Slideway cross beam mounting system and mounting method thereof

Abstract

The invention provides a slideway cross beam mounting system and a mounting method thereof, a plurality of water steel pipe piles of a landing leg platform system are arranged on the same longitudinal line, the tops of the water steel pipe piles are connected through a main beam, and a first track is arranged on the main beam; a plurality of first rails are arranged, and the width of the first rails is the same as that of the hoisting system; a shipway is further arranged, a position adjusting system is arranged on the shipway, the hoisting system moves to the position adjusting system on the shipway from the first track, and the position adjusting system drives the hoisting system to move on the shipway. By means of the construction method, rapid and accurate construction of the slideway prefabricated cross beam can be achieved. By arranging the multiple bent frames, the construction working face of the portal crane is increased; by moving the trolley, rapid movement of the portal crane is achieved.

Description

Technical Field

[0001] The invention relates to the field of construction of a crisscross beam slideway, and in particular to a slideway crisscross beam installation system and an installation method thereof. Background Art

[0002] With the continuous rise of my country's shipbuilding industry and the increasing demand for shipbuilding and repair, the slideway has also been developing continuously. Prefabricated and installed crisscross beam slideways have become a common structural form of slideways. At present, when my country is installing prefabricated crisscross beams for slideways, crawler cranes are mostly used for shore hoisting. When the slideway site is large and the number of crisscross beams is large, a trestle needs to be set up for hoisting.

[0003] However, this construction method has many problems, such as low construction efficiency, cumbersome construction steps due to the trestle bridge, high construction costs due to the large crawler cranes often used to cover the construction surface, and low installation accuracy. These problems prompted improvements and innovations in the slideway cross beam installation system and its installation method to meet the needs of industry development, improve construction quality and efficiency, and reduce costs. Summary of the invention

[0004] The main purpose of the present invention is to provide a slideway cross beam installation system and an installation method thereof, which solves the problems of traditional slideway prefabricated cross beam lifting construction using crawler cranes, the need to build a construction trestle, the use of larger equipment, low construction efficiency, low construction accuracy, and complicated construction steps.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a slideway cross beam installation system, multiple installation pier positions are provided with outrigger platform systems, multiple water-based steel pipe piles of the outrigger platform system are arranged on the same longitudinal line, the tops of the water-based steel pipe piles are connected by a main beam, and a first track is provided on the main beam; A plurality of first rails are provided, and the width of the plurality of first rails is the same as the width of the lifting system; A slipway is also provided, and a positioning system is arranged on the slipway. The lifting system moves from the first track to the positioning system on the slipway, and the positioning system drives the lifting system to move on the slipway.

[0006] In a preferred embodiment, the positioning system includes a moving trolley and a second track, the second track is arranged on the slipway, and the moving trolley is arranged on the second track.

[0007] In a preferred embodiment, a limit bar is provided on one side of the second track, and the movable carriage is laterally pressed against the limit bar for limit positioning.

[0008] In a preferred embodiment, the second track is arranged horizontally and the first track is arranged vertically.

[0009] In the preferred embodiment, the lifting system is a gantry lifting device, and a lifting trolley is provided on the main beam.

[0010] In the preferred embodiment, a laser radar and a camera are provided on the legs of the lifting system.

[0011] In a preferred embodiment, the method comprises: S1. Carry out the construction of steel pipe piles on the water according to the location where the cross beam is to be installed. After the construction is completed, fix the main beam on the steel pipe piles on the water; S2. Complete the laying and fixing of the second track and limit strips on the slipway; S3, the mobile trolley of the positioning system is installed on the second track; S4. Complete the assembly of the gantry crane on site; S5. Place the prefabricated trestles transported to the construction site at the designated location through a gantry crane. The lowering position of the prefabricated trestles can be controlled by controlling the displacement of the lifting trolley of the lifting system in the direction of the main beam and the displacement of the gantry crane on the track to ensure construction accuracy. S6, repeat step S5 until the installation of the prefabricated crisscross beams within the coverage area of ​​the bent gantry crane is completed; S7, the gantry crane returns to the shore, and the outriggers are placed on the moving trolley and moved to the second track. At this time, the gantry crane is unloaded; S8, the trolley is pulled to move to the next row of racks. After reaching the designated position, it is aligned with the moving track, and the gantry crane moves to the water outrigger platform to continue to complete the hoisting of the prefabricated cross beam; S9. Repeat steps S5 and S6 to complete the installation of the entire slideway cross beam and dismantle the operating facilities.

