming, labor-intensive, and inconvenient, which can easily lead to accidents and installation errors. Summary of the Invention

[0003] The present invention provides a transmission control system for a steel mesh, which is used to solve the problem in the prior art that the control of the lifting device and the control of the lifting cylinder are all manual and lack automation functions, making the installation of the steel mesh time-consuming, labor-intensive and inconvenient, and easily causing accidents and installation deviations.

[0004] A transmission control system for a steel mesh, comprising:

[0005] Hoisting control module: used to hoist the steel mesh to the installation outer formwork of the pipe gallery through the hoisting device and fix it;

[0006] Tensioning control module: used for controlling the transmission accuracy of the hoisting device through a tensioning wheel and a chain arranged on the tensioning wheel;

[0007] Transmission control module: used to control the movement of the lifting device at the top of the tunnel through the hydraulic drive device and control the position of the steel mesh;

[0008] Limit module; used to limit the moving position of the lifting device through the limit mechanism and control the start and stop of the lifting device.

[0009] As an embodiment of the present invention: the system further includes:

[0010] Sensing module: used to obtain sensing data through sensing devices pre-installed on the lifting device, tensioning wheel, hydraulic drive device, lifting device and limiting device;

[0011] Data acquisition module: used to classify the sensor data according to the corresponding structure on the transmission control system, and determine the data acquisition position and the corresponding structure control data;

[0012] Installation judgment unit: used to judge the installation progress of the steel mesh according to the data collection position;

[0013] Automatic control module: used to control the transmission control system to install the steel mesh according to the installation progress, structural control data and the preset steel mesh installation process template.

[0014] As an embodiment of the present invention: the installation judgment unit includes:

[0015] Position acquisition subunit: obtains the data collection position; wherein,

[0016] The data collection position is determined by the transmission components and corresponding sensors of the transmission control system, and each of the transmission components has a unique corresponding sensor device;

[0017] Installation model building subunit: according to the data collection location, determine the real-time data and build the installation model; wherein,

[0018] The real-time parameters include: structural data, execution data, comparison parameters of standard installation parameters and implemented installation parameters, real-time change parameters, parameter change mean and parameter comparison coefficient;

[0019] Installation model parameter setting subunit: used to preset installation parameter data, build an installation parameter setting model, and serve as a standard construction model;

[0020] Construction progress judgment subunit: used to integrate and compare the standard construction model and the installation model to determine the real-time construction progress.

[0021] As an embodiment of the present invention: the hoisting control module includes:

[0022] Transverse control unit: used to control the transverse movement of the lifting device by driving the motor and the lead screw when the lifting device is lifting the steel mesh or after the lifted steel mesh is installed;

[0023] Lifting control unit: used to control the lifting device to descend or ascend through the lifting cylinders on the left and right sides of the lifting device when the lifting device lifts the steel mesh to the preset position or after the lifting device installs the steel mesh;

[0024] Motor control unit: used to determine the control action that the motor needs to perform based on the real-time installation data of the steel mesh and perform the control operation;

[0025] Connecting device: used to connect the steel mesh and fix the steel mesh to the lower part of the lifting device for lifting control.

[0026] As an embodiment of the present invention: the hoisting control module further includes:

[0027] Position determination unit: used to construct a steel mesh model through monitoring equipment installed on the inner wall of the tunnel, and determine the installation position and installation order of the steel mesh;

[0028] Real-time judgment unit: used to judge the real-time installation position of the steel mesh according to the installation sequence and real-time monitoring data;

[0029] A lateral calculation unit is used to determine the lateral movement distance according to the lateral track length of the lifting device and the real-time installation position of the steel mesh, and to determine the speed and rotation time of the driving motor based on the lateral movement distance;

[0030] Lifting calculation unit: used to determine the real-time pressure of the lifting cylinder according to the real-time position and installation position of the steel mesh, and determine the corresponding hydraulic oil volume according to the real-time pressure.

[0031] As an embodiment of the present invention, the tensioning control module includes:

[0032] Tensioning wheel control unit: used to determine the difference between the steel mesh and the installation position according to the laser calibration device on the tensioning device, and fine-tune the position of the steel mesh according to the difference;

[0033] Error determination unit: used to obtain the calibration data of the laser calibration device and the real-time position of the steel mesh, and to establish a virtual installation scene, perform installation rehearsal, and determine the difference;

[0034] A tensioning wheel calculation unit is used to determine the number of rotations of the tensioning wheel according to the difference and the preset control parameters of the tensioning wheel;

[0035] Precision adjustment unit: used to control the rotation of the tensioning wheel according to the number of rotations of the tensioning wheel, drive the chain to tension, adjust the position of the steel mesh, and adjust the installation accuracy of the steel mesh.

