An intelligent support system for bridge construction

Abstract

The present invention relates to the field of building construction, and in particular to an intelligent support system for bridge construction. The present invention provides a support device, a straightening device, a detection module and a central control processor. The central control processor analyzes the stress condition of the prefabricated bridge plate based on the force change of the hydraulic support rod, the force change of the first hydraulic fixed arm and the force change of the second hydraulic fixed arm detected by the detection module. Under the first stress condition, the hydraulic pressure of the hydraulic support rod is adjusted based on the force change of the hydraulic support rod to improve the supporting effect of the support device. Under the second stress condition, the elongation length of the swing arm is determined based on the depth image taken by the image acquisition unit, the swing direction of the swing arm is determined based on the force magnitude of the first hydraulic fixed arm and the second hydraulic fixed arm, and the swing force of the swing arm is adjusted based on the force change of the first hydraulic fixed arm and the second hydraulic fixed arm, thereby improving the straightening effect of the straightening device.

Description

Technical Field

[0001] The present invention relates to the field of building construction, and in particular to an intelligent support system for bridge construction. Background Art

[0002] The connection of precast bridge slabs is often made by cast-in-place concrete. In the construction of cast-in-place beams, the support device plays a vital role in fixing the precast bridge slabs and ensuring the quality of the project.

[0003] Chinese patent publication number: CN108775161A, discloses the following content, the invention discloses a support system for prefabricated building and bridge construction, including a base, a accommodating cavity is provided in the base, a fixed seat is slidably installed in the accommodating cavity, a first spring cavity is symmetrically provided in the bottom wall of the fixed seat, a reset spring is installed between the bottom wall of the first spring cavity and the bottom end surface of the fixed seat, a sliding cavity is provided in the fixed seat, a sliding block is slidably installed in the sliding cavity, a telescopic cavity is provided in the sliding block, a second spring cavity is symmetrically provided in the bottom wall of the telescopic cavity, a pressure spring is installed between the second spring cavity and the sliding block, a first motor is fixed in the bottom end surface of the sliding block, a drill bit is connected to the bottom end of the first motor, and a first through hole for the drill bit to pass through is provided in the bottom wall of the sliding cavity.

[0004] However, the prior art still has the following problems:

[0005] In the prior art, it is not considered to roughly adjust the hydraulic pressure that controls the supporting force of the support rod according to the change in the supporting force of the support device on the prefabricated bridge plate, and then make precise adjustments based on the rough adjustment to improve the supporting effect of the support device. In addition, it is not considered to determine the swing direction of the swing arm according to the change in the clamping force of the two fixed arms of the support device on the prefabricated bridge plate, and adjust the swing force of the swing arm, as well as to improve the automatic intelligent control system for the straightening effect of the straightening device. Summary of the Invention

[0006] To address the problems in the prior art of not considering coarse adjustment of the hydraulic pressure controlling the supporting force of the support rod according to the variation of the supporting force of the support device on the precast bridge slab, and then performing precise adjustment based on the rough adjustment, and not considering determining the swing direction of the swing arm according to the variation of the clamping force of the two fixed arms of the support device on the precast bridge slab and adjusting the swing force of the swing arm, the present invention provides an intelligent support system for bridge construction, which includes:

[0007] A support device includes a hydraulic support rod for supporting the bottom of the prefabricated bridge slab and a hydraulic fixing arm provided on the hydraulic support rod. The hydraulic fixing arm includes a first hydraulic fixing arm and a second hydraulic fixing arm, both ends of which are provided on the hydraulic support rod through a movable joint, so that the first hydraulic fixing arm and the second hydraulic fixing arm rotate around the movable joint to clamp the side of the prefabricated bridge slab.

[0008] a straightening device, which is arranged on one side of the supporting device and includes a straightening bracket and a freely retractable swing arm arranged on the straightening bracket, so that the swing arm applies pressure to the side of the prefabricated bridge plate when swinging;

[0009] a detection module, comprising an image acquisition unit provided on a side of the straightening bracket for photographing the prefabricated bridge slab, a first force sensor provided on an end of the hydraulic support rod for detecting a force applied to the hydraulic support rod, a second force sensor provided on the first hydraulic fixing arm for detecting a force applied to the first hydraulic fixing arm, a third force sensor provided on the second hydraulic fixing arm for detecting a force applied to the second hydraulic fixing arm, and a fourth force sensor provided on an end of the swing arm for detecting a force applied to the end of the swing arm;

[0010] The central control processor includes a pressure analysis unit, a first control unit and a second control unit connected to each other.

[0011] The pressure analysis unit is connected to the detection module and is used to analyze and obtain the stress condition of the prefabricated bridge plate based on the force variation of the hydraulic support rod, the force variation of the first hydraulic fixed arm, and the force variation of the second hydraulic fixed arm detected by the detection module;

[0012] The first control unit is connected to the support device and the detection module, and is used to adjust the hydraulic pressure of the hydraulic support rod based on the force variation of the hydraulic support rod when the pressure analysis unit analyzes and obtains the first force condition;

[0013] The second control unit is connected to the straightening device and the detection module, and is used to determine the elongation length of the swing arm based on the depth image captured by the image acquisition unit when the pressure analysis unit analyzes and obtains the second force condition, determine the swing direction of the swing arm based on the force magnitude of the first hydraulic fixed arm and the second hydraulic fixed arm, and adjust the swing force of the swing arm based on the force change of the first hydraulic fixed arm and the second hydraulic fixed arm.