[0012] In the preferred solution, the installation of the cross beam is carried out through intelligent positioning of laser radar and safety monitoring by camera. The specific steps are as follows: A1. LiDAR data collection and preliminary positioning: Use the LiDAR installed on the legs of the lifting system to scan the position of the installation pier to obtain the spatial coordinate data of the installation pier relative to the lifting system; set the position of the LiDAR as the coordinate origin , the coordinates of a certain feature point on the installation pier obtained by scanning are , calculate the straight-line distance from the laser radar location (coordinate origin) to the characteristic point of the installation pier The formula is: ; Through this distance value, we can preliminarily judge the relative distance between the lifting system and the installation pier, and provide a distance reference for the subsequent transportation of the cross beam to the approximate installation location; A2. Planning of the transport path of the cross beam based on LiDAR data: Based on the installation pier location information obtained by LiDAR scanning, combined with the current position of the lifting system and the size of the cross beam, the optimal path for transporting the cross beam from the current position to the installation position is planned; the current position coordinates of the lifting system are set as , the length of the cross beam is , the width is , the height is ; Horizontal path planning: If , then the horizontal moving distance , ensure that the front end of the cross beam reaches the appropriate position above the installation pier (5); if ,but Similarly, for Direction, if ,but ;like ,but ; Vertical path planning: If , then the vertical moving distance , consider lowering the whole cross beam to the installation position; if ,but ; Horizontal path planning and vertical path planning are used to accurately calculate the moving distances in each direction required for the cross beam to be transported from the current position of the lifting system to the appropriate installation position above the installation pier in three-dimensional space; by rationally planning the path; A3. Real-time adjustment of the position of the cross beam during transportation: When the cross beam is transported according to the planned path, the relative position relationship between the installation pier and the cross beam is continuously monitored by the laser radar. Suppose the coordinates of a reference point at the front end of the cross beam at a certain moment during the transportation process are , the coordinates of the feature points corresponding to the installation pier are still ; The horizontal deviation adjustment formula is: ,like , the gantry crane of the lifting system is adjusted horizontally in the direction of the main beam by the lifting trolley (103), and the speed is adjusted With deviation is proportional to ; The vertical deviation adjustment formula is: ,like , the gantry crane is adjusted in the vertical direction to adjust the speed ; The horizontal deviation adjustment formula and the vertical deviation adjustment formula are used to calculate the position deviation of the cross beam and the installation pier during transportation in real time, and dynamically adjust the transportation speed and direction of the cross beam according to the deviation, to ensure that the cross beam can be accurately transported to the approximate installation position above the installation pier, so as to prepare for subsequent manual fine-tuning; A4. Manual fine-tuning and docking installation: When the cross beam is transported to the installation pier and close to the installation position, manual fine-tuning is performed to ensure that the cross beam and the installation pier are accurately docked and installed. During this process, manual fine-tuning is performed by controlling the relevant operating components of the lifting system according to the actual situation on site; A5. Camera safety monitoring and exception handling: Use the camera installed on the lifting system legs to detect the installation status around the cross beam in real time; set a safe area range, with the cross beam as the center and a spherical area with a radius of as the safe area; assume that the distance from a potential dangerous object detected by the camera to the center of the cross beam is ; Determine whether to enter the safe area: If , it is judged that a potential dangerous situation has occurred; Hazard level assessment: The hazard level coefficient is , ,when If it is greater than a certain threshold, it is considered a high-risk situation; The data detected by the camera can be used to quickly determine whether there are potential dangerous situations around the cross beam and to quantify the degree of danger. When a dangerous situation is determined to have occurred, the lifting system stops operating and promptly reminds the staff to eliminate the safety hazard. The present invention provides a slideway cross beam installation system and an installation method thereof, and the construction method can realize the rapid and accurate construction of the slideway prefabricated cross beam. By setting multiple rows of frames, the construction working surface of the gantry crane is increased; by moving the trolley, the gantry crane can be moved quickly. Compared with the traditional crawler crane construction, the cost is lower, the construction is more convenient, the construction efficiency is higher, the construction accuracy is higher, and the construction coverage is wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a construction side view of the present invention; Figure 2 is a diagram of a lifting system of the present invention; Figure 3 It is the construction plan of the present invention; Figure 4 It is a plan view of the construction process of the present invention; Figure 5 It is an operation diagram of the position adjustment system of the present invention.

