Bridge building machine control method, control device, system, computer device and medium

Abstract

The application discloses a bridge construction machine control method, a bridge construction machine control device, a bridge construction machine control system, computer equipment and a medium, and relates to the technical field of bridge construction machine control. The bridge construction machine control method comprises the following steps: collecting a state image after box girder construction, wherein the state image comprises a side image and a bottom image after the box girder construction; analyzing a defect type of a construction residual defect in the state image; determining a defect position of the construction residual defect in the state image; and planning a box girder repair scheme for the construction residual defect based on the defect type and the defect position. The bridge construction machine control method improves the efficiency of box girder repair after box girder construction by the bridge construction machine.

Description

Technical Field

[0001] This application relates to the field of bridge construction machine control technology, specifically to a bridge construction machine control method, bridge construction machine control equipment, bridge construction machine control system, computer equipment and media. Background Technology

[0002] In the field of concrete continuous beam bridge construction, cantilever casting is a common construction technique.

[0003] After the construction of the corresponding bridge segment is completed, it is often necessary to hang a finishing platform on the corresponding concrete segment to repair defects on the concrete surface of the box girder (including exposed tie rod rebar heads), which makes the surface repair process of the box girder relatively time-consuming and complicated. Summary of the Invention

[0004] This application provides a bridge-building machine control method, bridge-building machine control equipment, bridge-building machine control system, computer equipment, and medium to improve the time-consuming and complex problem of repairing the surface of box girders.

[0005] In a first aspect, this application provides a bridge-building machine control method, comprising:

[0006] Multiple cameras are used to capture images of the box girder after construction, wherein each of the multiple cameras is facing a construction surface where the bridge-building machine is constructing the box girder;

[0007] Analyze the defect types of construction residual defects in the status images;

[0008] Determine the location of construction residual defects in the status image;

[0009] Based on the defect type and the defect location, a repair plan for the box girder with the residual construction defects is planned.

[0010] In some embodiments, before acquiring post-construction images of the box girder using multiple cameras, the method further includes:

[0011] Acquire the first environmental images during the construction of the box girder;

[0012] Analyze the bridge-building machine's forward movement and pouring conditions in the first environmental image;

[0013] Based on the bridge-building machine's forward movement and pouring conditions, the segment information of the bridge-building machine is determined;

[0014] Based on the segment information, determine the target position to which the sliding frame, which is being slidably installed on the manufactured bridge, needs to be slid.

[0015] Send a drive signal to the drive mechanism to drive the sliding frame, which is mounted on the manufactured bridge, to slide the bottom mold platform mechanism to the target position.

[0016] In some embodiments, before acquiring post-construction images of the box girder using multiple cameras, the method further includes:

[0017] Acquire secondary environmental images during box girder construction;

[0018] Analyze the demolding and mold adjustment conditions in the second environmental image;

[0019] Based on the demolding conditions, determine the movement data of the side mold or bottom mold;

[0020] Based on the mold adjustment conditions, determine the segment information;

[0021] Based on the movement data and the segment information, calculate the template adjustment requirements;

[0022] According to the template adjustment requirements, an adjustment signal is sent to the corresponding hydraulic mechanism to drive the corresponding side template or bottom template to adjust its posture.

[0023] In some embodiments, the defect type includes protruding rebar defects;

[0024] The analysis of the construction residual defects in the status image includes the following defect types:

[0025] Detect protruding objects relative to the surface of the box girder in the state image;

[0026] Determine whether the protruding object includes protruding reinforcing bars;

[0027] If the protruding object includes protruding reinforcing bars, then the defect type of the construction residual defect in the status image is determined to include protruding reinforcing bar defects;

[0028] Determining the location of residual construction defects in the status image includes:

[0029] If the protruding object includes a protruding reinforcing bar, the defect coordinates of the protruding reinforcing bar in the state image are determined according to the pre-established coordinate axes.

[0030] In some embodiments, the box girder repair scheme includes a protruding rebar repair scheme;

[0031] The method for planning a repair scheme for the box girder with residual construction defects based on the defect type and the defect location includes:

[0032] Based on the aforementioned defect type, a protruding rebar defect is selected as the target repair starting point;

[0033] Plan the repair path for protruding rebars based on the target repair starting point;

[0034] Determine the repair targets for protruding steel bar defects among the construction residual defects;

[0035] The protruding rebar repair path is sent to the corresponding device of the repair object to guide the repair of protruding rebar defects after box girder construction.

[0036] In some embodiments, selecting a protruding rebar defect as the target repair starting point includes:

[0037] Acquire a global image of the box girder;

[0038] Identify the sliding direction of the bridge-building machine in the global image;

[0039] Along the sliding direction of the bridge construction machine, select the protruding steel bar defect closest to the end of the box girder as the starting point for repairing the protruding steel bar;

[0040] The method of planning the repair path for protruding rebar based on the target repair starting point includes:

[0041] Select other protruding steel bars as subsequent repair points;

[0042] Along the sliding direction of the bridge-building machine, the target repair starting point and multiple subsequent repair points are connected in different ways to obtain a set of multiple first paths;

[0043] Calculate the time taken for different first paths, and select the first path with the shortest time as the repair path for the protruding rebar.

[0044] In some embodiments, the defect type includes pit defects;

[0045] The analysis of the construction residual defects in the status image includes the following defect types:

[0046] Detecting recessed objects relative to the surface of the box girder in the state image;

[0047] Determine whether the recessed object includes a pit;

[0048] If the recessed object includes a pit, then the defect type of the construction residual defect in the status image is determined to include a pit defect;

[0049] Determining the location of residual construction defects in the status image includes:

[0050] If the recessed object includes a pit, the defect coordinates of the pit in the state image are determined according to the pre-established coordinate axes.

[0051] In some embodiments, the box girder repair scheme includes a dent repair scheme;

[0052] The method for planning a repair scheme for the box girder with residual construction defects based on the defect type and the defect location includes:

[0053] Based on the aforementioned defect type, a pit defect is selected as the target repair starting point;

[0054] Plan the pit repair path based on the target repair starting point;

[0055] Determine the repair targets for pit defects among the construction residual defects;

[0056] The pit repair path is sent to the corresponding device of the repair object to guide the repair of pit defects after the box girder construction;

[0057] The process of planning the pit repair path based on the target repair starting point includes:

[0058] Other pit defects are selected as subsequent repair points, and the target repair starting point and multiple subsequent repair points are connected in different ways to obtain a set of second paths;

[0059] Calculate the time taken for different second paths, and select the second path with the shortest time as the repair path for the pit.

[0060] In some embodiments, the box girder repair scheme also includes a repair manpower and material consumption planning scheme;

[0061] The method for planning a repair scheme for the box girder with residual construction defects based on the defect type and the defect location includes:

[0062] The required type of repair personnel will be determined based on the type of defect.

[0063] The repair time is determined based on the defect type and the defect location.

[0064] Based on the type of repair personnel and the repair time, a repair manpower and consumables planning scheme is obtained.

[0065] In some embodiments, determining the repair time based on the defect type and the defect location includes:

[0066] Estimate the unit cutting time for protruding reinforcing bars per unit radius;

[0067] Calculate the actual radius of the protruding reinforcing bar;

[0068] The proportionality coefficient is obtained based on the ratio of the actual radius to the unit radius;

[0069] The estimated cutting time for the protruding steel bar is obtained by multiplying the aforementioned proportionality coefficient by the unit cutting time.