[0014] Furthermore, the pressure analysis unit obtains the hydraulic support rod force Fs detected by the first force sensor in real time, and calculates the hydraulic support rod force change ΔFs according to formula (1):

[0015] △Fs=|Fs-Fs0| (1)

[0016] In formula (1), Fs0 represents the initial force value of the hydraulic support rod;

[0017] Furthermore, the pressure analysis unit obtains the force Fh1 of the first hydraulic fixed arm detected by the second force sensor in real time, and calculates the force change ΔFh1 of the first hydraulic fixed arm according to formula (2):

[0018] △Fh1=Fh1-Fh0 (2)

[0019] In formula (2), Fh0 represents the initial force value of the hydraulic fixed arm;

[0020] Furthermore, the pressure analysis unit obtains the force Fh2 of the second hydraulic fixed arm detected by the third force sensor in real time, and calculates the force change ΔFh2 of the second hydraulic fixed arm according to formula (3).

[0021] △Fh2=Fh2-Fh0 (3)

[0022] The average value ΔFh of the force variation ΔFh1 of the first hydraulic fixed arm and the force variation ΔFh2 of the second hydraulic fixed arm is calculated.

[0023] Furthermore, the pressure analysis unit compares the hydraulic support rod force variation ΔFs with a preset first support force variation comparison threshold ΔFs1, and compares the average value ΔFh with a preset first clamping force variation comparison threshold ΔFh01, and determines the force condition of the prefabricated bridge plate based on the comparison results, wherein:

[0024] Under the first comparison result, the pressure analysis unit determines that the prefabricated bridge slab is in a first stress state;

[0025] Under the second comparison result, the pressure analysis unit determines that the prefabricated bridge slab is in the second stress condition;

[0026] The first comparison result is ΔFs≥ΔFs1, and the second comparison result is ΔFh≥ΔFh01.

[0027] Furthermore, the first control unit compares the force change ΔFs of the hydraulic support rod with a preset second support force change comparison threshold ΔFs2 and a third support force change comparison threshold ΔFs3, ΔFs1 < ΔFs2 < ΔFs3, and determines the pressure adjustment method for adjusting the hydraulic pressure of the hydraulic support rod according to the comparison result, and continues to increase the hydraulic pressure of the hydraulic support rod, wherein,

[0028] The first pressure adjustment method is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod to a first hydraulic pressure value P1 according to a preset first pressure adjustment parameter p1, and sets P1=p0+p1;

[0029] The second pressure adjustment method is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod to a second hydraulic pressure value P2 according to a preset second pressure adjustment parameter p2, and sets P2=p0+p2;

[0030] The third pressure adjustment mode is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod to a third hydraulic pressure value P3 according to a preset third pressure adjustment parameter p3, and sets P3=p0+p3;

[0031] Among them, the first pressure adjustment method needs to satisfy △Fs≥△Fs3, the second pressure adjustment method needs to satisfy △Fs2≤△Fs<△Fs3, the third pressure adjustment method needs to satisfy △Fs<△Fs2, p1>p2>p3, P1>P2>P3, and p0 represents the initial hydraulic pressure of the hydraulic support rod.

[0032] Furthermore, the first control unit determines whether to stop increasing the hydraulic pressure on the hydraulic support rod according to the hydraulic support rod force Fs detected by the first force sensor, wherein:

[0033] Under a preset condition, the first control unit determines to stop increasing the hydraulic pressure on the hydraulic support rod;

[0034] Wherein, the preset condition is that the hydraulic support rod force Fs detected by the first force sensor is equal to the initial force value Fs0 of the hydraulic support rod.

[0035] Furthermore, the second control unit determines a vertical distance d between the bridge outline in the depth image and the image acquisition unit, and controls the swing arm to extend until the extended length of the swing arm is D, setting D=d+△d(4), where △d represents a preset extension length excess.

[0036] Furthermore, the second control unit compares the force variation ΔFh1 of the first hydraulic fixed arm with the force variation ΔFh2 of the second hydraulic fixed arm, and determines the swing direction of the swing arm according to the comparison result, wherein,

[0037] Under the first comparison condition, the second control unit determines that the swing arm swings from the side of the first hydraulic fixed arm to the side of the second hydraulic fixed arm;

[0038] Under the second comparison condition, the second control unit determines that the swing arm swings from the second hydraulic fixed arm side to the first hydraulic fixed arm side;

[0039] The first comparison condition is ΔFh1>ΔFh2, and the second comparison condition is ΔFh1<ΔFh2.