[0014] In the figure: lifting system 1; main beam 101; outrigger 102; lifting trolley 103; laser radar 104; camera 105; outrigger platform system 2; water steel pipe pile 201; main beam 202; first track 203; positioning system 3; moving trolley 301; second track 302; limit strip 303; slipway 4; installation pier 5. DETAILED DESCRIPTION

[0015] Example 1 like Figures 1 to 5 As shown, a slideway cross beam installation system, multiple installation piers 5 are provided with outrigger platform systems 2, multiple water-based steel pipe piles 201 of the outrigger platform system 2 are arranged on the same longitudinal line, the tops of the water-based steel pipe piles 201 are connected by a main beam 202, and the main beam 202 is provided with a first track 203; A plurality of first rails 203 are provided, and the width of the plurality of first rails 203 is the same as the width of the lifting system 1; A slipway 4 is also provided, on which a positioning system 3 is provided. The lifting system 1 moves from the first track 203 to the positioning system 3 on the slipway 4 , and the positioning system 3 drives the lifting system 1 to move on the slipway 4 .

[0016] In a preferred embodiment, the positioning system 3 includes a moving trolley 301 and a second track 302 . The second track 302 is disposed on the slipway 4 , and the moving trolley 301 is disposed on the second track 302 .

[0017] In a preferred embodiment, a limit bar 303 is provided on one side of the second track 302 , and the moving trolley 301 is laterally positioned against the limit bar 303 .

[0018] In a preferred embodiment, the second track 302 is arranged horizontally, and the first track 203 is arranged vertically.

[0019] In the preferred embodiment, the lifting system 1 is a gantry lifting device, and a lifting trolley 103 is provided on the main cross beam 101 .

[0020] In the preferred embodiment, a laser radar 104 and a camera 105 are provided on the legs 102 of the lifting system 1 .

[0021] Outrigger platform system: An outrigger platform system 2 is set at multiple installation piers 5. The system consists of multiple water-based steel pipe piles 201, which are arranged on the same longitudinal line and connected at the top by a main beam 202. A first track 203 is set on the main beam 202. Multiple first tracks 203 are set, and their width is the same as that of the lifting system 1 to ensure that the lifting system 1 can run stably on the track, providing a basic support structure for the subsequent lifting of the cross beam. Figure 1 , 3 , 4, you can see the relative position relationship between the outrigger platform system and the installation pier, water steel pipe piles, main beam and the first track.

[0022] Positioning system: The slipway 4 is provided with a positioning system 3, which includes a moving trolley 301 and a second track 302. The second track 302 is horizontally arranged on the slipway 4, and the moving trolley 301 is placed on the second track 302. A limit bar 303 is arranged on one side of the second track 302. The side of the moving trolley 301 is placed against the limit bar 303 to achieve position limiting, ensuring that the moving trolley 301 will not deviate from the track during movement, thereby ensuring that the lifting system 1 can be accurately moved to the designated position on the slipway 4. Figure 3 , 4 5. Be able to clearly understand the layout of the positioning system on the slipway and the relationship between its components.

