Synchronous hoisting method, medium and system for prefabricated small box girder

Abstract

A synchronous hoisting method, medium and system for prefabricated small box girders relates to the technical field of box girder hoisting, and comprises the following steps: calculating by using a BIM model to obtain a hoisting equipment positioning point, performing positioning and paying off, and moving the hoisting equipment to the positioning point; obtaining operation parameters of the hoisting equipment, mapping the operation parameters to the hoisting equipment BIM model, and driving the hoisting equipment BIM model to be consistent with the actual hoisting equipment state by using the operation parameters; using the construction BIM model and the hoisting equipment BIM model to calculate hoisting parameters of the small box girder; according to the method, the hoisting parameters required by the two hoisting devices for hoisting the small box girder can be calculated according to the current postures of the two hoisting devices, and the hoisting devices are driven by the parameters to hoist the small box girder, so that compared with manual operation of the hoisting devices, the hoisting efficiency is greatly improved, and the hoisting cost is reduced. Not only is the hoisting precision high, but also the matching degree of the two hoisting devices is high, and the efficiency after construction is improved.

Description

Technical Field

[0001] The invention relates to the technical field of box girder hoisting, and in particular to a method, medium and system for synchronously hoisting a prefabricated small box girder. Background Art

[0002] Small box beam is a commonly used structural form in bridge engineering. It is mainly composed of two upper and lower rectangular sections, connected in the middle by thin-walled steel plates or reinforced concrete plates. The top and bottom of the box beam are connected to the piers and foundations respectively to form a component that bears the bridge deck load. Small box beams are widely used in bridge engineering and road construction projects, mainly in the construction of small and medium span bridges. Small box beams are widely used because of their relatively simple structure, strong bearing capacity, and simple construction process. Small box beams are generally used in multiple pieces together to disperse the load and improve the overall bearing capacity and stability of the bridge.

[0003] During the installation of the small box girder, multiple lifting equipment are needed to be connected to it and work together to lift it to the installation position on the bridge. During the lifting process, the two lifting equipment need to cooperate precisely to ensure the stability and safety of the box girder during the lifting process. However, since the lifting equipment requires manual operation and is limited by the operator's skill level, experience and communication efficiency, it is often difficult to achieve perfect synchronous operation, resulting in low lifting efficiency and affecting the overall construction efficiency of the bridge. Summary of the invention

[0004] The embodiments of the present invention provide a method, medium and system for synchronously lifting a prefabricated small box girder, which are used to solve the problem that the poor coordination of multiple lifting equipments leads to low lifting efficiency and affects the overall construction efficiency of the bridge.

[0005] A method for synchronously hoisting a prefabricated small box beam, comprising:

[0006] Build BIM models of at least two lifting equipment; and build a construction BIM model that can truly describe the construction plan;

[0007] The BIM model is used to calculate the positioning point of the lifting equipment, and the positioning and laying out are performed to move the lifting equipment to the positioning point;

[0008] Obtain the operating parameters of the lifting equipment and map them to the lifting equipment BIM model, and use the operating parameters to drive the lifting equipment BIM model to be consistent with the actual lifting equipment status;

[0009] Calculate the lifting parameters of the small box girder using the construction BIM model and the lifting equipment BIM model;

[0010] The above parameters are used to drive the lifting equipment to lift the small box girder independently.

[0011] Furthermore, the step of determining the device positioning point includes:

[0012] Using bridge construction parameters, a construction BIM model is constructed that truly describes the construction plan;

[0013] According to the parameters of the lifting equipment, at least two corresponding virtual lifting equipment are constructed and assembled with the above BIM model;

[0014] Set the positioning points of at least two lifting equipment in the above assembled BIM model;

[0015] According to the lifting equipment positioning points obtained above, line laying and positioning are carried out.

[0016] Furthermore, the operating parameters of the lifting equipment include tilt parameters, lifting weight, hydraulic system parameters, and drive parameters.