[0036] As an embodiment of the present invention, the transmission control module includes:

[0037] Hydraulic device: used to drive the lifting device to lift and fix the steel mesh through the hydraulic equipment as the driving device;

[0038] Transmission calculation device: used to calculate the transmission time, transmission distance, and control parameters of the transmission equipment at each moment of the steel mesh according to the weight of the steel mesh and the installation position of the steel mesh, and generate transmission data;

[0039] Scenario simulation device: used to simulate the scenario of the steel mesh inside the pipe gallery according to the device of the transmission system, and determine the installation process of the steel mesh and the control process of the transmission system based on the transmission data;

[0040] Instruction output unit: used to determine the control instructions and instruction issuance time of each device in the transmission system according to the installation process and control process, and issue instructions according to the event timeline of the steel mesh installation.

[0041] As an embodiment of the present invention: the limiting module includes:

[0042] Travel limit unit: used to determine the travel distance of the steel mesh in each moving direction during the installation process, and based on the travel distance and the preset travel switch, control the lifting device to limit stop in each moving direction;

[0043] Installation limit unit: used to automatically adjust the position of the steel mesh and perform installation limit after the steel mesh is installed to the limit frame by the lifting device through the fixed limit frame;

[0044] Fixed limit unit: used to apply pressure to the steel mesh through the fixed limit device after the steel mesh is installed to adjust the gap between the steel mesh and the pipe gallery;

[0045] Sprocket limit unit: used to perform emergency limit on the tensioning wheel according to the real-time alignment angle of the steel mesh when the steel mesh is precisely adjusted through the tensioning wheel.

[0046] As an embodiment of the present invention, the installation limiting unit further includes:

[0047] Target position determination subunit: used to obtain a fixed limit frame and determine the target position information; wherein,

[0048] The fixed limit frame is used to define the installation position of the steel mesh, and the fixed limit frame has a unique position;

[0049] The target position information includes: limit orientation information, coordinate information of the fixed limit frame, volume information of the limit frame, limit coefficient information and space coefficient of the internal limit space;

[0050] The limiting model building subunit is used to build a limiting model according to the target position information;

[0051] Real-time installation model building subunit: used to obtain the post-installation completion information of the installed steel mesh and build a real-time installation model;

[0052] The completion information includes: coordinate information after installation, boundary information after installation, and installation dimensions;

[0053] Adjustment subunit: used to determine the similarity between the limit model and the real-time installation model and determine whether to make an adjustment.

[0054] As an embodiment of the present invention, the sprocket limiting unit further comprises the following steps for performing emergency limiting:

[0055] Step 10: Determine the real-time alignment angle of the steel mesh according to the steel mesh;

[0056] Step 20: judging whether there is any installation deviation of the steel mesh according to the real-time alignment angle; wherein,

[0057] When there is an installation deviation, the tensioning coefficient of the tensioning wheel and the control coefficient of the real-time alignment angle of the steel mesh are determined, and the tensioning wheel is controlled to continue to adjust;

[0058] When there is no installation deviation, the motor driving the tensioning wheel is controlled to stop rotating to perform emergency limiting.

[0059] The beneficial effects of the present invention are that the present invention can achieve efficient, fast and accurate installation of steel mesh, realize automated steel mesh installation control, reduce or even eliminate the need for installation equipment that controls the steel mesh, and is simple to install, and can greatly reduce the occurrence of accidents.

[0060] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0061] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0063] Figure 1 This is a system composition diagram of a transmission control system for a steel mesh according to an embodiment of the present invention;

[0064] Figure 2 This is a device structure diagram corresponding to a transmission control system of a steel mesh according to an embodiment of the present invention;

[0065] Figure 3 Schematic diagram of a tensioning device of a device corresponding to a transmission control system of a steel mesh in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0067] As attached Figure 1 and attached Figure 2 As shown, the present invention is a transmission control system for a steel mesh, comprising:

[0068] Hoisting control module: used to hoist the steel mesh to the installation outer formwork of the pipe gallery through the hoisting device and fix it;

[0069] The hoisting control module controls the hoisting equipment of the steel mesh, such as the attached Figure 2 As shown in the figure, 1 is the lifting equipment, 2 is the horizontally movable track, and 3 is the lifting and fixing device for the steel mesh. The lifting equipment is controlled by a motor to achieve left and right movement. The lifting and fixing device at the bottom is used to fix the steel mesh and then install it on the outer membrane of the tunnel by moving left and right.