[0023] Lifting system: The lifting system 1 adopts a gantry lifting equipment, and a lifting trolley 103 is provided on the main crossbeam 101. The horizontal position of the hoisted objects can be accurately adjusted by controlling the displacement of the lifting trolley 103 in the direction of the main crossbeam 101. At the same time, a laser radar 104 and a camera 105 are provided on the legs 102 of the lifting system 1. The laser radar 104 is used to scan the surrounding environment and obtain the position information of the installation pier 5 and other targets, providing a positioning basis for the lifting and installation of the cross beam; the camera 105 is used to monitor the installation situation around the cross beam in real time to ensure construction safety. Refer to the attached Figure 2 , you can intuitively see the installation locations of the various components of the lifting system and the lidar and camera.

[0024] First, the above-water steel pipe piles 201 provide a stable basic support for the entire system, fix the main beam 202 on its top, and form a stable bearing structure. The first track 203 provides guidance for the movement of the lifting system 1. When it is necessary to lift the cross beam, the lifting system 1 runs on the first track 203 to lift the cross beam. Then, the lifting system 1 moves to the positioning system 3 on the slipway 4, and the lateral displacement of the lifting system 1 on the slipway 4 is achieved by moving the mobile trolley 301 on the second track 302, so as to transport the cross beam to different installation positions. During the whole process, the laser radar 104 continuously scans to obtain the position information, and the camera 105 continuously monitors the surrounding conditions to ensure the accuracy and safety of the construction process.

[0025] Example 2 Further illustrate with reference to Example 1, Figure 1-5 The structure shown in FIG. 1 includes: S1, construct the above-water steel pipe pile 201 according to the position where the cross beam is to be installed, and after the construction is completed, fix the main beam 202 on the above-water steel pipe pile 201; S2, completing the laying and fixing of the second track 302 and the limit strip 303 on the slipway 4; S3, the mobile trolley 301 of the positioning system 3 is installed on the second track 302; S4. Complete the assembly of the gantry crane on site; S5. The prefabricated trestles transported to the construction site are placed at the designated location by a gantry crane. The lowering position of the prefabricated trestles can be controlled by controlling the displacement of the lifting trolley 103 of the lifting system 1 in the direction of the main beam 101 and the displacement of the gantry crane on the track to ensure the construction accuracy. S6, repeat step S5 until the installation of the prefabricated crisscross beams within the coverage area of ​​the bent gantry crane is completed; S7, the gantry crane returns to the shore, and the outrigger 102 is placed on the moving trolley 301 and moved to the second track 302. At this time, the gantry crane is unloaded; S8, the trolley 301 is pulled to move to the next row of racks, and after reaching the designated position, it is aligned with the moving track, and the gantry crane moves to the water outrigger platform to continue to complete the hoisting of the prefabricated cross beam; S9. Repeat steps S5 and S6 to complete the installation of the entire slideway cross beam and dismantle the operating facilities.

[0026] Overview of construction steps: Construction of steel pipe piles on water and fixing of main beams S1: Construction of steel pipe piles on water 201 is carried out according to the location where the cross beam is to be installed. This step builds the basic support structure for the entire installation system. After the construction is completed, the main beam 202 is firmly fixed on the steel pipe piles on water 201 to provide a stable bearing platform for subsequent track laying and lifting system operation. Figure 1 , 3 4. Understand the position relationship and construction sequence of the underwater steel pipe piles and main beams.

[0027] Laying of the slipway track and installation of components S2 - S3: Complete the laying and fixing of the second track 302 and the limit strip 303 on the slipway 4 to ensure that the basic components of the positioning system 3 are accurately installed. Then install the mobile trolley 301 of the positioning system 3 on the second track 302 so that the mobile trolley 301 can move smoothly on the track, creating conditions for the accurate positioning of the lifting system 1 on the slipway 4. Figure 3 , 4 , 5. Layout of the slipway and positioning system components.