[0070] The total repair time for the protruding reinforcing bars is obtained by summing the estimated cutting times for multiple protruding reinforcing bars.

[0071] or,

[0072] Estimate the average cutting time for a single protruding rebar;

[0073] Calculate the number of protruding reinforcing bars;

[0074] The repair time for protruding rebars is obtained by multiplying the average cutting time by the number of rebars.

[0075] In some embodiments, determining the repair time based on the defect type and the defect location includes:

[0076] Estimate the unit repair time required to fill and smooth a single dent within a unit volume;

[0077] Determine the dimensions of the pit, and then calculate its volume based on those dimensions.

[0078] The estimated repair time for the pit is obtained based on the ratio of the pit's volume to its unit volume.

[0079] The total repair time for each pit is obtained by summing the estimated repair times for multiple pits.

[0080] or,

[0081] Estimate the average repair time for filling a single pit;

[0082] Calculate the number of pits;

[0083] The repair time for pits is determined by multiplying the average repair time by the number of pits.

[0084] Secondly, this application provides a bridge construction machine control device, comprising:

[0085] The acquisition module is used to acquire images of the box girder after construction using multiple cameras, wherein each of the multiple cameras is facing a construction surface where the bridge-building machine is constructing the box girder;

[0086] The analysis module is used to analyze the defect type of the construction residual defects in the status image and to determine the defect location of the construction residual defects in the status image.

[0087] The planning module is used to plan a repair scheme for the box girder with the remaining construction defects based on the defect type and the defect location.

[0088] Thirdly, this application provides a bridge-building machine control system, which is used to control the operation of the bridge-building machine. The bridge-building machine control system includes: multiple cameras and the aforementioned bridge-building machine control equipment. The control equipment is communicatively connected to the multiple cameras. The bridge-building machine includes: a traveling mechanism, a sliding frame, a side formwork adjustment mechanism, a bottom formwork platform mechanism, a front suspension mechanism, and an inner formwork mechanism that are slidably installed on the bridge being constructed. The multiple cameras are installed on the bridge-building machine, and each of the multiple cameras is facing a construction surface of the bridge-building machine where box girder construction is being carried out.

[0089] The walking mechanism is used to drive the entire equipment to move laterally; the sliding frame is used to drive the side formwork adjustment mechanism and the bottom formwork platform mechanism to move longitudinally and precisely adjust their positions; the side formwork adjustment mechanism is used to precisely adjust the posture of the side formwork; the bottom formwork platform mechanism is used to provide a platform for the bottom formwork and adjust its overall position; the front suspension mechanism provides support for the bottom formwork and also precisely adjusts its front end position; the inner formwork mechanism is used to support the inside of the bridge's box girder.

[0090] Fourthly, this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0091] Fifthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0092] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0093] This application analyzes the surface condition of box girders after construction by acquiring images, and determines the type and location of defects. This eliminates the need for construction personnel to repeatedly check and confirm, reducing the time spent on analyzing and judging surface defects of box girders. By obtaining the defect type and location, this application plans the repair type and provides a preliminary and effective reference for the subsequent manpower and materials required for repair. This reduces the possibility of material waste caused by errors in judgment by relevant personnel or the extension of the construction cycle due to manual planning of repair paths, and improves the efficiency of repair after box girder construction. Attached Figure Description

[0094] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0095] Figure 1 This is a schematic diagram of a scenario for the bridge-building machine control system provided in an embodiment of this application;

[0096] Figure 2 This is one of the schematic diagrams showing the positional relationship between the bridge-building machine and the box girder in the embodiments of this application;

[0097] Figure 3 This is a schematic flowchart of one embodiment of the repair method in this application.

[0098] Figure 4 This is a flowchart illustrating the walking and center of gravity adjustment unit in an embodiment of this application.

[0099] Figure 5 This is the second schematic diagram showing the positional relationship between the bridge-building machine and the box girder in the embodiments of this application;

[0100] Figure 6 This is a flowchart illustrating the template posture adjustment unit in an embodiment of this application;

[0101] Figure 7 This is the third schematic diagram showing the positional relationship between the bridge-building machine and the box girder in the embodiments of this application;

[0102] Figure 8 This is a schematic diagram of the structure of one embodiment of the control device provided in this application;

[0103] Figure 9 This is a schematic diagram of the structure of the control device provided in the embodiments of this application. Detailed Implementation

[0104] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0105] In the following description, specific embodiments of this application will be illustrated with reference to steps and symbols performed by one or more computers, unless otherwise stated. Therefore, these steps and operations will be referred to several times as being performed by a computer, and computer execution as referred to herein includes operations by a computer processing unit representing electronic signals of data in a structured format. This operation transforms the data or maintains it at a location in the computer's memory system, which can be reconfigured or otherwise alter the operation of the computer in a manner well known to those skilled in the art. The data structure maintained by the data is the physical location of the memory, which has specific characteristics defined by the data format. However, the principles of this application are described in the foregoing text, which is not intended to be limiting, and those skilled in the art will understand that many of the following steps and operations can also be implemented in hardware.

[0106] The terms "module" or "unit" as used herein can be considered as software objects executing on the computing system. Different components, modules, engines, and services described herein can be considered as implementations on the computing system. The apparatus and methods described herein are preferably implemented in software, but can also be implemented in hardware, both of which are within the scope of this application.

[0107] Those skilled in the art will understand that, unless explicitly stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in the specification of this application means the presence of features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0108] The following is a further description of the bridge-building machine control system in this application:

[0109] Please see Figure 1 , Figure 1 This is a schematic diagram of a bridge-building machine control system provided in an embodiment of this application. The bridge-building machine control system is used to control the operation of a bridge-building machine. The bridge-building machine control system includes multiple cameras and a control device 100. The control device is communicatively connected to the multiple cameras, and the control device 100 integrates the control equipment. In this embodiment, the control device 100 can be a terminal device or a server.

[0110] In this embodiment, when the control device 100 is a server, the server can be an independent server, a server network, or a server cluster. For example, the server described in this embodiment includes, but is not limited to, a computer, a network host, a single network server, a set of multiple network servers, or a cloud server composed of multiple servers. The cloud server is composed of a large number of computers or network servers based on cloud computing. In this embodiment, communication between the server and the client can be achieved through any communication method, including but not limited to mobile communication based on the 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), and Worldwide Interoperability for Microwave Access (WiMAX), or computer network communication based on the TCP / IP Protocol Suite (TCP / IP) and User Datagram Protocol (UDP).

[0111] It is understood that when the control device 100 used in the embodiments of this application is a terminal device, the terminal device can be a device that includes both receiving hardware and transmitting hardware, that is, a device with receiving and transmitting hardware capable of performing bidirectional communication on a bidirectional communication link. Such a terminal device may include: cellular or other communication devices, which have a single-line display, a multi-line display, or a cellular or other communication device without a multi-line display. Specifically, the control device 100 may be a desktop terminal or a mobile terminal, and the control device 100 may be one of a mobile phone, tablet computer, laptop computer, etc.

[0112] The terminal devices involved in the embodiments of this application can also be devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. Examples include mobile phones (or "cellular" phones) and computers with mobile terminals, such as portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with a wireless access network. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiation Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), and other devices.