[0040] Furthermore, the second control unit compares the force variation △Fh1 of the first hydraulic fixed arm with the preset second clamping force variation comparison threshold △Fh02 and the third clamping force variation comparison threshold △Fh03 under the first comparison condition, and compares the force variation △Fh2 of the second hydraulic fixed arm with the preset second clamping force variation comparison threshold △Fh02 and the third clamping force variation comparison threshold △Fh03 under the second comparison condition, △Fh01<△Fh02<△Fh03, and determines the force adjustment method when adjusting the swing force of the swing arm according to the comparison result, and controls the swing arm to apply pressure to the side of the precast bridge plate with the adjusted swing force until the force on the first hydraulic fixed arm and the force on the second hydraulic fixed arm are equal to the initial force value of the hydraulic fixed arm, wherein,

[0041] The first force adjustment method is that the second control unit adjusts the swing force of the swing arm to a first force value F1 according to a preset first force adjustment parameter f1, and sets F1=f0+f1;

[0042] The second force adjustment method is that the second control unit adjusts the swing force of the swing arm to a second force value F2 according to a preset second force adjustment parameter f2, and sets F2=f0+f2;

[0043] The third force adjustment method is that the second control unit adjusts the swing force of the swing arm to a third force value F3 according to a preset third force adjustment parameter f3, setting F3 = f0 + f3;

[0044] Among them, the first force adjustment method needs to satisfy △Fh1≥△Fh03 or △Fh2≥△Fh03, the second force adjustment method needs to satisfy △Fh02≤△Fh1<△Fh03 or △Fh02≤△Fh2<△Fh03, the third force adjustment method needs to satisfy △Fh1<△Fh02 or △Fh2<△Fh02, f1>f2>f3, F1>F2>F3, and f0 represents the initial swing force of the swing arm.

[0045] Furthermore, the first control unit is connected to an alarm device, so that the alarm device sends a warning message under the first condition to warn that the adjustment process is abnormal, wherein:

[0046] The first condition is that after the hydraulic pressure of the hydraulic support rod is adjusted, the force Fs of the hydraulic support rod detected by the first force sensor is greater than the initial force value Fs0 of the hydraulic support rod.

[0047] Furthermore, the alarm device is also connected to the second control unit so that the alarm device sends a warning message under the second condition to warn that the adjustment process is abnormal, wherein:

[0048] The second condition is that when the swing arm applies pressure to the prefabricated bridge plate with the adjusted swing force, the force Fh1 of the first hydraulic fixed arm detected by the second force sensor and the force Fh2 of the second hydraulic fixed arm detected by the third force sensor increase.

[0049] Compared with the prior art, the present invention provides a supporting device, a straightening device, a detection module and a central control processor. The central control processor analyzes the stress condition of the prefabricated bridge plate based on the force change of the hydraulic support rod, the force change of the first hydraulic fixed arm and the force change of the second hydraulic fixed arm detected by the detection module. Under the first stress condition, the hydraulic pressure of the hydraulic support rod is adjusted based on the force change of the hydraulic support rod to improve the supporting effect of the supporting device. Under the second stress condition, the elongation length of the swing arm is determined based on the depth image taken by the image acquisition unit, the swing direction of the swing arm is determined based on the force magnitude of the first hydraulic fixed arm and the second hydraulic fixed arm, and the swing force of the swing arm is adjusted based on the force change of the first hydraulic fixed arm and the second hydraulic fixed arm, thereby improving the straightening effect of the straightening device.

[0050] In particular, in the present invention, the pressure analysis unit analyzes and obtains the stress condition of the precast bridge slab based on the force variation of the hydraulic support rod, the force variation of the first hydraulic fixed arm and the force variation of the second hydraulic fixed arm detected by the detection module. In actual conditions, the hydraulic support rod supports the precast bridge slab during the solidification process after the concrete is poured between the precast bridge slabs. While the hydraulic support rod provides support force to the precast bridge slab, since the force between objects is mutual, the precast bridge slab also has a reverse force on the hydraulic support rod. Therefore, the ground where the hydraulic support rod is located will sink over time, causing the support force of the hydraulic support rod on the precast bridge slab to decrease. When the reduction in the hydraulic support force is greater than the preset The condition when the value is set is the first stress condition. The hydraulic fixing arm clamps and fixes the precast bridge slabs during the solidification process after pouring concrete between the precast bridge slabs. The precast bridge slabs may be misaligned due to environmental or human factors, which increases the force of the precast bridge slabs on the hydraulic fixing arm. Since the force between objects is mutual, the clamping force of the hydraulic fixing arm on the precast bridge slab increases. When the average value of the increase in the force of the first hydraulic fixing arm and the increase in the force of the second hydraulic fixing arm is greater than the preset value, it is the second stress condition. By dividing the precast bridge slabs into two stress conditions according to actual conditions, different processing methods are subsequently performed according to different stress conditions to ensure the reliability of system operation.

[0051] In particular, in the present invention, the first control unit adjusts the hydraulic pressure of the hydraulic support rod based on the force change of the hydraulic support rod when the pressure analysis unit analyzes and obtains the first force condition. In actual conditions, the greater the reduction in the supporting force of the hydraulic support rod on the prefabricated bridge plate, the greater the hydraulic pressure of the hydraulic support rod should be. The hydraulic pressure of the hydraulic support rod is roughly adjusted by the reduction in the supporting force, and then a precise adjustment is performed on the basis of the rough adjustment to improve the supporting effect of the supporting device.

[0052] In particular, in the present invention, the second control unit determines the swinging direction of the swing arm based on the force magnitudes of the first hydraulic fixing arm and the second hydraulic fixing arm when the pressure analysis unit analyzes and obtains the second force condition. In actual situations, when the prefabricated bridge plate is misaligned, the force on the first hydraulic fixing arm and the force on the second hydraulic fixing arm will increase. The increase in the force on the hydraulic fixing arm in the direction of the offset of the prefabricated bridge plate is larger, and the swing arm should straighten the prefabricated bridge plate in the opposite direction of the offset direction. Therefore, the swing arm swings from the side where the force on the hydraulic fixing arm increases more to the other side, thereby ensuring the straightening effect of the straightening device.