[0070] Tensioning control module: used to control the transmission accuracy of the hoisting device through the tensioning wheel and the chain set on the tensioning wheel; the tensioning device is as shown in the attached Figure 3 As shown, this is part of the lifting equipment and is used to achieve fine-tuning of the lifting device and the position of the steel mesh by rotating the tensioning wheel of the tensioning device when the lifting device moves the steel mesh above the installation position, thereby achieving fine-tuning of the lifting device and the position of the steel mesh, thereby achieving higher-precision installation of the steel mesh.

[0071] Transmission control module: used to control the movement of the lifting device at the top of the pipe gallery through the hydraulic drive device and control the position of the steel mesh; the hydraulic channel device of the transmission device is mainly used to control the up and down movement of the lifting device, and the transmission control module is to realize the determination of the transmission process, which is determined according to the transmission process.

[0072] The limit module is used to limit the movement of the lifting device through the limit mechanism and control the start and stop of the lifting device. The limit device is suitable for accurately installing the steel mesh based on the limit when the steel mesh is in place, and controls the start and adjustment of the lifting device.

[0073] The principle behind the above technical solution is that the present invention provides a device for installing steel mesh using pipe gallery installation equipment. Its hoisting control module is primarily used to control the hoisting equipment, which is used to hoist the steel mesh and then move it left and right to above the installation location. A tensioning device is used to precisely adjust the steel mesh once it has been moved to the upper portion of the installation location. Finally, a position-limiting device is used to limit the installation of the steel mesh.

[0074] The beneficial effects of the present invention are that the present invention can achieve efficient, fast and accurate installation of steel mesh, realize automated steel mesh installation control, reduce or even eliminate the need for installation equipment that controls the steel mesh, and is simple to install, and can greatly reduce the occurrence of accidents.

[0075] As an embodiment of the present invention: the system further includes:

[0076] Sensing module: used to obtain sensing data through sensing devices pre-installed on the lifting device, tensioning wheel, hydraulic drive device, lifting device and limiting device;

[0077] Lifting devices, tensioning pulleys, hydraulic drive devices, hoisting devices, and limit devices are all common components of existing steel mesh installation equipment. Sensors include infrared sensors, angle sensors, rotation number sensors, pressure sensors, and other sensors, enabling data collection during transmission.

[0078] Data acquisition module: used to classify the sensor data according to the corresponding structure on the transmission control system, and determine the data acquisition position and the corresponding structural control data; the data acquisition position is the equipment for data acquisition, and the structural control data is the data of the lifting control instructions when the transmission control system realizes automatic control for lifting the steel mesh.

[0079] Installation judgment unit: used to judge the installation progress of the steel mesh according to the data collection position; when the present invention is performing data collection, if the tensioning wheel generates data, it means that the steel mesh has moved above the installation position to achieve fine-tuning. If only the lifting device is driven, left movement or right movement means that the steel mesh is lifted or the lifting is completed.

[0080] Automatic control module: used to control the transmission control system to install the steel mesh according to the installation progress, structural control data, and a preset steel mesh installation process template. During automatic control, the present invention and the steel mesh installation process template are provided to determine the steel mesh installation steps and the data that should be generated at a certain installation step. Then, based on the installation progress, the subsequent steps are determined, and the steel mesh is controlled to be installed through the subsequent steps.

[0081] The beneficial effect of the present invention is that the present invention can realize the collection of data of the steel mesh during the installation process, and then the installation progress can be judged by these data, and then the automatic control installation of the steel mesh can be realized according to the installation progress, thereby realizing unmanned operation.