[0113] Those skilled in the art will understand that Figure 1 The application environment shown is merely one application scenario of the solution in this application and does not constitute a limitation on the application scenario of the solution in this application. Other application environments may include those that are more specific to this application. Figure 1 The more or fewer devices shown, or the network connectivity of the devices, for example Figure 1 Only one control device is shown in the diagram. It is understood that the bridge-building machine control system may also include one or more other computing devices, and / or one or more other computing devices that are networked with the control device 100, which is not limited here.

[0114] In addition, such as Figure 1 As shown, the bridge construction machine control system may also include a memory 200 for storing data, such as collected status images, box girder repair plans, working conditions, segment information, etc.

[0115] like Figure 2 As shown, the bridge-building machine control system may include: a traveling mechanism 2, a sliding frame 3, a side formwork adjustment mechanism 4, a bottom formwork platform mechanism 5, a front suspension mechanism 6, and an inner formwork mechanism, all of which are slidably mounted on the bridge 1 being manufactured. The traveling mechanism is used to drive the entire equipment (bridge-building machine) to move laterally; the sliding frame 3 is used to drive the side formwork adjustment mechanism 4 and the bottom formwork platform mechanism 5 to move longitudinally and precisely adjust their positions; the side formwork adjustment mechanism 4 is used to precisely adjust the posture of the side formwork; the bottom formwork platform mechanism 5 is used to provide a platform for the bottom formwork 501 and adjust its overall position; the front suspension mechanism 6 provides support for the bottom formwork 501 and also precisely adjusts its front end position; the inner formwork mechanism includes an inner guide beam 701 and an inner formwork and support, which are used to support the interior of the box girder 101 of the bridge 1.

[0116] It should be noted that the appendix Figure 1The schematic diagram of the bridge-building machine control system shown is merely an example. The bridge-building machine control system and scenario described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of bridge-building machine control systems and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0117] In related technologies, at least the following problems exist when constructing continuous concrete beam bridges:

[0118] In terms of construction quality, the concrete surface of the box girder after demolding often has certain defects. It is necessary to install a finishing platform on the corresponding defective concrete segment for relevant personnel to repair. The repair process is relatively complicated. At the same time, relevant personnel need to observe and detect the location and type of defects before planning and formulating relevant repair plans, which further extends the construction period.

[0119] In terms of the construction process using bridge-building machines, the movement of the machine usually requires manual control, making it difficult to control synchronization and movement accuracy. In addition, relying solely on manual operation introduces more uncontrollable factors, easily leading to significant errors and making it difficult to guarantee accuracy. Taking the control of formwork posture as an example, since some box girders have a certain tilt angle on their sides, such as box girders with a vertical cross-section, a large amount of measurement and adjustment work is required when adjusting the formwork position and angle. The labor required for slab demolding, formwork closing, and formwork adjustment is substantial, and a considerable portion of manual work needs to be completed in the air without edge protection, posing extremely high safety risks. The posture after demolding is relatively random, and a large amount of measurement and formwork adjustment work is required when closing the formwork again.

[0120] Based on the main shortcomings and deficiencies of the aforementioned related technologies, this application provides a bridge construction machine control method. The bridge construction machine control system provided by this application also includes a walking and center of gravity adjustment unit and a template posture adjustment unit, which can realize data storage, data calculation, and autonomous adjustment functions; the box girder repair scheme planning realizes the provision of repair scheme planning based on specific defects after construction is completed, thereby improving the construction quality of the box girder and shortening the construction period.

[0121] The following detailed description is based on specific embodiments.

[0122] Firstly, regarding the issue that concrete surfaces often have certain defects, this embodiment will first explain the problem from the perspective of the bridge-building machine control method:

[0123] This application provides a bridge-building machine control method, applied to the bridge-building machine control system; please refer to... Figure 3 , Figure 3This is a flowchart illustrating a bridge-building machine control method, which includes the following steps 301-304:

[0124] 301. Collect state images of the box girder after construction using multiple cameras. The state images include side and bottom images of the box girder after construction.

[0125] 302. Analyze the defect types of construction residual defects in the status images.

[0126] 303. Determine the location of construction residual defects in the status image.

[0127] 304. Based on the defect type and defect location, plan a repair scheme for box girder with residual defects from construction.

[0128] Among them, each of the multiple cameras faces a construction surface where the bridge-building machine is constructing the box girder, corresponding to the side of the box girder. The camera can be mounted on the sliding frame 3 at the position corresponding to the side of the box girder being constructed. For the bottom surface of the box girder, the camera can be mounted on the bottom formwork platform mechanism 5 at the position corresponding to the bottom surface of the box girder. The camera can also be installed in a sliding structure along the bottom and outer perimeter of the box girder to achieve dynamic acquisition of status images. The status images include side and bottom images of the box girder after construction, and images of different planes can also be acquired according to the different positions of the repaired concrete surface. The box girder includes various shapes, such as trapezoidal beams with a trapezoidal longitudinal section, so the side of the box girder can be vertical or inclined. Construction residual defects include defects on the concrete surface after demolding, such as exposed tie rod rebar heads, pits, gaps, etc. Based on the formed box girder repair scheme, the bridge-building machine control method can provide relevant personnel with repair references and improve repair efficiency.

[0129] By collecting and analyzing images of the box girder's surface condition after construction, the type and location of defects can be determined, eliminating the need for repeated inspections and confirmations by construction personnel and reducing the time spent on defect assessment. The bridge-building machine control system plans the repair type based on the acquired defect type and location, providing a preliminary and effective reference for the subsequent manpower and consumables required for repair. It automatically controls the movable frame to move to the corresponding position to provide a platform for repair work, reducing the possibility of material waste due to errors in judgment by relevant personnel or the extension of the construction cycle due to manual planning of repair paths, and improving the efficiency of construction and repair.

[0130] In some embodiments of this application, the defect type may include protruding rebar defects and pit defects. The following descriptions will focus on the cases where the defect type is a protruding rebar defect and the defect type is a pit defect, respectively:

[0131] (a) The defect type is protruding steel bar defect.

[0132] (1) When the defect type is a protruding rebar defect, analyzing the defect type of construction residual defects in the status image may include the following steps:

[0133] Detect protruding objects relative to the surface of the box girder in the state image;

[0134] Determine whether the protruding object includes protruding steel bars;

[0135] If the protruding object includes protruding reinforcing bars, then the defect type of the construction residual defect in the status image is determined to include protruding reinforcing bar defects.

[0136] Among them, detecting whether the protruding objects relative to the surface of the box girder in the state image include protruding steel bars can be achieved through image content recognition. Based on the extraction and analysis of image features, the features of the protruding objects can be identified from the image, and then the features can be compared with objects in the feature library to confirm that the protruding objects are protruding steel bars; or by collecting images of the box girder surface including protruding steel bars to train an AI model, and calling the trained AI model to realize the identification of protruding steel bars.

[0137] (2) When the defect type is a protruding rebar defect, the location of the construction residual defect in the status image can be determined by: if the protruding object includes a protruding rebar, the defect coordinates of the protruding rebar in the status image can be determined according to the pre-established coordinate axis.