[0053] In particular, in the present invention, the second control unit adjusts the swing force of the swing arm based on the force changes of the first hydraulic fixing arm and the second hydraulic fixing arm when the pressure analysis unit analyzes and obtains the second force condition. In actual conditions, the swing force of the swing arm is adjusted according to the larger value of the force increase of the hydraulic fixing arm. Moreover, when the force increase of the hydraulic fixing arm is greater, it indicates that the misalignment of the prefabricated bridge plate is greater, and the swing force of the swing arm should be greater to ensure the straightening effect of the straightening device. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A schematic structural diagram of an intelligent support system for bridge construction according to an embodiment of the invention;

[0055] Figure 2 This is a schematic structural diagram of a support device according to an embodiment of the invention;

[0056] Figure 3 This is a structural diagram of a straightening device according to an embodiment of the invention;

[0057] In the figure, 1: supporting device, 11: second force sensor, 12: third force sensor, 13: first hydraulic fixed arm, 14: second hydraulic fixed arm, 15: hydraulic support rod, 2: straightening device, 21: swing arm, 22: straightening bracket, 3: prefabricated bridge plate, 4: image acquisition unit. DETAILED DESCRIPTION

[0058] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0059] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0060] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0061] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0062] See also Figure 1 、 Figure 2 as well as Figure 3 As shown, Figure 1 FIG. 1 is a schematic structural diagram of an intelligent support system for bridge construction according to an embodiment of the present invention. Figure 2 Schematic diagram of the supporting device structure according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of a straightening device according to an embodiment of the present invention. The intelligent support system for bridge construction according to the present invention includes:

[0063] The support device 1 includes a hydraulic support rod 15 for supporting the bottom of the prefabricated bridge slab 3 so as to be freely retractable and a hydraulic fixing arm provided on the hydraulic support rod 15. The hydraulic fixing arm includes a first hydraulic fixing arm 13 and a second hydraulic fixing arm 14, both ends of which are provided on the hydraulic support rod 15 through a movable joint, so that the first hydraulic fixing arm 13 and the second hydraulic fixing arm 14 rotate around the movable joint to clamp the side of the prefabricated bridge slab 3;

[0064] A straightening device 2, which is arranged on one side of the supporting device 1, includes a straightening bracket 22 and a freely retractable swing arm 21 arranged on the straightening bracket 22, so that the swing arm 21 applies pressure to the side of the prefabricated bridge plate 3 when swinging;

[0065] a detection module, comprising an image acquisition unit 4 provided on a side of the straightening bracket 22 for photographing the prefabricated bridge slab 3, a first force sensor provided on the end of the hydraulic support rod 15 for detecting the force applied to the hydraulic support rod 15, a second force sensor 11 provided on the first hydraulic fixing arm 13 for detecting the force applied to the first hydraulic fixing arm 13, a third force sensor 12 provided on the second hydraulic fixing arm 14 for detecting the force applied to the second hydraulic fixing arm 14, and a fourth force sensor provided on the end of the swing arm 21 for detecting the force applied to the end of the swing arm 21;

[0066] The central control processor includes a pressure analysis unit, a first control unit and a second control unit connected to each other.

[0067] The pressure analysis unit is connected to the detection module and is used to analyze and obtain the stress condition of the prefabricated bridge plate 3 based on the force variation of the hydraulic support rod, the force variation of the first hydraulic fixed arm, and the force variation of the second hydraulic fixed arm detected by the detection module;

[0068] The first control unit is connected to the support device 1 and the detection module, and is used to adjust the hydraulic pressure of the hydraulic support rod 15 based on the force change of the hydraulic support rod when the pressure analysis unit analyzes and obtains the first force condition;

[0069] The second control unit is connected to the straightening device 2 and the detection module, and is used to determine the elongation length of the swing arm 21 based on the depth image captured by the image acquisition unit 4 when the pressure analysis unit analyzes and obtains the second force condition, determine the swing direction of the swing arm 21 based on the force magnitude of the first hydraulic fixing arm 13 and the second hydraulic fixing arm 14, and adjust the swing force of the swing arm 21 based on the force changes of the first hydraulic fixing arm 13 and the second hydraulic fixing arm 14.

[0070] Specifically, the present invention does not specifically limit the arrangement of the swing arm 21 on the straightening bracket 22. The swing arm 21 can be arranged on the straightening bracket 22 through a movable shaft, and the swing arm 21 is driven to swing by a hydraulic mechanism or a motor. This is existing technology and will not be repeated here.

[0071] Specifically, the swing arm 21 is also wrapped with rubber to provide a buffer when the swing arm 21 applies pressure to the side of the prefabricated bridge plate 3, thereby protecting the swing arm 21 and the prefabricated bridge plate 3.

[0072] Specifically, the present invention divides the stress conditions of the prefabricated bridge plate 3 only according to two conditions that may occur during the bridge construction process. During the actual bridge construction process, the first stress condition and the second stress condition may occur at the same time, or only one of them may occur. If the first stress condition and the second stress condition can occur at the same time, the first control unit and the second control unit will perform corresponding actions at the same time.

[0073] Specifically, the present invention does not limit the specific structure of the movable joint. It can be a movable shaft that drives the first hydraulic fixed arm and the second hydraulic fixed arm to rotate through a hydraulic mechanism or a motor. It can also be other forms. It only needs to enable the hydraulic fixed arm to complete the clamping function, which will not be repeated.