[0017] Furthermore, using the operating parameters to drive the BIM model of the lifting equipment includes the following steps:

[0018] Set up a virtual hydraulic system corresponding to the real lifting equipment on the lifting equipment BIM model;

[0019] The hydraulic system parameters obtained above are used to map them to a virtual hydraulic system, and the virtual hydraulic system is driven to be consistent with the state of the actual lifting equipment;

[0020] The tilt parameters obtained above are used to be mapped to the BIM model of the lifting equipment, and the virtual hydraulic system is driven to be consistent with the state of the actual lifting equipment;

[0021] Using the lifting weight obtained above, add corresponding loads to the lifting points of the lifting equipment BIM model;

[0022] The drive parameters obtained above are mapped to the virtual drive system, and the virtual drive system is driven to be consistent with the state of the actual lifting equipment.

[0023] Furthermore, the hoisting parameters include hoisting equipment posture driving parameters and hoisting equipment position driving parameters. When the operating parameters change, the hoisting parameters are updated by real-time calculation.

[0024] Furthermore, the step of obtaining the attitude driving parameters of the hoisting equipment includes:

[0025] Construct a BIM model of a small box girder and assemble it with the BIM models of at least two lifting equipments;

[0026] The center of gravity of the small box girder BIM model is calculated using the load at the lifting point of the lifting equipment BIM model;

[0027] According to the center of gravity position of the current small box girder BIM model and the current position of the small box girder BIM model, calculate the changes in the operating parameters of the BIM model of the hoisting equipment for hoisting the small box girder BIM model to the installation position;

[0028] The changes in the operating parameters of the lifting equipment BIM model are output as the posture driving parameters of the lifting equipment.

[0029] Furthermore, the step of obtaining the position driving parameters of the hoisting equipment includes:

[0030] Determine the posture and position of the hoisting equipment at the end of the installation of a small box beam according to the posture driving parameters of the hoisting equipment, and define it as the starting process chain block;

[0031] According to the construction process, the adjustment parameters of the driving components of the lifting equipment are calculated when the lifting equipment moves from the starting chain block to the next position, and the next position is defined as the intermediate process chain block;

[0032] Determine the posture and position of the lifting equipment small box beam at the end of installation according to the posture drive parameters of the chain block lifting equipment in the previous intermediate process, and calculate the adjustment parameters of the lifting equipment drive components when the lifting equipment moves from the chain block in the previous intermediate process to the next position;

[0033] Repeat the above process until the lifting equipment moves to the final position, which is defined as the final process chain block.

[0034] Further, according to the construction process, the position of the lifting equipment is adjusted in turn according to the adjustment parameters of the driving components of the lifting equipment until the lifting equipment moves from the starting process chain block to the ending process chain block.

[0035] A computer-readable storage medium stores program instructions, which are used to implement the above method when executed.

[0036] A prefabricated small box girder synchronous hoisting system comprises the above-mentioned computer-readable storage medium.

[0037] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least: according to the current postures of the two lifting devices, the lifting parameters required for the two lifting devices to lift the small box girder can be calculated and the above parameters can be used to drive the lifting equipment to lift the small box girder. Compared with the use of manually operated lifting equipment, not only the lifting accuracy is high, but also the coordination degree of the two lifting equipment is high, and the efficiency after construction is improved.

[0038] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0039] The technical solution of the present invention is further described in detail below through the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0041] Figure 1 The present invention is a flowchart of a method for synchronously lifting a prefabricated small box girder disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0043] Figure 1 The flowchart of the method for synchronously lifting a prefabricated small box beam disclosed in an embodiment of the present invention is shown, and the method comprises the following steps:

[0044] S1, calculate the positioning point of the lifting equipment.

[0045] The positioning point calculation process includes:

[0046] 1. Build BIM models of at least two lifting equipment; and, using bridge construction parameters, build a construction BIM model that truly describes the construction plan;

[0047] 2. According to the parameters of the lifting equipment, construct at least two corresponding virtual lifting equipment and assemble them with the above BIM model;

[0048] 3. Set the positioning points of at least two lifting equipment in the above assembled BIM model.

[0049] The function of the above-mentioned positioning points is to position the lifting equipment and to control the lifting process by coordinating with the posture of the lifting equipment.

[0050] S2, move the lifting equipment to the equipment positioning point.