[0138] There are several ways to pre-establish coordinate axes. For example, a coordinate system can be established by selecting a point on the center line of the current bridge construction machine as the base point, corresponding to the current working condition, and recording the movement position through cameras and sensors. When a protruding rebar is detected, the coordinate point corresponding to the protruding rebar is updated and recorded based on the movement position. The coordinate point of the protruding rebar can be the center point of the protruding rebar connected to the plane to be repaired.

[0139] (3) When the defect type is protruding reinforcing bar defect, plan the repair scheme for the box girder with residual construction defects, including:

[0140] ① Based on the defect type, select a protruding rebar defect as the target repair starting point.

[0141] In one example, selecting a protruding rebar defect as the starting point for target repair could include:

[0142] Acquire a global image of the box girder; identify the sliding direction of the bridge-building machine in the global image; along the sliding direction of the bridge-building machine, select the protruding steel bar defect closest to the end of the box girder as the starting point for repairing the protruding steel bar.

[0143] Therefore, within the range of the box girder to be repaired, the position closest to the end of the box girder along the sliding direction of the bridge-building machine can be selected according to the specific location of the bridge-building machine, which can reduce the number of subsequent repair round trips and improve the efficiency of repairing protruding steel bar defects.

[0144] ② Based on the target repair starting point, plan the repair path for protruding rebars, which may specifically include:

[0145] Select other protruding steel bars as subsequent repair points;

[0146] Along the sliding direction of the bridge-building machine, the target repair starting point and multiple subsequent repair points are connected in different ways to obtain a set of multiple first paths;

[0147] Calculate the time taken for different first paths, and select the first path with the shortest time as the repair path for the protruding rebar.

[0148] The subsequent repair points can be protruding steel reinforcement defects that are sequentially close to the target repair starting point. This includes multiple protruding steel reinforcement defects located in the transverse, longitudinal, or other inclined directions of the target repair starting point on the plane to be repaired. The target repair starting point and multiple subsequent repair points can be connected in different directions and in different orders. For example, starting from the target repair starting point, multiple subsequent repair points can be connected longitudinally, and then the multiple subsequent repair points can be connected sequentially in the longitudinal direction along the sliding direction of the bridge construction machine, thereby forming a first path with different bending forms.

[0149] ③ Identify the objects to be repaired for protruding steel bars among the residual defects in construction;

[0150] ④ Send the protruding rebar repair path to the corresponding equipment of the repair object to guide the repair of protruding rebar defects after box girder construction.

[0151] The object to be repaired can be a repair person, or a relevant technician or manager; the corresponding device can be one of an electronic watch, mobile phone, tablet computer, laptop computer, etc. When a first path set is formed, the first path is sent to the corresponding device of the object to be repaired as the repair path of the protruding steel bar, thereby improving the immediacy of information reception.

[0152] (4) When the defect type is a protruding rebar defect, the box girder repair plan further includes a repair manpower and material planning scheme. Based on the defect type and the defect location, a box girder repair scheme for the residual construction defect is planned, including:

[0153] ① Determine the type of repair personnel required based on the defect type;

[0154] The types of repair personnel include concrete filling personnel, rebar cutting personnel, and inspection personnel. The repair personnel required for protruding rebars can be rebar cutting personnel.

[0155] ② Determine the repair time based on the defect type and location;

[0156] Determining repair time based on defect type and location includes determining the repair time for protruding rebars based on the defect type and location.

[0157] In a specific example, determining the time required to repair a protruding rebar includes the following steps:

[0158] Estimate the unit cutting time of the protruding rebar per unit radius; calculate the actual radius of the protruding rebar; obtain the proportionality coefficient based on the ratio of the actual radius to the unit radius; obtain the estimated cutting time of the protruding rebar by multiplying the proportionality coefficient by the unit cutting time; calculate the sum of the estimated cutting times of multiple protruding rebars to obtain the repair time of the protruding rebar.

[0159] In another specific example, determining the time required to repair protruding rebar includes the following steps:

[0160] Estimate the average cutting time for a single protruding rebar; calculate the number of protruding rebars; and obtain the repair time for the protruding rebars by multiplying the average cutting time by the number of rebars.

[0161] ③ Based on the type of repair personnel and the repair time, plan the repair manpower and consumables to obtain a repair manpower and consumables planning scheme.

[0162] In a specific example, when the defect type to be repaired is determined to be protruding rebar, the system can further suggest the relevant cutting tools based on the number and size of the protruding rebars. At the same time, it can prompt the rebar cutting personnel to trim the protruding rebars one by one according to the repair path, thereby improving the trimming efficiency.

[0163] (ii) The defect type is pitting defect.

[0164] (1) At this point, analyzing the defect types of construction residual defects in the status image can include the following steps:

[0165] Detect objects with depressions relative to the surface of the box girder in the status image;

[0166] Determine whether a recessed object includes a pit;

[0167] If the recessed object includes pits, then the defect type of the construction residual defect in the status image is determined to include pit defects.

[0168] (2) At this point, determining the location of construction residual defects in the status image can include:

[0169] If the recessed object includes pits, the defect coordinates of the pits in the status image are determined according to the pre-established coordinate axes.

[0170] The pre-establishment of coordinate axes can be implemented in the same way as for protruding reinforcing bars. When determining the coordinate axes, the size information of the pit, such as the depth, length and width of the pit, can be obtained. Based on the size information of the pit, the center point of the pit is used as the defect coordinate of the pit.

[0171] (3) At this time, the box girder repair plan includes the pit repair plan;

[0172] Based on the defect type and location, a repair plan for the box girder with residual construction defects is planned, including:

[0173] ① Based on the defect type, select a pit defect as the starting point for target repair;

[0174] One approach is to select the pit defect closest to the end of the box girder that needs repair as the target repair starting point. Alternatively, depending on the number of repairs required, for example, if a high-strength pit needs to be repaired multiple times, a pit defect in the middle of the box girder can be selected as the target repair starting point.

[0175] ② Plan the pit repair path based on the target repair starting point.

[0176] The process of planning a pit repair path based on the target repair starting point includes: selecting other pit defects as subsequent repair points, connecting the target repair starting point and multiple subsequent repair points in different ways to obtain a set of second paths; calculating the time consumption of different second paths, and selecting the second path with the shortest time consumption as the pit repair path.

[0177] ③ Determine the objects to be repaired for pit defects among the residual construction defects.

[0178] ④ Send the pit repair path to the corresponding equipment of the repair object to guide the repair of pit defects after the box girder construction.

[0179] Corresponding to the defect type of protruding steel bars, the repair object can be the repair personnel, or relevant technical personnel and managers; the corresponding device can be one of the following: electronic watch, mobile phone, tablet computer, laptop computer, etc. When a second path set is formed, the second path is sent to the corresponding device of the repair object as the repair path of the pit, thereby improving the immediacy of information reception.

[0180] (4) The box girder repair plan also includes a repair manpower and material planning scheme. Based on the defect type and the defect location, a box girder repair plan for the residual construction defects is planned, including:

[0181] ① Determine the type of repair personnel required based on the defect type;

[0182] ② Determine the repair time based on the defect type and defect location.

[0183] Determining repair time based on defect type and defect location, including determining pit repair time based on defect type and defect location;

[0184] In a specific example, determining the time required for pit repair includes the following steps:

[0185] Estimate the unit repair time required to fill and smooth a single dent within a unit volume; determine the dent's dimensions and obtain its volume based on those dimensions; calculate the estimated repair time for the dent based on the ratio of its volume to the unit volume; and sum the estimated repair times for multiple dents to obtain the total dent repair time.