[0074] Specifically, the present invention does not limit the specific structure of the image acquisition unit 4. It can be a 3D camera that only needs to be able to complete the function of capturing 3D images and capture depth images. This is an existing mature technology and will not be described in detail here.

[0075] Specifically, the present invention does not limit the specific form of the central control processor, which can be a computer, and each unit therein is a functional program in the computer, which only needs to be able to complete the functions of data processing and data exchange, and will not be repeated.

[0076] Specifically, the present invention adjusts the swing force of the swing arm 21 by controlling the driving power source connected to the swing arm 21. The present invention does not limit the specific structure of the driving power source. If the driving power source is a motor, the power of the motor is controlled to adjust the swing force of the swing arm 21. If the driving power source is a hydraulic press, the hydraulic pressure of the hydraulic press is controlled to adjust the swing force of the swing arm 21. It only needs to complete the function of adjusting the swing force of the swing arm 21. It is an existing mature technology and will not be repeated here.

[0077] Specifically, the pressure analysis unit obtains the hydraulic support rod force Fs detected by the first force sensor in real time, and calculates the hydraulic support rod force change ΔFs according to formula (1):

[0078] △Fs=|Fs-Fs0| (1)

[0079] In formula (1), Fs0 represents the initial force value of the hydraulic support rod;

[0080] Furthermore, the pressure analysis unit obtains the force Fh1 of the first hydraulic fixed arm detected by the second force sensor 11 in real time, and calculates the force change ΔFh1 of the first hydraulic fixed arm according to formula (2).

[0081] △Fh1=Fh1-Fh0 (2)

[0082] In formula (2), Fh0 represents the initial force value of the hydraulic fixed arm;

[0083] Furthermore, the pressure analysis unit obtains the force Fh2 of the second hydraulic fixed arm detected by the third force sensor 12 in real time, and calculates the force change ΔFh2 of the second hydraulic fixed arm according to formula (3):

[0084] △Fh2=Fh2-Fh0 (3)

[0085] The average value ΔFh of the force variation ΔFh1 of the first hydraulic fixed arm and the force variation ΔFh2 of the second hydraulic fixed arm is calculated.

[0086] Specifically, the pressure analysis unit compares the hydraulic support rod force variation ΔFs with a preset first support force variation comparison threshold ΔFs1, ΔFs1>0, and compares the average value ΔFh with a preset first clamping force variation comparison threshold ΔFh01, ΔFh01>0, and determines the force condition of the prefabricated bridge plate 3 based on the comparison results, wherein,

[0087] Under the first comparison result, the pressure analysis unit determines that the prefabricated bridge plate 3 is in the first stress state;

[0088] Under the second comparison result, the pressure analysis unit determines that the prefabricated bridge plate 3 is in the second stress state;

[0089] The first comparison result is ΔFs≥ΔFs1, and the second comparison result is ΔFh≥ΔFh01.

[0090] Specifically, in the present invention, the pressure analysis unit analyzes and obtains the force condition of the precast bridge slab 3 based on the force variation of the hydraulic support rod, the force variation of the first hydraulic fixed arm and the force variation of the second hydraulic fixed arm detected by the detection module. In actual conditions, the hydraulic support rod 15 supports the precast bridge slab 3 during the solidification process after the concrete is poured between the precast bridge slabs 3. While the hydraulic support rod 15 provides supporting force to the precast bridge slab 3, since the force between objects is mutual, the precast bridge slab 3 also has a reverse force on the hydraulic support rod 15. Therefore, the ground where the hydraulic support rod 15 is located will sink over time, causing the supporting force of the hydraulic support rod 15 on the precast bridge slab 3 to decrease. When the hydraulic support force decreases The situation when the small amount is greater than the preset value is the first stress condition. The hydraulic fixing arm clamps and fixes the precast bridge slab 3 during the solidification process after the concrete is poured between the precast bridge slabs 3. Due to environmental or human reasons, the precast bridge slab 3 may be misaligned, which increases the force of the precast bridge slab 3 on the hydraulic fixing arm. Since the force between objects is mutual, the clamping force of the hydraulic fixing arm on the precast bridge slab 3 increases. When the average value of the increase in the force of the first hydraulic fixing arm and the increase in the force of the second hydraulic fixing arm is greater than the preset value, it is the second stress condition. By dividing the precast bridge slab 3 into two stress conditions according to actual conditions, different processing methods are subsequently performed according to different stress conditions to ensure the reliability of system operation.

[0091] Specifically, the first control unit compares the force change ΔFs of the hydraulic support rod with the preset second support force change comparison threshold ΔFs2 and the third support force change comparison threshold ΔFs3, ΔFs1<ΔFs2<ΔFs3, and determines the pressure adjustment method for adjusting the hydraulic pressure of the hydraulic support rod 15 according to the comparison result, and continues to increase the hydraulic pressure of the hydraulic support rod 15, wherein,

[0092] The first pressure adjustment method is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod 15 to a first hydraulic pressure value P1 according to a preset first pressure adjustment parameter p1, and sets P1=p0+p1;

[0093] The second pressure adjustment method is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod 15 to a second hydraulic pressure value P2 according to a preset second pressure adjustment parameter p2, and sets P2=p0+p2;

[0094] The third pressure adjustment mode is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod 15 to a third hydraulic pressure value P3 according to a preset third pressure adjustment parameter p3, setting P3 = p0 + p3;

[0095] Among them, the first pressure adjustment method needs to satisfy △Fs≥△Fs3, the second pressure adjustment method needs to satisfy △Fs2≤△Fs<△Fs3, and the third pressure adjustment method needs to satisfy △Fs<△Fs2, 10Mpa>p1>p2>p3, 35Mpa>P1>P2>P3, p0 represents the initial hydraulic pressure of the hydraulic support rod 15, and p0<60Mpa.