[0051] According to the set positioning point, the line is laid out and positioned at the construction site. This positioning point is used as the reference position, and the lifting equipment is operated to move it to the positioning point.

[0052] S3, obtaining the operating parameters of the lifting equipment.

[0053] Among them, the operating parameters of the lifting equipment obtained include tilt parameters, lifting weight, hydraulic system parameters, and drive parameters.

[0054] S4, build the BIM model of the lifting equipment and drive it using operating parameters.

[0055] The driving process includes:

[0056] 1. Set up a virtual hydraulic system corresponding to the real lifting equipment on the lifting equipment BIM model;

[0057] 2. Using the hydraulic system parameters obtained above, map them to the virtual hydraulic system, and drive the virtual hydraulic system to be consistent with the state of the actual lifting equipment;

[0058] 3. Using the tilt parameters obtained above, map them to the BIM model of the lifting equipment, and drive the virtual hydraulic system to be consistent with the state of the actual lifting equipment;

[0059] 4. Using the lifting weight obtained above, add corresponding loads to the lifting points of the lifting equipment BIM model;

[0060] 5. Use the drive parameters obtained above to map them to the virtual drive system, and drive the virtual drive system to be consistent with the state of the actual lifting equipment.

[0061] Through the above steps 1 to 5, at this time, the state of the BIM model of the lifting equipment in the assembled BIM model is consistent with the actual state of the lifting equipment.

[0062] S5, construct a construction BIM model that can truly describe the construction plan, and import the construction BIM model that can truly describe the construction plan for assembly.

[0063] When the lifting equipment is at the positioning point, the actual lifting equipment is positioned in the assembled BIM model.

[0064] S6, using the assembled BIM model to perform simulation, obtain the lifting parameters of the lifting equipment during the small box girder lifting process, wherein the lifting parameters include the lifting equipment posture driving parameters and the lifting equipment position driving parameters. When the operating parameters change, the lifting parameters are updated by real-time calculation.

[0065] 1. The steps for obtaining the attitude drive parameters of the lifting equipment include:

[0066] 1.1 Build a BIM model of the small box girder and assemble it with the BIM models of at least two lifting equipment;

[0067] 1.2 Use the load at the lifting point of the BIM model of the lifting equipment to calculate the center of gravity of the small box girder BIM model;

[0068] 1.3 According to the center of gravity position and the position of the current small box girder BIM model, calculate the changes in the BIM model operating parameters of the hoisting equipment when the small box girder BIM model is hoisted to the installation position;

[0069] In the above steps 1.2 to 1.3, before adjustment, the lifting equipment needs to be adjusted to a horizontal state according to the inclination parameters of the lifting equipment. At the same time, simulation is used to calculate the changes in the operating parameters of the BIM model of the lifting equipment. In the prior art, when two lifting equipment are used for lifting, when the loads at the lifting points are consistent, the center of gravity of the box girder remains relatively stable during the lifting process and is located at the center line of the mid-span section of the small box girder. In this process, the lifting of the small box girder is not only safe, but also has a small load on the lifting equipment. Through the above steps 1.2 to 1.3, simulation is used to complete the changes in the hydraulic system parameters of the BIM model of the lifting equipment in the process of moving the small box girder to the installation position while keeping the loads at the lifting points consistent.

[0070] 1.4 The changes in the operating parameters of the lifting equipment BIM model are output as the posture driving parameters of the lifting equipment.

[0071] The lifting equipment attitude drive parameters are used to drive the hydraulic system of the lifting equipment to enable the lifting equipment to complete operations such as lifting, lowering, unfolding, retracting, and rotating.

[0072] 2. The steps of obtaining the position drive parameters of the lifting equipment include:

[0073] 2.1 Determine the posture and position of the hoisting equipment at the end of the installation of a small box beam according to the posture driving parameters of the hoisting equipment, and define it as the starting process chain block;

[0074] 2.2 According to the construction process, calculate the adjustment parameters of the driving components of the lifting equipment when the lifting equipment moves from the starting chain block to the next position, and define the next position as the intermediate process chain block;

[0075] 2.3 Determine the posture and position of the lifting equipment small box girder at the end of installation based on the posture drive parameters of the chain block lifting equipment in the previous intermediate process, and calculate the adjustment parameters of the lifting equipment drive components when the lifting equipment moves from the chain block in the previous intermediate process to the next position;

[0076] 2.4 Repeat the above process until the lifting equipment moves to the final position, which is defined as the final process chain block.