[0186] In another specific example, the time required to repair a pit includes the following steps:

[0187] Estimate the average repair time for filling a single pit; calculate the number of pits; determine the pit repair time based on the product of the average repair time and the number of pits.

[0188] ③ Based on the type of repair personnel and the repair time, plan the repair manpower and consumables to obtain a repair manpower and consumables planning scheme.

[0189] In a specific example, when the defect type to be repaired is determined to be a pit, the estimated cement / concrete usage can be calculated based on the pit's size information. The total amount of cement / concrete required for repair can then be determined based on the estimated cement / concrete usage, thereby estimating the materials needed for pit filling and reducing material waste.

[0190] In addition, regarding the issues raised in the above analysis, such as the difficulty in controlling the synchronization and movement accuracy of bridge-building machines during construction, and the large errors that easily occur during construction movement and formwork posture control, making it difficult to guarantee accuracy, the bridge-building machine control system can also include several other units, such as a travel and center of gravity adjustment unit and a formwork posture adjustment unit. The following will explain the travel and center of gravity adjustment unit and the formwork posture adjustment unit respectively:

[0191] (I) Walking and center of gravity adjustment unit

[0192] The walking and center of gravity adjustment unit is used to realize the walking or center of gravity adjustment of the bridge construction machine. When the position of the bridge construction machine needs to be adjusted, during the bridge construction process such as pouring concrete, the main body of the bridge construction machine needs to be moved to a position far away from the construction end, so as to move the center of gravity of the main body of the bridge construction machine back to the rear of the equipment and improve the construction stability. In addition, after the construction of a bridge segment is completed, the bridge construction machine needs to move forward. This process requires the bridge construction machine to move with high precision and corresponding stroke.

[0193] As attached Figure 4As shown, the walking or center of gravity adjustment of the walking and center of gravity adjustment unit includes the following steps:

[0194] First environmental images of the box girder construction were captured using multiple cameras;

[0195] Analyze the bridge-building machine's forward movement and pouring conditions in the first environmental image;

[0196] Based on the bridge-building machine's forward movement and pouring conditions, the segment information of the bridge-building machine is determined;

[0197] The target position to which the sliding frame needs to slide is determined based on the segment information;

[0198] Send a drive signal to the drive mechanism to drive the sliding frame to slide the bottom mold platform mechanism to the target position.

[0199] The acquisition of the first environmental image can also be done through multiple cameras.

[0200] like Figure 5 As shown, the overall traveling structure of the bridge-building machine is designed as a wheel-rail type. It moves by installing a track-type main beam on the bridge and setting rollers that slide and cooperate with it on the traveling mechanism 2. The movement of the traveling mechanism is realized by the drive mechanism, thereby realizing the automatic and continuous forward movement of the entire bridge-building machine. The drive mechanism can be a motor for driving the rollers to rotate, or other rotating mechanisms that can drive the rollers to roll.

[0201] The movement data of the bridge-building machine, such as its speed, can be adjusted according to the identified construction conditions. All movement data can also be preset and pre-entered by relevant personnel. The bridge-building machine can also include a display module, on which movement data and identified conditions during on-site operation can be displayed to avoid exceeding the movement range. Throughout the entire walking phase, the accuracy can reach the millimeter level, and the synchronization of the left and right sides of the bridge-building machine is controlled by the system to avoid local instability caused by asynchrony between the two sides, achieving automatic, continuous, and high-precision movement.

[0202] The segment information reading mainly includes segment length information. After the bridge construction machine is started, the bridge construction position can be identified. When it is necessary to construct the bridge 1 near the front suspension mechanism 6, the distance that can be moved backward is determined according to the forward movement condition of the bridge construction machine. The sliding frame can drive the side formwork adjustment mechanism 4 and the formwork to move towards the end away from the front suspension mechanism 6 to the end of the main beam under the action of the traveling mechanism 2, so that the center of gravity of the entire bridge construction machine moves backward. Similarly, when the corresponding segment at the end of the bridge near the front suspension mechanism 6 is completed, the length of the segment that can be moved forward can be obtained according to the pouring condition and the forward and backward movement distance of the bridge construction machine, and it moves forward at a predetermined moving speed.

[0203] Therefore, the bridge-building machine itself has the conditions for relative movement between its various structural parts, and through a complete control system, the movable parts are controlled to move at a uniform speed to the rear of the equipment during the forward movement of the whole machine, thereby achieving the purpose of shifting the center of gravity; thus, the whole equipment is more stable and reliable during the travel phase and has a lower risk of overturning compared to traditional hanging baskets.

[0204] (II) Template Attitude Adjustment Unit

[0205] The template attitude adjustment unit controls the template attitude through the following steps:

[0206] Environmental images during the construction of the box girder were captured using multiple cameras;

[0207] Analyze the demolding and mold adjustment conditions in the environmental images;

[0208] Based on the demolding conditions, determine the movement data of the side mold or bottom mold;

[0209] Based on the mold adjustment conditions, determine the segment information;

[0210] Based on the movement data and the segment information, calculate the template adjustment requirements;

[0211] According to the template adjustment requirements, an adjustment signal is sent to the corresponding hydraulic mechanism to drive the corresponding side template or bottom template to adjust its posture.

[0212] In one example, as shown in the attached document Figure 6 As shown, taking the need to adjust the height of the template posture as an example, the above-mentioned determination of the movement data of the side mold or bottom mold based on the demolding conditions may include:

[0213] Determine the previous segment elevation value H0; the side formwork and bottom formwork are automatically detached from the beam body through the hydraulic system and electric hoist, and the system automatically records and saves the movement data D of the side formwork and bottom formwork; correspondingly, determining the segment information may include inputting and reading the design elevation H1 of the segment to be poured, and calculating the adjustment requirement (i.e., movement data) based on the read segment design elevation H1, the formwork movement data D, and the previous segment elevation value H0: H1-H0+D.

[0214] In other examples, if the template posture needs to be adjusted in angle, the adjustment requirements can be obtained by confirming the design angle of the segment to be poured, the rotation angle of the template, and the angle of the previous segment.

[0215] Therefore, during the demolding stage, the system can automatically record the horizontal and vertical demolding distances and rotation angles of the side formwork; it can also automatically record the descent height and angle of the bottom formwork. When moving to the next construction segment, based on the previously recorded formwork movement data, the weight of the newly poured segment, and the monitoring command value of the corresponding segment, the system can automatically calculate the formwork adjustment requirements. After starting the formwork adjustment program, the system can automatically adjust the formwork to the corresponding elevation. The entire formwork adjustment process not only saves a lot of measurement-adjustment-re-measurement work (only verification is required), greatly improving the efficiency of formwork adjustment, but also has a significant advantage in formwork adjustment accuracy.

[0216] It should be noted that, in order to achieve the intelligent control of the template posture, the hydraulic mechanism can include oil cylinders, hydraulic cylinders or other telescopic actuators in terms of hardware. For example, the side mold hydraulic cylinders and bottom mold electric hoists can be arranged to enable both the side mold and the bottom mold to be automatically adjustable.