[0096] Specifically, in the present invention, the first control unit adjusts the hydraulic pressure of the hydraulic support rod 15 based on the force change of the hydraulic support rod when the pressure analysis unit analyzes and obtains the first force condition. In actual conditions, the greater the reduction in the supporting force of the hydraulic support rod 15 on the prefabricated bridge plate 3, the greater the hydraulic pressure of the hydraulic support rod 15 should be. The hydraulic pressure of the hydraulic support rod 15 is roughly adjusted by the reduction in the supporting force, and then a precise adjustment is performed on the basis of the rough adjustment to improve the supporting effect of the support device 1.

[0097] Specifically, the first control unit determines whether to stop increasing the hydraulic pressure on the hydraulic support rod 15 according to the hydraulic support rod force Fs detected by the first force sensor, wherein:

[0098] Under a preset condition, the first control unit determines to stop increasing the hydraulic pressure on the hydraulic support rod 15;

[0099] Wherein, the preset condition is that the hydraulic support rod force Fs detected by the first force sensor is equal to the initial force value Fs0 of the hydraulic support rod.

[0100] Specifically, the second control unit determines the vertical distance d between the bridge outline in the depth image and the image acquisition unit 4, and controls the swing arm 21 to extend until the extended length of the swing arm 21 is D, setting D=d+△d(4), where △d represents the preset extension length excess, △d<5m.

[0101] Specifically, the second control unit compares the force variation ΔFh1 of the first hydraulic fixed arm with the force variation ΔFh2 of the second hydraulic fixed arm, and determines the swing direction of the swing arm 21 according to the comparison result, wherein:

[0102] Under the first comparison condition, the second control unit determines that the swing arm 21 swings from the first hydraulic fixed arm 13 side to the second hydraulic fixed arm 14 side;

[0103] Under the second comparison condition, the second control unit determines that the swing arm 21 swings from the second hydraulic fixing arm 14 side to the first hydraulic fixing arm 13 side;

[0104] The first comparison condition is ΔFh1>ΔFh2, and the second comparison condition is ΔFh1<ΔFh2.

[0105] Specifically, in the present invention, the second control unit determines the swinging direction of the swing arm 21 based on the force magnitudes of the first hydraulic fixed arm 13 and the second hydraulic fixed arm 14 when the pressure analysis unit analyzes and obtains the second force condition. In actual situations, when the prefabricated bridge plate 3 is misaligned, the force on the first hydraulic fixed arm and the force on the second hydraulic fixed arm will increase. The increase in the force on the hydraulic fixed arm in the direction of the offset of the prefabricated bridge plate 3 is larger, and the swing arm 21 should straighten the prefabricated bridge plate 3 in the opposite direction of the offset direction. Therefore, the swing arm 21 swings from the side where the force on the hydraulic fixed arm increases more to the other side, ensuring the straightening effect of the straightening device 2.

[0106] Specifically, the second control unit compares the force change △Fh1 of the first hydraulic fixed arm with the preset second clamping force change comparison threshold △Fh02 and the third clamping force change comparison threshold △Fh03 under the first comparison condition, and compares the force change △Fh2 of the second hydraulic fixed arm with the preset second clamping force change comparison threshold △Fh02 and the third clamping force change comparison threshold △Fh03 under the second comparison condition, 0<△Fh01<△Fh02<△Fh03, and determines the force adjustment method when adjusting the swing force of the swing arm 21 according to the comparison result, and controls the swing arm 21 to apply pressure to the side of the prefabricated bridge plate 3 with the adjusted swing force until the force of the first hydraulic fixed arm and the force of the second hydraulic fixed arm are equal to the initial force value of the hydraulic fixed arm, wherein,

[0107] The first force adjustment method is that the second control unit adjusts the swing force of the swing arm 21 to a first force value F1 according to a preset first force adjustment parameter f1, and sets F1=f0+f1;

[0108] The second force adjustment method is that the second control unit adjusts the swing force of the swing arm 21 to a second force value F2 according to a preset second force adjustment parameter f2, and sets F2 = f0 + f2;

[0109] The third force adjustment method is that the second control unit adjusts the swing force of the swing arm 21 to a third force value F3 according to a preset third force adjustment parameter f3, setting F3 = f0 + f3;

[0110] Among them, the first force adjustment method needs to satisfy △Fh1≥△Fh03 or △Fh2≥△Fh03, the second force adjustment method needs to satisfy △Fh02≤△Fh1<△Fh03 or △Fh02≤△Fh2<△Fh03, the third force adjustment method needs to satisfy △Fh1<△Fh02 or △Fh2<△Fh02, 1000KN>f1>f2>f3, 3500KN>F1>F2>F3, f0 represents the initial swing force of the swing arm 21, f0<2500KN.