[0077] If a process chain block can adjust the positions of several small box girders without moving the position of the lifting equipment and only by adjusting the hydraulic system, the small box girder at the edge of the current coverage range will be used as the small box girder at the end of the installation of the current process chain block, and its posture and position will be used as the basis for the next movement.

[0078] In the above step 2, the setting strategy of the above hoisting equipment position driving parameters includes:

[0079] Strategy a: Fixed position, which is defined as, under the premise of meeting the lifting requirements, the lifting equipment is fixed in the current process chain block during the lifting of the small box girder. The entire operating area can be covered and the lifting operation can be completed by adjusting the position of the small box girder only by adjusting the hydraulic system.

[0080] Strategy b: fixed + floating position, which is defined as, under the premise of meeting the lifting requirements, the lifting equipment is in a fixed position in the current process chain block during the lifting of the small box girder. If the lifting requirements are not met, the position is adjusted in the current process chain block to meet the lifting requirements. The position of the small box girder is adjusted by adjusting the hydraulic system and the drive system to complete the lifting operation.

[0081] The position drive parameters of the lifting equipment are used to drive the work of the lifting equipment drive system, so that the lifting equipment can complete the forward, backward, left and right movements.

[0082] The lifting equipment posture driving parameters and the lifting equipment position driving parameters realize the control of the lifting equipment to complete the lifting operation.

[0083] In the above calculation process, the position of the lifting equipment is determined according to the assembled BIM model, that is, after obtaining the operating parameters of the lifting equipment, the state (including posture) of the BIM model of the lifting equipment can be driven by the operating parameters. At the same time, when the operating state of the lifting equipment changes, the state of the BIM model of the lifting equipment changes synchronously. By monitoring the position and operating state, the operation process of the lifting equipment can be controlled.

[0084] S7, using the lifting parameters to control the lifting equipment to lift the small box girder.

[0085] According to the construction process, the position of the lifting equipment is adjusted in turn according to the adjustment parameters of the driving components of the lifting equipment until the lifting equipment moves from the starting process chain block to the end process chain block.

[0086] A computer-readable storage medium stores program instructions, which are used to implement the above method when executed.

[0087] A prefabricated small box girder synchronous hoisting system comprises the above-mentioned computer-readable storage medium.

[0088] The present invention can calculate the lifting parameters required for the two lifting devices to lift the small box girder according to the current postures of the two lifting devices, and use the above parameters to drive the lifting devices to lift the small box girder. Compared with manually operated lifting equipment, not only the lifting accuracy is high, but also the coordination degree of the two lifting devices is high, and the efficiency after construction is improved. On the other hand, the present method can minimize the modification of the existing lifting equipment, and only needs to add a data acquisition module and a data processing module, wherein the data acquisition module, the data processing module, and the lifting equipment are interconnected, the data acquisition module collects the operating parameters of the lifting equipment to the data processing module, and the data processing module controls the lifting equipment after analyzing and processing the data. The present invention can greatly improve the installation efficiency of the small box girder, and at the same time the transformation cost is low, which is easy to promote.

[0089] It should be noted that, since the present invention does not adopt a visual recognition processing solution, during operation, it is necessary to clean up the debris on the construction site to avoid collision between the hoisting equipment and the debris during the construction process.

[0090] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0091] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0092] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0093] The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also be present in a user terminal as discrete components.

[0094] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0095] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A method for synchronously lifting a prefabricated small box beam, characterized in that: include: Build BIM models of at least two lifting equipment; and build a construction BIM model that can truly describe the construction plan; The BIM model is used to calculate the positioning point of the lifting equipment, and the positioning and laying out are performed to move the lifting equipment to the positioning point; Obtain the operating parameters of the lifting equipment and map them to the lifting equipment BIM model, and use the operating parameters to drive the lifting equipment BIM model to be consistent with the actual lifting equipment status; Calculate the lifting parameters of the small box girder using the construction BIM model and the lifting equipment BIM model; The above parameters are used to drive the lifting equipment to lift the small box girder independently.