[0217] like Figure 7 As shown, in one example, the walking mechanism 2 includes a walking track 202 laid on a cast concrete beam and a main beam 201 connected to the walking track 202 via a walking wheel box 203 at the bottom. The main beam 201 is provided with vertical supports 205 for supporting the ground when in position. The front and rear sides of the walking track 202 are provided with limiting baffles 204 to prevent the walking wheel box 203 from falling out. The walking wheel box 203 is driven by a motor and can be locked. In this embodiment, the number of main beams 201 is equal to the number of webs of the concrete continuous beam and is correspondingly located above the webs. In this embodiment, the structural form of the main beam 201 can be a plate beam structure, a honeycomb beam structure, a truss beam structure, a composite beam structure, etc. In this embodiment, each main beam 201 is provided with two walking wheel boxes 203 at the front and rear, and each walking wheel box 203 uses two walking wheels. Each walking wheel box 203 on the main beam 201 is provided with a vertical support 205 on each side, for a total of four vertical supports 205.

[0218] The sliding frame 3 is used to drive the side formwork adjustment mechanism 4 and the bottom formwork platform mechanism 5 to move longitudinally and precisely adjust their positions. It includes a C-shaped frame 301 that surrounds the continuous concrete beam downwards, side formwork brackets 303 on the inner sides of the lower part of the C-shaped frame 301, sliding blocks 302 that are slidably fitted onto the main beam 201 and supported on the upper part, and vertical support legs 304 that support the ground during operation. The two C-shaped frames 301 are connected as one unit by the longitudinal beams on the lower parts. The sliding blocks 302 are driven by a motor and can be locked. In this embodiment, the sliding blocks 302 are made of polytetrafluoroethylene (PTFE) plates. In this embodiment, the vertical support legs 304 are distributed on both sides of the main beam 201.

[0219] The side mold adjustment mechanism 4 is used to precisely adjust the posture of the side mold plate 401. It includes adjusting cylinders 404 distributed on the side mold brackets 303, a side mold bottom support beam 403 supported by all the adjusting cylinders 404 on the same side, a side mold frame 402 located on the upper part of the side mold bottom support beam 403, and side mold plates 401 located on the upper and inner sides of the side mold frame 402. All the adjusting cylinders 404 on the same side work together to precisely adjust the posture of the side mold plate 401. The side mold bottom support beam 403 is used to transmit power and distribute the load. In this embodiment, each… Each side formwork bracket 303 is equipped with two adjusting cylinders 404, for a total of four adjusting cylinders 404 on one side. The outer side formwork adjusting cylinders 404 on each side formwork bracket 303 are set to tilt inward along the longitudinal and transverse directions of the bridge, while the inner side formwork adjusting cylinders 404 are set to tilt inward along the longitudinal direction of the bridge. When adjusting the posture of a single side formwork, the four cylinders 404 work together to achieve horizontal and vertical translation and rotation. In this embodiment, the side formwork bottom support beam 403 adopts a frame beam structure, and the side formwork frame 402 adopts a multi-piece truss structure.

[0220] The bottom formwork platform mechanism 5 is used to provide a platform for the bottom formwork 501 and adjust its overall position. The bottom formwork platform mechanism 5 includes a bottom formwork platform 502 located below the concrete continuous beam, a bottom formwork 501 laid on the bottom formwork platform 502, a front suspension cable 503 and a rear suspension cable 504 that suspend the bottom formwork platform 502 from both sides, and a front suspension cylinder 505 and a rear suspension cylinder 506 that are used to adjust the height of the front suspension cable 503 and the rear suspension cable 504, respectively. The front suspension cylinder 505 and the rear suspension cylinder 506 are installed on the longitudinal beams between the C-shaped frames. In this embodiment, the bottom formwork platform 502 includes a crossbeam and several small longitudinal beams. The front end of the small longitudinal beams extends a certain distance so that they can be placed flat on the front lower crossbeam 604 during operation.

[0221] The front suspension mechanism 6 includes an upper front crossbeam 601 installed at the front of the main beam 201, a lower front crossbeam 604 located below the concrete continuous beam for supporting and adjusting the front position of the bottom formwork platform 502, a steel sling 603 suspending the lower front crossbeam 604 along the line, and an adjusting top 602 for adjusting the height of the steel sling 603. The adjusting top 602 is installed on the upper front crossbeam 601 and is driven by intelligent hydraulics and can be locked after automatic elevation adjustment. The front suspension mechanism 6 provides support for the bottom formwork 501 and also precisely adjusts its front end position.

[0222] The inner mold mechanism includes an inner guide beam 701 and an inner template and support 702.

[0223] In terms of software, the above adjustment and control steps control the hydraulic cylinder and electric hoist to adjust the template to the corresponding posture; the entire adjustment process does not require construction personnel to be arranged below the beam surface, which significantly reduces labor demand and significantly reduces the safety risks of working near the edge.

[0224] Secondly, to facilitate better implementation of the repair method provided in the embodiments of this application, the embodiments of this application also provide an apparatus based on the above-described repair method. The meanings of the terms used are the same as in the above-described repair method, and specific implementation details can be found in the descriptions in the method embodiments.

[0225] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of the control device provided in the embodiments of this application, wherein the repair device 800 may include a data acquisition module 801, an analysis module 802, and a planning module 803, wherein:

[0226] The acquisition module 801 is used to acquire state images of the box girder after construction. The state images include side images and bottom images of the box girder after construction.

[0227] Analysis module 802 is used to analyze the defect type of construction residual defects in the status image and to determine the defect location of construction residual defects in the status image.

[0228] Planning module 803 is used to plan repair schemes for box girders with residual defects in construction based on defect type and defect location.

[0229] In some embodiments of this application, the analysis module is used for:

[0230] Acquire the first environmental images during the construction of the box girder;

[0231] Analyze the bridge-building machine's forward movement and pouring conditions in the first environmental image;

[0232] Based on the bridge-building machine's forward movement and pouring conditions, the segment information of the bridge-building machine is determined;

[0233] The target position to which the sliding frame needs to slide is determined based on the segment information;

[0234] Send a drive signal to the drive mechanism to drive the sliding frame to slide the bottom mold platform mechanism to the target position.

[0235] In some embodiments of this application, the analysis module is further used for:

[0236] Acquire secondary environmental images during box girder construction;

[0237] Analyze the demolding and mold adjustment conditions in the second environmental image;

[0238] Based on the demolding conditions, determine the movement data of the side mold or bottom mold;

[0239] Based on the mold adjustment conditions, determine the segment information;

[0240] Based on the movement data and the segment information, calculate the template adjustment requirements;

[0241] According to the template adjustment requirements, an adjustment signal is sent to the corresponding hydraulic mechanism to drive the corresponding side template or bottom template to adjust its posture.

[0242] In some embodiments of this application, the analysis module is further used for:

[0243] Detect protruding objects relative to the surface of the box girder in the state image;

[0244] Determine whether the protruding object includes protruding steel bars;

[0245] If the protruding object includes protruding rebar, then the defect type of the construction residual defect in the status image is determined to include protruding rebar defects.

[0246] If the protruding object includes protruding reinforcing bars, determine the defect coordinates of the protruding reinforcing bars in the status image based on the pre-established coordinate axes;

[0247] In some embodiments of this application, the planning module is specifically used for:

[0248] Based on the defect type, a protruding rebar defect is selected as the target repair starting point;

[0249] Plan the repair path for protruding rebars based on the target repair starting point;

[0250] Identify the objects to be repaired for protruding steel reinforcement defects among residual construction defects;

[0251] The repair path for protruding reinforcing bars is sent to the corresponding equipment of the object to be repaired, so as to guide the repair of protruding reinforcing bar defects after the construction of the box girder.