[0111] Specifically, in the present invention, the second control unit adjusts the swing force of the swing arm 21 based on the force changes of the first hydraulic fixing arm 13 and the second hydraulic fixing arm 14 when the pressure analysis unit analyzes and obtains the second force condition. In actual conditions, the swing force of the swing arm 21 is adjusted according to the larger value of the force increase of the hydraulic fixing arm. Moreover, the greater the force increase of the hydraulic fixing arm, the greater the misalignment of the prefabricated bridge plate 3, and the greater the swing force of the swing arm 21 should be, so as to ensure the straightening effect of the straightening device 2.

[0112] Specifically, the first control unit is connected to an alarm device so that the alarm device sends an alarm message under a first condition to warn that the adjustment process is abnormal, wherein:

[0113] The first condition is that after the hydraulic pressure of the hydraulic support rod 15 is adjusted, the hydraulic support rod force Fs detected by the first force sensor is greater than the initial force value Fs0 of the hydraulic support rod.

[0114] Specifically, the alarm device is further connected to the second control unit so that the alarm device issues an alarm message under the second condition to warn of abnormal adjustment process, wherein:

[0115] The second condition is that when the swing arm 21 applies pressure to the prefabricated bridge plate 3 with the adjusted swing force, the first hydraulic fixed arm force Fh1 detected by the second force sensor 11 and the second hydraulic fixed arm force Fh2 detected by the third force sensor 12 increase.

[0116] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. An intelligent support system for bridge construction, characterized in that: include: A support device includes a hydraulic support rod for supporting the bottom of the prefabricated bridge slab and a hydraulic fixing arm provided on the hydraulic support rod. The hydraulic fixing arm includes a first hydraulic fixing arm and a second hydraulic fixing arm, both ends of which are provided on the hydraulic support rod through a movable joint, so that the first hydraulic fixing arm and the second hydraulic fixing arm rotate around the movable joint to clamp the side of the prefabricated bridge slab. a straightening device, which is arranged on one side of the supporting device and includes a straightening bracket and a freely retractable swing arm arranged on the straightening bracket, so that the swing arm applies pressure to the side of the prefabricated bridge plate when swinging; a detection module, comprising an image acquisition unit provided on a side of the straightening bracket for photographing the prefabricated bridge slab, a first force sensor provided on an end of the hydraulic support rod for detecting a force applied to the hydraulic support rod, a second force sensor provided on the first hydraulic fixing arm for detecting a force applied to the first hydraulic fixing arm, a third force sensor provided on the second hydraulic fixing arm for detecting a force applied to the second hydraulic fixing arm, and a fourth force sensor provided on an end of the swing arm for detecting a force applied to the end of the swing arm; The central control processor includes a pressure analysis unit, a first control unit and a second control unit connected to each other. The pressure analysis unit is connected to the detection module and is used to analyze and obtain the stress condition of the prefabricated bridge plate based on the force variation of the hydraulic support rod, the force variation of the first hydraulic fixed arm, and the force variation of the second hydraulic fixed arm detected by the detection module; The first control unit is connected to the support device and the detection module, and is used to adjust the hydraulic pressure of the hydraulic support rod based on the force variation of the hydraulic support rod when the pressure analysis unit analyzes and obtains the first force condition; The second control unit is connected to the straightening device and the detection module, and is used to determine the extension length of the swing arm based on the depth image captured by the image acquisition unit under the second force condition analyzed and obtained by the pressure analysis unit, determine the swing direction of the swing arm based on the force applied to the first hydraulic fixing arm and the second hydraulic fixing arm, and adjust the swing force of the swing arm based on the force change of the first hydraulic fixing arm and the second hydraulic fixing arm; The pressure analysis unit obtains the hydraulic support rod force Fs detected by the first force sensor in real time, and calculates the hydraulic support rod force change ΔFs according to formula (1): △Fs=|Fs-Fs0|(1) In formula (1), Fs0 represents the initial force value of the hydraulic support rod; Furthermore, the pressure analysis unit obtains the force Fh1 of the first hydraulic fixed arm detected by the second force sensor in real time, and calculates the force change ΔFh1 of the first hydraulic fixed arm according to formula (2). △Fh1=Fh1-Fh0(2) In formula (2), Fh0 represents the initial force value of the hydraulic fixed arm; Furthermore, the pressure analysis unit obtains the force Fh2 of the second hydraulic fixed arm detected by the third force sensor in real time, and calculates the force change ΔFh2 of the second hydraulic fixed arm according to formula (3): △Fh2=Fh2-Fh0(3) and calculating the average value △Fh of the force variation △Fh1 of the first hydraulic fixed arm and the force variation △Fh2 of the second hydraulic fixed arm; The pressure analysis unit compares the hydraulic support rod force variation ΔFs with a preset first support force variation comparison threshold ΔFs1, and compares the average value ΔFh with a preset first clamping force variation comparison threshold ΔFh01, and determines the force condition of the prefabricated bridge plate based on the comparison results, wherein: Under the first comparison result, the pressure analysis unit determines that the prefabricated bridge slab is in a first stress state; Under the second comparison result, the pressure analysis unit determines that the prefabricated bridge slab is in the second stress condition; The first comparison result is ΔFs≥ΔFs1, and the second comparison result is ΔFh≥ΔFh01.