[0082] As an embodiment of the present invention: the installation judgment unit includes:

[0083] Position acquisition subunit: obtains the data collection position; wherein,

[0084] The data collection position is determined by the transmission components and corresponding sensors of the transmission control system, and each of the transmission components has a unique corresponding sensor device;

[0085] Installation model building subunit: according to the data collection location, determine the real-time data and build the installation model; wherein,

[0086] The real-time parameters include: structural data, execution data, comparison parameters of standard installation parameters and implemented installation parameters, real-time change parameters, parameter change mean and parameter comparison coefficient;

[0087] Installation model parameter setting subunit: used to preset installation parameter data, build an installation parameter setting model, and serve as a standard construction model;

[0088] Construction progress judgment subunit: used to integrate and compare the standard construction model and the installation model to determine the real-time construction progress.

[0089] The execution process of the installation judgment unit of the present invention is as follows, and the final construction progress value is determined by the above method.

[0090] Step 1: According to the data collection position, carry out the installation model of the steel mesh:

[0091]

[0092] Among them, J i represents the structural features corresponding to the i-th data collection position; S i Represents the structural data parameters of the structure corresponding to the i-th data collection position; x i represents the real-time execution parameters corresponding to the i-th data collection position; a i represents the standard installation parameters of the i-th data collection location; y i represents the real-time parameter change parameter of the i-th data collection position, b i represents the mean value of parameter change at the i-th data collection location; p x，y Indicates the comparison coefficient between the execution parameter and the change parameter; i = 1, 2, 3...n; n represents the total number of data collection locations;

[0093] In step 1, when the steel mesh is installed, (J i *S i ) is used to determine the structure of the data collection location, and then determine which structures the generated data belong to. It is a structural component used to determine the generated data, such as the tensioner, etc. The ratio of the standard installation parameters that should be achieved and the actual collected data under the standard execution, P i Indicates execution parameters, which is equivalent to the present invention judging the installation status by the sum of the actual execution parameters of the device and the execution parameters stored in the system. This can be used to determine whether the actual execution status exceeds the preset installation progress or does not exceed the preset installation status, thereby determining the installation status.

[0094] Step 2: Build an installation parameter setting model based on the preset installation parameter data:

[0095]

[0096] Among them, W j represents the jth system structure position parameter; δ j represents the control parameters of the j-th system structure; Q j The order parameter representing the control order of the j-th system structure; t j represents the control time of the jth system structure; γ represents the composition coefficient of the system structure; S (j) represents the jth system structure distribution coefficient; j = 1, 2, 3...m; m represents the total number of system structures;

[0097] In step 2, the present invention can determine the execution parameters of each system structure under ideal conditions by constructing a setting model of the installation parameters, and introduces the execution time and execution order of each device, and then determines the installation parameters of the execution devices of each system structure under actual conditions in a differential form.

[0098] Step 3: Based on the installation model and parameter setting model, build a progress judgment model and construction progress:

[0099]

[0100] Among them, E represents the progress value of the construction progress.

[0101] In step 3, the present invention calculates an execution coefficient by comparing the model of the actual installation parameters and the execution parameters of each device, that is, by comparing the installation parameters and the actual execution parameters, and then determines the execution progress corresponding to each execution coefficient.

[0102] As an embodiment of the present invention: the hoisting control module includes:

[0103] Transverse control unit: used to control the transverse movement of the lifting device by driving the motor and the lead screw when the lifting device is lifting a steel mesh or after the lifted steel mesh is installed; transverse control is to control the lifting device to achieve left and right movement. At this time, there are only two situations: at the beginning of installation or after installation, the lifting device goes to lift another steel mesh.

[0104] Lifting control unit: used to control the lifting device to descend or ascend through the lifting cylinders on the left and right sides of the lifting device when the lifting device lifts the steel mesh to a preset position or after the lifting device installs the steel mesh; the lifting device of the present invention is provided with lifting cylinders on the left and right sides, and when the lifting device is moved to just above the installation position, the steel mesh is installed by descending.

[0105] Motor control unit: used to determine the control action that the motor needs to perform based on the real-time installation data of the steel mesh, and perform the control operation; in the entire transmission process, all steps basically involve motor control actions, so the present invention will achieve motor control by controlling the action of the motor.

[0106] Connecting device: used to connect the steel mesh and fix the steel mesh to the lower part of the lifting device for lifting control. The installation of the present invention requires that the lifting device on which the steel mesh is installed be controlled and moved. Therefore, the present invention is provided with a connecting device to achieve the fixing and lifting control of the steel mesh.