2. A method for synchronously lifting a prefabricated small box beam according to claim 1, characterized in that: The steps to determine the device positioning point include: Using bridge construction parameters, a construction BIM model is constructed that truly describes the construction plan; According to the parameters of the lifting equipment, at least two corresponding virtual lifting equipment are constructed and assembled with the above BIM model; Set the positioning points of at least two lifting equipment in the above assembled BIM model; According to the lifting equipment positioning points obtained above, line laying and positioning are carried out.

3. A method for synchronously lifting a prefabricated small box beam according to claim 1, characterized in that: The operating parameters of lifting equipment include tilt parameters, lifting capacity, hydraulic system parameters, and drive parameters.

4. A method for synchronously lifting a prefabricated small box beam as claimed in claim 3, characterized in that: Using operating parameters to drive the BIM model of lifting equipment includes the following steps: Set up a virtual hydraulic system corresponding to the real lifting equipment on the lifting equipment BIM model; The hydraulic system parameters obtained above are used to map them to a virtual hydraulic system, and the virtual hydraulic system is driven to be consistent with the state of the actual lifting equipment; The tilt parameters obtained above are used to be mapped to the BIM model of the lifting equipment, and the virtual hydraulic system is driven to be consistent with the state of the actual lifting equipment; Using the lifting weight obtained above, add corresponding loads to the lifting points of the lifting equipment BIM model; The drive parameters obtained above are mapped to the virtual drive system, and the virtual drive system is driven to be consistent with the state of the actual lifting equipment.

5. A method for synchronously lifting a prefabricated small box beam as claimed in claim 4, characterized in that: The hoisting parameters include the hoisting equipment posture driving parameters and the hoisting equipment position driving parameters. When the operating parameters change, the hoisting parameters are updated by real-time calculation.

6. A method for synchronously lifting a prefabricated small box beam as claimed in claim 5, characterized in that: The steps for obtaining the attitude drive parameters of the lifting equipment include: Construct a BIM model of a small box girder and assemble it with the BIM models of at least two lifting equipments; The center of gravity of the small box girder BIM model is calculated using the load at the lifting point of the lifting equipment BIM model; According to the center of gravity position of the current small box girder BIM model and the current position of the small box girder BIM model, calculate the changes in the operating parameters of the BIM model of the hoisting equipment for hoisting the small box girder BIM model to the installation position; The changes in the operating parameters of the lifting equipment BIM model are output as the posture driving parameters of the lifting equipment.

7. A method for synchronously lifting a prefabricated small box beam as claimed in claim 6, characterized in that: The steps to obtain the position drive parameters of the lifting equipment include: Determine the posture and position of the hoisting equipment at the end of the installation of a small box beam according to the posture driving parameters of the hoisting equipment, and define it as the starting process chain block; According to the construction process, the adjustment parameters of the driving components of the lifting equipment are calculated when the lifting equipment moves from the starting chain block to the next position, and the next position is defined as the intermediate process chain block; Determine the posture and position of the lifting equipment small box beam at the end of installation according to the posture drive parameters of the chain block lifting equipment in the previous intermediate process, and calculate the adjustment parameters of the lifting equipment drive components when the lifting equipment moves from the chain block in the previous intermediate process to the next position; Repeat the above process until the lifting equipment moves to the final position, which is defined as the final process chain block.

8. A method for synchronously hoisting a prefabricated small box beam as claimed in claim 7, characterized in that: According to the construction process, the position of the lifting equipment is adjusted in turn according to the adjustment parameters of the driving components of the lifting equipment until the lifting equipment moves from the starting process chain block to the end process chain block.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, and the program instructions are used to implement the method according to any one of claims 1 to 8 when executed.

10. A prefabricated small box beam synchronous lifting system, characterized in that: Includes the computer-readable storage medium of claim 9.

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