2. The intelligent support system for bridge construction according to claim 1, characterized in that: The first control unit compares the force change ΔFs of the hydraulic support rod with a preset second support force change comparison threshold ΔFs2 and a preset third support force change comparison threshold ΔFs3, ΔFs1 < ΔFs2 < ΔFs3, and determines a pressure adjustment method for adjusting the hydraulic pressure of the hydraulic support rod according to the comparison result, and continues to increase the hydraulic pressure of the hydraulic support rod, wherein, The first pressure adjustment method is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod to a first hydraulic pressure value P1 according to a preset first pressure adjustment parameter p1, and sets P1=p0+p1; The second pressure adjustment method is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod to a second hydraulic pressure value P2 according to a preset second pressure adjustment parameter p2, and sets P2=p0+p2; The third pressure adjustment mode is that the first control unit adjusts the hydraulic pressure of the hydraulic support rod to a third hydraulic pressure value P3 according to a preset third pressure adjustment parameter p3, and sets P3=p0+p3; Among them, the first pressure adjustment method needs to satisfy △Fs≥△Fs3, the second pressure adjustment method needs to satisfy △Fs2≤△Fs<△Fs3, the third pressure adjustment method needs to satisfy △Fs<△Fs2, p1>p2>p3, P1>P2>P3, and p0 represents the initial hydraulic pressure of the hydraulic support rod.

3. The intelligent support system for bridge construction according to claim 2, characterized in that: The first control unit determines whether to stop increasing the hydraulic pressure on the hydraulic support rod according to the hydraulic support rod force Fs detected by the first force sensor, wherein: Under a preset condition, the first control unit determines to stop increasing the hydraulic pressure on the hydraulic support rod; Wherein, the preset condition is that the hydraulic support rod force Fs detected by the first force sensor is equal to the initial force value Fs0 of the hydraulic support rod.

4. The intelligent support system for bridge construction according to claim 1, characterized in that: The second control unit determines a vertical distance d between the bridge outline in the depth image and the image acquisition unit, and controls the swing arm to extend until the extended length of the swing arm is D, setting D=d+Δd (4), where Δd represents a preset extended length excess.

5. The intelligent support system for bridge construction according to claim 1, characterized in that: The second control unit compares the force variation ΔFh1 of the first hydraulic fixed arm with the force variation ΔFh2 of the second hydraulic fixed arm, and determines the swing direction of the swing arm according to the comparison result, wherein: Under the first comparison condition, the second control unit determines that the swing arm swings from the side of the first hydraulic fixed arm to the side of the second hydraulic fixed arm; Under the second comparison condition, the second control unit determines that the swing arm swings from the second hydraulic fixed arm side to the first hydraulic fixed arm side; The first comparison condition is ΔFh1>ΔFh2, and the second comparison condition is ΔFh1<ΔFh2.

6. The intelligent support system for bridge construction according to claim 5, characterized in that: Under the first comparison condition, the second control unit compares the force change △Fh1 of the first hydraulic fixed arm with the preset second clamping force change comparison threshold △Fh02 and the third clamping force change comparison threshold △Fh03; under the second comparison condition, the second hydraulic fixed arm force change △Fh2 is compared with the preset second clamping force change comparison threshold △Fh02 and the third clamping force change comparison threshold △Fh03, △Fh01<△Fh02<△Fh03, and determines the force adjustment method when adjusting the swing force of the swing arm according to the comparison result, and controls the swing arm to apply pressure to the side of the precast bridge plate with the adjusted swing force until the force on the first hydraulic fixed arm and the force on the second hydraulic fixed arm are equal to the initial force value of the hydraulic fixed arm, wherein, The first force adjustment method is that the second control unit adjusts the swing force of the swing arm to a first force value F1 according to a preset first force adjustment parameter f1, and sets F1=f0+f1; The second force adjustment method is that the second control unit adjusts the swing force of the swing arm to a second force value F2 according to a preset second force adjustment parameter f2, and sets F2=f0+f2; The third force adjustment method is that the second control unit adjusts the swing force of the swing arm to a third force value F3 according to a preset third force adjustment parameter f3, setting F3=f0+f3; Among them, the first force adjustment method needs to satisfy △Fh1≥△Fh03 or △Fh2≥△Fh03, the second force adjustment method needs to satisfy △Fh02≤△Fh1<△Fh03 or △Fh02≤△Fh2<△Fh03, the third force adjustment method needs to satisfy △Fh1<△Fh02 or △Fh2<△Fh02, f1>f2>f3, F1>F2>F3, and f0 represents the initial swing force of the swing arm.

7. The intelligent support system for bridge construction according to claim 1, characterized in that: The first control unit is connected to an alarm device so that the alarm device sends a warning message under a first condition to warn that the adjustment process is abnormal, wherein: The first condition is that after the hydraulic pressure of the hydraulic support rod is adjusted, the force Fs of the hydraulic support rod detected by the first force sensor is greater than the initial force value Fs0 of the hydraulic support rod.

8. The intelligent support system for bridge construction according to claim 7, characterized in that: The alarm device is also connected to the second control unit so that the alarm device sends a warning message under the second condition to warn that the adjustment process is abnormal, wherein: The second condition is that when the swing arm applies pressure to the prefabricated bridge plate with the adjusted swing force, the force Fh1 of the first hydraulic fixed arm detected by the second force sensor and the force Fh2 of the second hydraulic fixed arm detected by the third force sensor increase.

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