[0107] As an embodiment of the present invention: the hoisting control module further includes:

[0108] Position judgment unit: used to construct a construction model of the steel mesh through the monitoring equipment installed on the inner wall of the corridor, and determine the installation position and installation order of the steel mesh; when installing the steel mesh, the present invention not only makes determination based on real-time collected data, but also includes video recognition technology, which is convenient for staff to observe.

[0109] Real-time judgment unit: used to judge the real-time installation position of the steel mesh according to the installation sequence and real-time monitoring data; when the installation sequence is determined and the installation position of the steel mesh is determined by corresponding information, the present invention will judge whether the installation steps of the steel mesh executed in real time are correct, so the present invention will determine it based on the real-time installation position of the steel mesh.

[0110] Transverse calculation unit: used to judge the transverse movement distance according to the transverse track length of the lifting device and the real-time installation position of the steel mesh, and determine the speed and rotation time of the driving motor based on the said transverse movement distance; in the process of automatic control, the present invention will determine the required transverse movement distance according to the installation position of the steel mesh, and then control the transverse movement of the lifting device by controlling the speed of the motor.

[0111] The lifting calculation unit is used to determine the real-time pressure of the lifting cylinder based on the real-time position and installation position of the steel mesh, and to determine the corresponding hydraulic oil volume based on the real-time pressure. When controlling the up and down movement of the steel mesh, the present invention uses a hydraulic device to control the descent and ascent of the lifting device to achieve the installation of the steel mesh.

[0112] As an embodiment of the present invention, the tensioning control module includes:

[0113] Tensioning wheel control unit: used to determine the difference between the steel mesh and the installation position based on the laser calibration device on the tensioning device, and fine-tune the position of the steel mesh based on the difference; when there is only a small adjustment between the installation position and the actual position of the steel mesh and it can be lowered for installation, the present invention will achieve regulation through the tensioning wheel, and the laser calibration device is set to achieve fine-tuning of the tensioning device.

[0114] Error determination unit: used to obtain the calibration data of the laser calibration device and the real-time position of the steel mesh, and to establish a virtual installation scene, perform installation rehearsal, and determine the difference; when the steel mesh is installed, fine-tuning is performed because there is a small error, and this error is difficult to detect manually, so the present invention uses the laser calibration device to detect this error and make adjustments.

[0115] Tensioner calculation unit: used to determine the number of rotations of the tensioner according to the difference and the preset control parameters of the tensioner; when the tensioner is controlled, it is based on the difference found in real time, and then the adjustment method of the tensioner is determined by the preset corresponding control parameters, and the rotation parameters are determined to achieve error control.

[0116] Precision adjustment unit: used to control the rotation of the tensioning wheel according to the number of rotations of the tensioning wheel, drive the chain to tension, adjust the position of the steel mesh, and adjust the installation accuracy of the steel mesh.

[0117] The principle of the above technical solution is that the present invention uses infrared technology to calibrate the steel mesh during installation, and then when the accuracy is not high enough, the steel mesh can be installed with high precision by adjusting the tensioning wheel.

[0118] As an embodiment of the present invention, the transmission control module includes:

[0119] Hydraulic device: used to drive the lifting device to lift and fix the steel mesh through the hydraulic equipment as a driving device; the hydraulic device of the present invention is used to realize the up and down movement drive of the lifting device, so the hydraulic device is used as a driving device to drive the lifting device to move up and down.

[0120] Transmission calculation device: used to calculate the transmission time, transmission distance, and control parameters of the transmission equipment at each moment of the steel mesh according to the weight of the steel mesh and the installation position of the steel mesh, and generate transmission data; the present invention will calculate the transmission data when performing transmission control. At this time, the present invention will realize the division of transmission data through data collection of transmission time, transmission distance, and transmission equipment.

[0121] Scenario simulation device: used to simulate the scene of the steel mesh inside the pipe gallery according to the device of the transmission system, and judge the installation process of the steel mesh and the control process of the transmission system based on the transmission data; when the present invention performs transmission control, the control process of the installation process is judged through scenario simulation, and finally the overall control of the transmission control system is realized based on the control process.

[0122] The command output unit is used to determine the control instructions and command issuance time for each device in the transmission system based on the installation process and control process, and to issue the instructions according to the event timeline of the steel mesh installation. When the present invention controls the entire transmission control system to control the steel mesh installation, it will determine which execution instructions are issued and executed at each moment based on the event timeline (i.e., the installation process and control process during the overall installation process, based on the installation steps and control information executed at each time point of the event).