[0252] In some embodiments of this application, the planning module is also used for:

[0253] Acquire a global image of the box girder;

[0254] Identify the sliding direction of the bridge construction machine in the global image;

[0255] Along the sliding direction of the bridge construction machine, select the protruding steel bar defect closest to the end of the box girder as the starting point for repairing the protruding steel bar;

[0256] Select other protruding steel bars as subsequent repair points;

[0257] Along the sliding direction of the bridge-building machine, the target repair starting point and multiple subsequent repair points are connected in different ways to obtain a set of multiple first paths;

[0258] Calculate the time taken for different first paths, and select the first path with the shortest time as the repair path for the protruding rebar.

[0259] In some embodiments of this application, the analysis module is further used for:

[0260] Detect objects with depressions relative to the surface of the box girder in the status image;

[0261] Determine whether a recessed object includes a pit;

[0262] If the recessed object includes pits, then the defect type of the construction residual defect in the status image is determined to include pit defects.

[0263] If the recessed object includes pits, the defect coordinates of the pits in the status image are determined according to the pre-established coordinate axes.

[0264] In some embodiments of this application, the planning module is also used for:

[0265] Based on the defect type, a pit defect is selected as the target repair starting point;

[0266] Plan the pothole repair path based on the target repair starting point;

[0267] Identify the objects to be repaired for pit defects among the residual construction defects;

[0268] The pit repair path is sent to the corresponding equipment of the repair object to guide the repair of pit defects after the box girder construction.

[0269] In some embodiments of this application, the planning module is also used for:

[0270] Other pit defects are selected as subsequent repair points, and the target repair starting point and multiple subsequent repair points are connected in different ways to obtain a set of second paths;

[0271] Calculate the time taken for different second paths, and select the second path with the shortest time as the repair path for the pit.

[0272] In some embodiments of this application, the planning module is also used for:

[0273] Determine the type of repair personnel required based on the type of defect;

[0274] The repair time is determined based on the defect type and defect location;

[0275] Plan the manpower and materials for repairs based on the type of repair personnel and the time required for repairs.

[0276] In some embodiments of this application, the planning module is also used for:

[0277] Estimate the unit cutting time for protruding reinforcing bars per unit radius;

[0278] Calculate the actual radius of the protruding reinforcing bar;

[0279] The proportionality coefficient is obtained from the ratio of the actual radius to the unit radius;

[0280] The estimated cutting time for the protruding steel bar is obtained by multiplying the proportional coefficient by the unit cutting time.

[0281] Calculate the sum of the estimated cutting times for multiple protruding reinforcing bars to obtain the total repair time for the protruding reinforcing bars;

[0282] or,

[0283] Estimate the average cutting time for a single protruding rebar;

[0284] Calculate the number of protruding reinforcing bars;

[0285] The repair time for protruding rebars is obtained by multiplying the average cutting time by the number of rebars cut.

[0286] In some embodiments of this application, the planning module is also used for:

[0287] Estimate the unit repair time required to fill and smooth a single dent within a unit volume;

[0288] Determine the dimensions of the pit, and then calculate its volume based on those dimensions.

[0289] The estimated repair time for the pit is obtained based on the ratio of the pit volume to the unit volume.

[0290] Calculate the sum of the estimated repair times for multiple pits to obtain the total repair time for the pits;

[0291] or,

[0292] Estimate the average repair time for filling a single pit;

[0293] Calculate the number of pits;

[0294] The repair time for pits is determined by multiplying the average repair time by the number of pits.

[0295] In some embodiments of this application, the planning module is also used for:

[0296] Based on the dimensions of the pit, calculate the estimated cement / concrete usage, and then determine the total amount of cement / concrete required for repair.

[0297] Thirdly, embodiments of this application also provide a computer device, such as... Figure 9 As shown, it illustrates a structural schematic diagram of the computer device involved in the embodiments of this application, specifically:

[0298] The computer device may include components such as a processor 901 with one or more processing cores, a memory 902 with one or more computer-readable storage media, a power supply 903, and an input unit 904. Those skilled in the art will understand that... Figure 9 The computer device structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0299] The processor 901 is the control center of the computer device. It connects various parts of the computer device via various interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the memory 902, and by calling data stored in the memory 902, thereby providing overall monitoring of the computer device. Optionally, the processor 901 may include one or more processing cores; preferably, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operation of the storage medium, user interface, and application programs, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 901.

[0300] The memory 902 can be used to store software programs and modules. The processor 901 executes various functional applications and data processing by running the software programs and modules stored in the memory 902. The memory 902 may mainly include a program storage area and a data storage area. The program storage area may store application programs required for operating the storage medium and at least one function (such as sound playback function, image playback function, etc.); the data storage area may store data created according to the use of the computer device. In addition, the memory 902 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 902 may also include a controller to provide the processor 901 with access to the memory 902.

[0301] The computer device also includes a power supply 903 that supplies power to various components. Preferably, the power supply 903 can be logically connected to the processor 901 via a power management storage medium, thereby enabling functions such as charging, discharging, and power consumption management through the power management storage medium. The power supply 903 may also include one or more DC or AC power supplies, recharge storage media, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0302] The computer device may also include an input unit 904, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0303] Although not shown, the computer device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 901 in the computer device loads the executable files corresponding to the processes of one or more applications into the memory 902 according to the following instructions, and the processor 901 runs the applications stored in the memory 902, thereby implementing the steps in the above-described image processing method embodiment.

[0304] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0305] Therefore, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to execute the steps in any of the image processing methods provided in embodiments of this application.

[0306] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0307] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0308] Since the computer program stored in the computer-readable storage medium can execute the steps of any of the image processing methods provided in the embodiments of this application, the beneficial effects that any of the image processing methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0309] The foregoing has provided a detailed description of an image processing method, related apparatus, device, and storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A bridge-building machine control method, characterized in that, include: Multiple cameras are used to capture images of the box girder after construction, wherein each of the multiple cameras is facing a construction surface where the bridge-building machine is constructing the box girder; Analyze the defect types of construction residual defects in the status images; Determine the location of construction residual defects in the status image; Based on the defect type and the defect location, a repair plan for the box girder with the residual construction defects is planned; The defect types include protruding rebar defects; The analysis of the construction residual defects in the status image includes the following defect types: Detect protruding objects relative to the surface of the box girder in the state image; Determine whether the protruding object includes protruding reinforcing bars; If the protruding object includes protruding reinforcing bars, then the defect type of the construction residual defect in the status image is determined to include protruding reinforcing bar defects; Determining the location of residual construction defects in the status image includes: If the protruding object includes a protruding rebar, the defect coordinates of the protruding rebar in the state image are determined according to the pre-established coordinate axes; or, The defect types include pit defects; The analysis of the construction residual defects in the status image includes the following defect types: Detecting recessed objects relative to the surface of the box girder in the state image; Determine whether the recessed object includes a pit; If the recessed object includes a pit, then the defect type of the construction residual defect in the status image is determined to include a pit defect; Determining the location of residual construction defects in the status image includes: If the recessed object includes a pit, the defect coordinates of the pit in the state image are determined according to the pre-established coordinate axes.