[0028] Gantry crane assembly S4: The gantry crane assembly work is completed on site. This is the core lifting equipment of the entire installation system. The assembly process must ensure that all components are firmly connected and the operating mechanism is debugged normally, providing reliable equipment guarantee for the subsequent lifting operation of the cross beam.

[0029] Transportation and installation of the lattice beam S5 - S6: The lattice beam transported to the construction site is placed in the designated location by the assembled gantry crane. In this process, the displacement of the lifting trolley 103 of the lifting system 1 in the direction of the main beam 101 and the displacement of the gantry crane on the track can be controlled to accurately control the lowering position of the prefabricated lattice beam to ensure the construction accuracy. Repeat this step until the installation of the prefabricated lattice beam within the coverage of this gantry crane is completed. Figure 1 , 2 , 3, and 4 are schematic diagrams of the lifting system lifting the cross-shaped beam.

[0030] Crane shift and continued lifting S7 - S8: When the installation of the tangle beams within a row of frames is completed, the gantry crane returns to the shore, and the outriggers 102 are placed on the mobile trolley 301. The mobile trolley 301 drives the gantry crane to move to the second track 302. At this time, the gantry crane is unloaded. Then the mobile trolley 301 is pulled to move to the next row of frames. After reaching the designated position, it is aligned with the moving track. The gantry crane then moves to the water outrigger platform to continue the lifting operation of the prefabricated tangle beams.

[0031] Construction finishing S9: Repeat the above lifting and installation steps to complete the installation of the entire slideway cross beam. Finally, dismantle the operating facilities and clean up the construction site.

[0032] Advantages analysis: High construction efficiency: By setting up multiple racks and movable gantry cranes, the crane movement time and repeated positioning times are reduced. For example, the crane can be quickly moved between different racks by a mobile trolley, which greatly improves the construction efficiency and shortens the construction period compared to the traditional crawler crane, which requires readjustment of the position and equipment.

[0033] High construction accuracy: During the process of hoisting and installing the cross beam, the displacement of the lifting trolley (103) in the direction of the main beam (101) and the displacement of the gantry crane on the track can be accurately controlled to ensure that the cross beam is accurately lowered, thereby improving the installation accuracy and effectively avoiding construction errors caused by inaccurate positioning.

[0034] Convenient construction: The coordinated work between the various components is reasonably designed, such as the coordination of the steel pipe piles, main beams, rails, positioning systems and lifting systems on the water, making the entire construction process relatively easy to operate. There is no need to build complex auxiliary facilities such as trestles like traditional construction methods, which reduces the difficulty and complexity of construction.

[0035] Lower cost: Compared with the traditional crawler crane construction, which requires the use of larger equipment and the construction of construction trestles, this installation system and method reduces the equipment rental and construction costs, thereby reducing the overall construction cost. At the same time, the higher construction efficiency also indirectly reduces the time cost.

[0036] Wide construction coverage: The setting of multiple rows of frames and the flexible movement of cranes in different areas enable the system to cover a larger construction area and is suitable for slideway cross-beam installation projects of different scales and layouts.