[0123] As an embodiment of the present invention: the limiting module includes:

[0124] Travel limit unit: used to determine the travel distance of the steel mesh in each moving direction during the installation process, and based on the travel distance and the preset travel switch, control the lifting device to limit stop in each moving direction; the present invention will also provide a travel switch, which is a physical switch, used to control the lifting device so that it will not exceed the preset position due to too fast speed during lateral movement and ascent and descent movement.

[0125] Installation limit unit: used to automatically adjust the position of the steel mesh and perform installation limit after the steel mesh is installed to the limit frame by the lifting device through the fixed limit frame; because the steel mesh has a fixed installation position, but if there is no limiting device, the installation error is likely to be too large, so the present invention provides a fixed limit frame, which is set at the installation position of each steel mesh to achieve fixed installation of the steel mesh.

[0126] Fixed limiting unit: used to apply pressure to the steel mesh after the steel mesh is installed through the fixed limiting device to reduce the gap between the steel mesh and the pipe gallery; after the steel mesh is installed, because the steel mesh has a certain flexibility, the present invention reduces the gap between it and other steel meshes or the inner membrane of the pipe gallery by applying pressure, thereby achieving the fixation of the steel mesh.

[0127] Sprocket limiter: Used to provide emergency position limits on the tensioner when precision-adjusting the steel mesh through the tensioner. To prevent over-adjustment during fine-tuning of the steel mesh, the tensioner is also placed in an emergency position limit. This is an immediate position limit to ensure accurate positioning.

[0128] As an embodiment of the present invention:

[0129] The installation limiting unit also includes:

[0130] Target position determination subunit: used to obtain a fixed limit frame and determine the target position information; wherein,

[0131] The fixed limit frame is used to define the installation position of the steel mesh, and the fixed limit frame has a unique position;

[0132] The target position information includes: limit orientation information, coordinate information of the fixed limit frame, volume information of the limit frame, limit coefficient information and space coefficient of the internal limit space;

[0133] The limiting model building subunit is used to build a limiting model according to the target position information;

[0134] Real-time installation model building subunit: used to obtain the post-installation completion information of the installed steel mesh and build a real-time installation model;

[0135] The completion information includes: coordinate information after installation, boundary information after installation, and installation dimensions;

[0136] Adjustment subunit: used to determine the similarity between the limit model and the real-time installation model and determine whether to make an adjustment.

[0137] It achieves regulation through the following steps:

[0138] Step S1: determining target position information for steel mesh installation according to the fixed limit frame;

[0139] Step S2: Constructing a fixed limit frame limit model based on the target position information:

[0140]

[0141] Where X represents the limit model of the fixed limit frame; D l Represents the limit orientation parameter of the lth limit boundary point of the fixed limit frame; represents the coordinate function of the lth bounding point of the fixed bounding box; V represents the bounding volume of the fixed bounding box; μ represents the bounding coefficient of the bounding point of the fixed bounding box; ξ represents the internal bounding space of the fixed bounding box; l = 1, 2, 3...k, where k represents the number of bounding points;

[0142] In step 2, the present invention determines the boundary coordinate function of the fixed limit frame in three-dimensional space through the target position information, that is, the target installation information of the steel mesh and the status of the fixed limit frame; Used to calculate the specific parameters of the limited space in three-dimensional space, that is, the spatial function of the limited space; Represents the overall limit contour function, because D l The orientation of each limiting point is determined, and the limiting of the present invention is performed by fixing the boundary of the limiting frame.

[0143] Step S3: Collect the installation status information of the installed steel mesh, determine the real-time installation status corresponding to each limit boundary point, and build a real-time installation model:

[0144]

[0145] Among them, a i Indicates the installation coordinate point corresponding to the lth limit boundary point of the fixed limit frame; A vector function representing the real-time installation coordinates and the limit boundary point coordinates; r l Indicates the coordinates of the installation coordinate point corresponding to the lth limit boundary point of the fixed limit frame; T represents the dimension;

[0146] In step 4, the present invention is carried out by Determine the vector space function of the limit boundary points, It is used to determine the Mahalanobis distance between the upper boundary point of the fixed limit frame and the installation coordinate point, and then determine the installation model during the real-time installation of the steel mesh, determine the real-time installation status, and the dimension is whether to build the model from three dimensions or two dimensions.