2. The method according to claim 1, characterized in that, Before acquiring post-construction images of the box girder using multiple cameras, the method further includes: Acquire the first environmental images during the construction of the box girder; Analyze the bridge-building machine's forward movement and pouring conditions in the first environmental image; Based on the bridge-building machine's forward movement and pouring conditions, the segment information of the bridge-building machine is determined; Based on the segment information, determine the target position to which the sliding frame, which is being slidably installed on the manufactured bridge, needs to be slid. Send a drive signal to the drive mechanism to drive the sliding frame, which is mounted on the manufactured bridge, to slide the bottom mold platform mechanism to the target position.

3. The method according to claim 1, characterized in that, Before acquiring post-construction images of the box girder using multiple cameras, the method further includes: Acquire secondary environmental images during box girder construction; Analyze the demolding and mold adjustment conditions in the second environmental image; Based on the demolding conditions, determine the movement data of the side mold or bottom mold; Based on the mold adjustment conditions, determine the segment information; Based on the movement data and the segment information, calculate the template adjustment requirements; According to the template adjustment requirements, an adjustment signal is sent to the corresponding hydraulic mechanism to drive the corresponding side template or bottom template to adjust its posture.

4. The method according to claim 1, characterized in that, The box girder repair plan includes a plan for repairing protruding reinforcing bars; The method for planning a repair scheme for the box girder with residual construction defects based on the defect type and the defect location includes: Based on the aforementioned defect type, a protruding rebar defect is selected as the target repair starting point; Plan the repair path for protruding rebars based on the target repair starting point; Determine the repair targets for protruding steel bar defects among the construction residual defects; The protruding rebar repair path is sent to the corresponding device of the repair object to guide the repair of protruding rebar defects after box girder construction.

5. The method according to claim 4, characterized in that, The selection of a protruding rebar defect as the target repair starting point includes: Acquire a global image of the box girder; Identify the sliding direction of the bridge-building machine in the global image; Along the sliding direction of the bridge construction machine, select the protruding steel bar defect closest to the end of the box girder as the starting point for repairing the protruding steel bar; The method of planning the repair path for protruding rebar based on the target repair starting point includes: Select other protruding steel bars as subsequent repair points; Along the sliding direction of the bridge-building machine, the target repair starting point and multiple subsequent repair points are connected in different ways to obtain a set of multiple first paths; Calculate the time taken for different first paths, and select the first path with the shortest time as the repair path for the protruding rebar.

6. The method according to claim 1, characterized in that, The box girder repair plan includes a dent repair plan; The method for planning a repair scheme for the box girder with residual construction defects based on the defect type and the defect location includes: Based on the aforementioned defect type, a pit defect is selected as the target repair starting point; Plan the pit repair path based on the target repair starting point; Determine the repair targets for pit defects among the construction residual defects; The pit repair path is sent to the corresponding equipment of the repair object to guide the repair of pit defects after box girder construction; The process of planning the pit repair path based on the target repair starting point includes: Other pit defects are selected as subsequent repair points, and the target repair starting point and multiple subsequent repair points are connected in different ways to obtain a set of second paths; Calculate the time taken for different second paths, and select the second path with the shortest time as the repair path for the pit.

7. The method according to claim 1, characterized in that, The box girder repair plan also includes a plan for repair manpower and material consumption. The method for planning a repair scheme for the box girder with residual construction defects based on the defect type and the defect location includes: The required type of repair personnel will be determined based on the type of defect. The repair time is determined based on the defect type and the defect location. Based on the type of repair personnel and the repair time, a repair manpower and consumables planning scheme is obtained.

8. The method according to claim 7, characterized in that, The determination of repair time based on the defect type and the defect location includes: Estimate the unit cutting time for protruding reinforcing bars per unit radius; Calculate the actual radius of the protruding reinforcing bar; The proportionality coefficient is obtained based on the ratio of the actual radius to the unit radius; The estimated cutting time for the protruding steel bar is obtained by multiplying the aforementioned proportionality coefficient by the unit cutting time. The total repair time for the protruding reinforcing bars is obtained by summing the estimated cutting times for multiple protruding reinforcing bars. or, Estimate the average cutting time for a single protruding rebar; Calculate the number of protruding reinforcing bars; The repair time for protruding rebars is obtained by multiplying the average cutting time by the number of rebars.

9. The method according to claim 7, characterized in that, The determination of repair time based on the defect type and the defect location includes: Estimate the unit repair time required to fill and smooth a single dent within a unit volume; Determine the dimensions of the pit, and then calculate its volume based on those dimensions. The estimated repair time for the pit is obtained based on the ratio of the pit's volume to its unit volume. The total repair time for each pit is obtained by summing the estimated repair times for multiple pits. or, Estimate the average repair time for filling a single pit; Calculate the number of pits; The repair time for pits is determined by multiplying the average repair time by the number of pits.

10. A bridge construction machine control device, characterized in that, include: The acquisition module is used to acquire images of the box girder after construction using multiple cameras, wherein each of the multiple cameras is facing a construction surface where the bridge-building machine is constructing the box girder; The analysis module is used to analyze the defect type of the construction residual defects in the status image and to determine the defect location of the construction residual defects in the status image. The planning module is used to plan a repair scheme for the box girder with the remaining construction defects based on the defect type and the defect location. The defect type includes protruding rebar defects. The analysis module is used to detect protruding objects relative to the box girder surface in the status image, determine whether the protruding object includes protruding rebar, and when the protruding object includes protruding rebar, determine that the defect type of the construction residual defect in the status image includes protruding rebar defects; it is also used to determine the defect coordinates of the protruding rebar in the status image according to a pre-established coordinate axis when the protruding object includes protruding rebar. or, The defect type includes pit defects. The analysis module is used to detect the concave objects relative to the box girder surface in the status image, determine whether the concave objects include pits, and when the concave objects include pits, determine that the defect type of the construction residual defects in the status image includes pit defects; it is also used to determine the defect coordinates of the pits in the status image according to the pre-established coordinate axes when the concave objects include pits.

11. A bridge-building machine control system, wherein the bridge-building machine control system is used to control the operation of a bridge-building machine, characterized in that, The bridge construction machine control system includes: multiple cameras and the bridge construction machine control device as described in claim 10, wherein the control device is communicatively connected to the multiple cameras, and the bridge construction machine includes: a traveling mechanism, a sliding frame, a side formwork adjustment mechanism, a bottom formwork platform mechanism, a front suspension mechanism, and an inner formwork mechanism that are slidably mounted on the bridge being manufactured; the multiple cameras are mounted on the bridge construction machine, and each of the multiple cameras is facing a construction surface of the bridge construction machine where box girder construction is being carried out. The walking mechanism is used to drive the entire equipment to move laterally; the sliding frame is used to drive the side formwork adjustment mechanism and the bottom formwork platform mechanism to move longitudinally and precisely adjust their positions; the side formwork adjustment mechanism is used to precisely adjust the posture of the side formwork; the bottom formwork platform mechanism is used to provide a platform for the bottom formwork and adjust its overall position; the front suspension mechanism provides support for the bottom formwork and also precisely adjusts its front end position; the inner formwork mechanism is used to support the inside of the bridge's box girder.

12. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 9.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

Images