[0037] Example 3 Further illustrate with reference to Example 2, Figure 1-5 In the structure shown, the installation of the cross beam is performed by intelligent positioning of the laser radar 104 and safety monitoring by the camera 105. The specific steps are as follows: A1. Laser radar data collection and preliminary positioning: Use the laser radar 104 installed on the leg 102 of the lifting system 1 to scan the position of the installation pier 5 to obtain the spatial coordinate data of the installation pier 5 relative to the lifting system 1; set the position of the laser radar 104 as the coordinate origin , the coordinates of a certain feature point on the installation pier 5 are obtained by scanning: , calculate the straight-line distance from the laser radar 104 position (coordinate origin) to the characteristic point of the installation pier 5 The formula is: ; Through this distance value, the relative distance between the lifting system 1 and the installation pier 5 can be preliminarily determined, providing a distance reference for the subsequent transportation of the cross beam to the approximate installation position; A2. Planning of the transport path of the cross beam based on laser radar data: According to the position information of the installation pier 5 obtained by the laser radar 104 scanning, combined with the current position of the lifting system 1 and the size of the cross beam, plan the optimal path for transporting the cross beam from the current position to the installation position; suppose the current position coordinates of the lifting system 1 are , the length of the cross beam is , the width is , the height is ; Horizontal path planning: If , then the horizontal moving distance , ensure that the front end of the cross beam reaches the appropriate position above the installation pier 5; if ,but Similarly, for Direction, if ,but ;like ,but ; Vertical path planning: If , then the vertical moving distance , consider lowering the cross beam as a whole to the installation position; if ,but ; Horizontal path planning and vertical path planning are used to accurately calculate the moving distances in each direction required for the cross beam to be transported from the current position of the lifting system 1 to the appropriate installation position above the installation pier 5 in three-dimensional space; by reasonably planning the path; A3. Real-time adjustment of the position of the cross beam during transportation: During the transportation of the cross beam according to the planned path, the relative position relationship between the installation pier 5 and the cross beam is continuously monitored by the laser radar 104; the coordinates of a reference point at the front end of the cross beam at a certain moment during the transportation process are assumed to be , the coordinates of the feature points corresponding to the installation pier 5 are still ; The horizontal deviation adjustment formula is: ,like , the gantry crane of the lifting system 1 is adjusted horizontally in the direction of the main beam 101 by the lifting trolley 103, and the speed is adjusted With deviation is proportional to ; The vertical deviation adjustment formula is: ,like , the gantry crane is adjusted in the vertical direction to adjust the speed ; The horizontal deviation adjustment formula is and the vertical deviation adjustment formula is used to calculate the position deviation of the cross beam and the installation pier 5 in real time during transportation, and dynamically adjust the transportation speed and direction of the cross beam according to the deviation, to ensure that the cross beam can be accurately transported to the approximate installation position above the installation pier 5, so as to prepare for subsequent manual fine-tuning; A4. Manual fine-tuning and docking installation: When the cross beam is transported to the installation pier 5 and close to the installation position, manual fine-tuning is performed to accurately dock the cross beam with the installation pier 5. In this process, manual fine-tuning is performed by controlling the relevant operating components of the lifting system 1 according to the actual situation on site; A5. Camera safety monitoring and exception handling: Use the camera 105 installed on the leg 102 of the lifting system 1 to detect the installation status around the cross beam in real time; set a safe area range, with the cross beam as the center and a spherical area with a radius of as the safe area; suppose the distance from a potential dangerous object detected by the camera 105 to the center of the cross beam is ; Determine whether to enter the safe area: If , it is judged that a potential dangerous situation has occurred; Hazard level assessment: The hazard level coefficient is , ,when If it is greater than a certain threshold, it is considered a high-risk situation; Through the data detected by the camera 105, it is quickly determined whether there is a potential dangerous situation around the cross beam, and the degree of danger is quantitatively evaluated; when it is determined that a dangerous situation has occurred, the lifting system 1 stops operating and promptly reminds the staff to eliminate the safety hazard.

[0038] LiDAR data collection and preliminary positioning A1: The laser radar 104 installed on the leg 102 of the lifting system 1 is used to scan a certain feature point on the installation pier 5 with its location as the coordinate origin to obtain the spatial coordinate data of the feature point relative to the laser radar 104. Calculate the straight-line distance from the laser radar 104 to the feature point of the installation pier 5 ,in is the coordinate of the characteristic point of the installation pier 5. This distance value can be used to preliminarily determine the relative distance between the lifting system 1 and the installation pier 5, and provide an important distance reference for the subsequent transportation of the cross beam to the approximate installation position. Figure 1 , 2 The position of the laser radar 104 and its relative relationship with the mounting pier 5.