[0147] Step S4: According to the limiting model of the fixed limiting frame and the real-time installation model of the steel mesh, the installation-related values ​​are determined by the following formula, and it is determined whether the steel mesh needs to be adjusted:

[0148]

[0149] Among them, when H=1, it means that the steel mesh does not need to be adjusted; when H<1, it means that the steel bars need to be adjusted;

[0150] In step 4, the present invention determines whether the connection is very consistent through the correlation between the installation condition and the limit condition. If it is very consistent, there is no need to adjust the position of the steel mesh. If it is not consistent, the steel mesh needs to be adjusted.

[0151] Step S5: When the steel mesh needs to be adjusted, the installation difference that needs to be adjusted is determined according to the installation-related value, and the position of the steel mesh is adjusted according to the difference.

[0152] As an embodiment of the present invention, the sprocket limiting unit further comprises the following steps for performing emergency limiting:

[0153] Step 10: Determine the real-time alignment angle of the steel mesh according to the steel mesh;

[0154] Step 20: judging whether there is any installation deviation of the steel mesh according to the real-time alignment angle; wherein,

[0155] When there is an installation deviation, the tensioning coefficient of the tensioning wheel and the control coefficient of the real-time alignment angle of the steel mesh are determined, and the tensioning wheel is controlled to continue to adjust;

[0156] When there is no installation deviation, the motor driving the tensioning wheel is controlled to stop rotating to perform emergency limiting.

[0157] During the emergency limiting process, because it is an emergency limiting of the tensioning wheel, the present invention determines whether urgent adjustment is required by way of angle calibration. Since a fast and immediate emergency limiting is to be achieved, the present invention stops the motor to achieve a situation where the tensioning wheel has no moving power. Even if there is inertia, the chain used in the present invention can only be an iron chain. Therefore, even if there is inertia, the toughness of the iron chain can offset the inertia.

[0158] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A transmission control system for a steel mesh, characterized in that: include: Hoisting control module: used to hoist the steel mesh to the installation outer formwork of the pipe gallery through the hoisting device and fix it; Tensioning control module: used for controlling the transmission accuracy of the hoisting device through a tensioning wheel and a chain arranged on the tensioning wheel; The tensioning control module includes: Tensioning wheel control unit: used to determine the difference between the steel mesh and the installation position according to the laser calibration device on the tensioning device, and fine-tune the position of the steel mesh according to the difference; Error determination unit: used to obtain the calibration data of the laser calibration device and the real-time position of the steel mesh, and to establish a virtual installation scene, perform installation rehearsal, and determine the difference; A tensioning wheel calculation unit is used to determine the number of rotations of the tensioning wheel according to the difference and the preset control parameters of the tensioning wheel; Precision adjustment unit: used to control the rotation of the tensioning wheel according to the number of rotations of the tensioning wheel, drive the chain to tension, adjust the position of the steel mesh, and adjust the installation accuracy of the steel mesh; Transmission control module: used to control the movement of the lifting device at the top of the tunnel through the hydraulic drive device and control the position of the steel mesh; A limit module; used to limit the moving position of the hoisting device through a limit mechanism and control the start and stop of the hoisting device; wherein the limit module includes: Travel limit unit: used to determine the travel distance of the steel mesh in each moving direction during the installation process, and based on the travel distance and the preset travel switch, control the lifting device to limit stop in each moving direction; Installation limit unit: used to set a fixed limit frame. After the steel mesh is installed to the limit frame by the lifting device, the position of the steel mesh is automatically adjusted to perform installation limit. Fixed limiting unit: used to apply pressure to the steel mesh through the fixed limiting device after the steel mesh is installed, thereby reducing the gap between the steel mesh and the pipe gallery; Sprocket limiter unit: used to perform emergency limit on the tensioner according to the real-time alignment angle of the steel mesh when the steel mesh is precisely adjusted through the tensioner; The sprocket limit unit performs emergency limit and also includes the following steps: Step 10: Determine the real-time alignment angle of the steel mesh according to the steel mesh; Step 20: judging whether there is any installation deviation of the steel mesh according to the real-time alignment angle; wherein, When there is an installation deviation, the tensioning coefficient of the tensioning wheel and the control coefficient of the real-time alignment angle of the steel mesh are determined, and the tensioning wheel is controlled to continue to adjust; When there is no installation deviation, the motor driving the tensioning wheel is controlled to stop rotating and perform emergency limiting; The system further comprises: Sensing module: used to obtain sensing data through sensing devices pre-installed on the lifting device, tensioning wheel, hydraulic drive device, lifting device and limiting device; Data acquisition module: used to classify the sensor data according to the corresponding structure on the transmission control system, and determine the data acquisition position and the corresponding structure control data; Installation judgment unit: used to judge the installation progress of the steel mesh according to the data collection position; Automatic control module: used to control the transmission control system to install the steel mesh according to the installation progress, structural control data and the preset steel mesh installation process template.