[0039] Tile beam transportation path planning based on laser radar data A2: Based on the location information of the installation pier 5 obtained by the laser radar 104 scanning, combined with the current location coordinates of the lifting system 1 And the length of the cross beam ,width ,high Perform path planning.

[0040] Horizontal path planning: If , then the horizontal moving distance ;like ,but Similarly, for Direction, if ,but ;like ,but .

[0041] Vertical path planning: If , then the vertical moving distance ;like ,but These planning formulas accurately calculate the moving distances in all directions required for the cross beam to be transported from the current position of the lifting system 1 to the appropriate installation position above the installation pier 5 in three-dimensional space, ensuring that the cross beam can be transported along the optimal path, improving transportation efficiency and accuracy. Figure 1 - 5. Understand the path planning based on the spatial relationship between the lifting system, the cross beam and the installation pier.

[0042] Real-time adjustment of the position of the cross beam during transportation A3: During the transportation of the cross beam, the relative position relationship between the installation pier 5 and the cross beam is continuously monitored by the laser radar 104. Suppose the coordinates of the front reference point of the cross beam at a certain moment during transportation are , the coordinates of the feature points corresponding to the installation pier 5 are .

[0043] Horizontal deviation adjustment: Calculate the horizontal deviation ,like , The deviation threshold can be set according to the actual situation. The gantry crane of the lifting system 1 is adjusted horizontally in the direction of the main beam 101 through the lifting trolley 103 to adjust the speed. , is a proportionality constant and can be determined through experiments.

[0044] Vertical deviation adjustment: Calculate vertical deviation ,like , the gantry crane is adjusted in the vertical direction to adjust the speed , is a proportional constant. By calculating the deviation in real time and dynamically adjusting the transport speed and direction, the cross beam is ensured to be accurately transported to the approximate installation position above the installation pier 5, so as to prepare for manual fine-tuning. Figure 1 , 2 Understand the position adjustment process by understanding the movement relationship of each component in the lifting system.

[0045] Manual fine-tuning and docking installation A4: When the cross beam is transported to the installation position above the installation pier 5, manual fine-tuning is performed by controlling the relevant operating components of the lifting system 1 based on the actual situation on site and experience. Although this step is difficult to describe with precise mathematical formulas, manual fine-tuning plays a vital role in the entire installation process. It can correct the possible slight deviations of the previous automated positioning, ensure the precise docking installation of the cross beam and the installation pier 5, and ensure the construction quality.

[0046] Camera safety monitoring and exception handling A5: Use the camera 105 installed on the leg 102 of the lifting system 1 to detect the installation status around the cross beam in real time. Set the spherical area with the cross beam as the center and a radius as the safety area. When the camera 105 detects that a potential dangerous object is at a distance of 100 from the center of the cross beam, the safety area is set to the safety area. When , it is determined that a potential dangerous situation has occurred. Assess the risk level when When the value is greater than a certain threshold, it is considered a high-risk situation. Once a dangerous situation is determined to occur, the lifting system 1 will immediately stop operating, and the staff will be reminded in time to eliminate the potential safety hazard, effectively ensuring construction safety. Figure 1 , 2 The installation position and monitoring range of the camera 105.

[0047] 2. Advantages Analysis Intelligent positioning improves installation accuracy: The application of LiDAR 104 realizes intelligent positioning during the installation of the zigzag beam. From data collection and preliminary positioning to transportation route planning, and then to real-time adjustment during transportation, each link is based on precise measurement and calculation, which effectively reduces the error of manual positioning, greatly improves the accuracy of the zigzag beam installation, and ensures the construction quality.

[0048] Safety monitoring ensures construction safety: Camera 105 monitors the installation situation around the cross beam in real time, and by setting the safety area and the risk assessment mechanism, it can detect potential dangers in time and take corresponding measures. This effectively avoids safety accidents that may be caused by the failure to detect safety hazards in time, and provides reliable safety protection for construction personnel and equipment.