2. A transmission control system for a steel mesh according to claim 1, characterized in that: The installation judgment unit includes: Position acquisition subunit: obtains the data collection position; wherein, The data collection position is determined by the transmission components and corresponding sensors of the transmission control system, and each of the transmission components has a unique corresponding sensor device; Installation model building subunit: according to the data collection location, determine the real-time parameters and build the installation model; wherein, The real-time parameters include: structural data, execution data, comparison parameters of standard installation parameters and implemented installation parameters, real-time change parameters, parameter change mean and parameter comparison coefficient; Installation model parameter setting subunit: used to preset installation parameter data, build an installation parameter setting model, and serve as a standard construction model; Construction progress judgment subunit: used to integrate and compare the standard construction model and the installation model to determine the real-time construction progress.

3. A transmission control system for a steel mesh according to claim 1, characterized in that: The hoisting control module includes: Transverse control unit: used to control the transverse movement of the lifting device by driving the motor and the lead screw when the lifting device is lifting the steel mesh or after the lifted steel mesh is installed; Lifting control unit: used to control the lifting device to descend or ascend through the lifting cylinders on the left and right sides of the lifting device when the lifting device lifts the steel mesh to the preset position or after the lifting device installs the steel mesh; Motor control unit: used to determine the control action that the motor needs to perform based on the real-time installation data of the steel mesh and perform the control operation; Connecting device: used to connect the steel mesh and fix the steel mesh to the lower part of the lifting device for lifting control.

4. A transmission control system for a steel mesh according to claim 1, characterized in that: The hoisting control module also includes: Position determination unit: used to construct a steel mesh model through monitoring equipment installed on the inner wall of the tunnel, and determine the installation position and installation order of the steel mesh; Real-time judgment unit: used to judge the real-time installation position of the steel mesh according to the installation sequence and real-time monitoring data; A lateral calculation unit is used to determine the lateral movement distance according to the lateral track length of the lifting device and the real-time installation position of the steel mesh, and to determine the speed and rotation time of the driving motor based on the lateral movement distance; Lifting calculation unit: used to determine the real-time pressure of the lifting cylinder according to the real-time position and installation position of the steel mesh, and determine the corresponding hydraulic oil volume according to the real-time pressure.

5. The transmission control system of a steel mesh according to claim 1, characterized in that: The transmission control module includes: Hydraulic device: used to drive the lifting device to lift and fix the steel mesh through the hydraulic equipment as the driving device; Transmission calculation device: used to calculate the transmission time, transmission distance, and control parameters of the transmission equipment at each moment of the steel mesh according to the weight of the steel mesh and the installation position of the steel mesh, and generate transmission data; Scenario simulation device: used to simulate the scenario of the steel mesh inside the pipe gallery according to the device of the transmission system, and determine the installation process of the steel mesh and the control process of the transmission system based on the transmission data; Instruction output unit: used to determine the control instructions and instruction issuance time of each device in the transmission system according to the installation process and control process, and issue instructions according to the event timeline of the steel mesh installation.

6. A transmission control system for a steel mesh according to claim 1, characterized in that: The installation limiting unit also includes: Target position determination subunit: used to obtain a fixed limit frame and determine the target position information; wherein, The fixed limit frame is used to define the installation position of the steel mesh, and the fixed limit frame has a unique position; The target position information includes: limit orientation information, coordinate information of the fixed limit frame, volume information of the limit frame, limit coefficient information and space coefficient of the internal limit space; The limiting model building subunit is used to build a limiting model according to the target position information; Real-time installation model building subunit: used to obtain the post-installation completion information of the installed steel mesh and build a real-time installation model; The completion information includes: coordinate information after installation, boundary information after installation, and installation dimensions; Adjustment subunit: used to determine the similarity between the limit model and the real-time installation model and determine whether to make an adjustment.

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