[0049] Improve the degree of construction automation: During the entire installation process, the application of LiDAR 104 and related algorithms realizes the automatic planning of the transportation path of the cross beam and the automatic adjustment of the position, reducing manual intervention and improving the degree of construction automation. This not only improves construction efficiency, but also reduces the uncertainty and errors caused by manual operation.

[0050] Strong adaptability: The intelligent positioning and safety monitoring system can be adjusted according to different construction environments and installation requirements. For example, by adjusting the scanning parameters of the laser radar 104 and the monitoring range and safety area radius of the camera 105, it can adapt to various complex construction site conditions and has strong versatility and adaptability.

[0051] Optimize the construction process: Integrate intelligent positioning and safety monitoring into the installation process of the cross beam to make the connection between the various construction steps more close and reasonable. For example, real-time adjustment during transportation provides more favorable conditions for manual fine-tuning, reduces the workload and difficulty of manual fine-tuning, thereby optimizing the construction process as a whole and improving construction efficiency.

[0052] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A slideway cross beam installation system, characterized by: A plurality of mounting piers (5) are provided with an outrigger platform system (2), a plurality of water-based steel pipe piles (201) of the outrigger platform system (2) are arranged on the same longitudinal line, the tops of the water-based steel pipe piles (201) are connected via a main beam (202), and a first track (203) is provided on the main beam (202); A plurality of first rails (203) are provided, and the width of the plurality of first rails (203) is the same as the width of the lifting system (1); A slipway (4) is also provided, and a positioning system (3) is provided on the slipway (4). The lifting system (1) moves from the first track (203) to the positioning system (3) on the slipway (4), and the positioning system (3) drives the lifting system (1) to move on the slipway (4).

2. According to the slideway cross beam installation system of claim 1, its characteristics are: The positioning system (3) comprises a moving trolley (301) and a second track (302); the second track (302) is arranged on the slipway (4), and the moving trolley (301) is arranged on the second track (302).

3. According to claim 2, a slideway cross beam installation system is characterized by: A limit bar (303) is provided on one side of the second track (302), and the moving trolley (301) is laterally positioned against the limit bar (303) to reach the upper limit.

4. According to claim 2, a slideway cross beam installation system is characterized by: The second track (302) is arranged horizontally, and the first track (203) is arranged vertically.

5. According to claim 1, a slideway cross beam installation system is characterized by: The lifting system (1) is a gantry lifting device, and a lifting trolley (103) is provided on the main crossbeam (101).

6. According to claim 1, a slideway cross beam installation system is characterized by: A laser radar (104) and a camera (105) are provided on the supporting legs (102) of the lifting system (1).

7. The installation method of the slideway cross beam installation system according to any one of claims 1 to 6, characterized in that: The method includes: S1, constructing the above-water steel pipe pile (201) according to the position where the cross beam is to be installed, and after the construction is completed, fixing the main beam (202) on the above-water steel pipe pile (201); S2, completing the laying and fixing of the second track (302) and the limit strip (303) on the slipway (4); S3, the mobile trolley (301) of the positioning system (3) is installed on the second track (302); S4. Complete the assembly of the gantry crane on site; S5. The prefabricated crisscross beam transported to the construction site is placed at a designated location by a gantry crane. The lowering position of the prefabricated crisscross beam can be controlled by controlling the displacement of the lifting trolley (103) of the lifting system (1) in the direction of the main cross beam (101) and the displacement of the gantry crane on the track to ensure the construction accuracy. S6, repeat step S5 until the installation of the prefabricated crisscross beams within the coverage area of ​​the bent gantry crane is completed; S7, the gantry crane is returned to the shore, and the outriggers (102) are placed on the moving trolley (301) and moved to the second track (302), at which time the gantry crane is unloaded; S8, the traction moving trolley (301) moves to the next row of racks, and after reaching the designated position, it is aligned with the moving track, and the gantry crane moves to the water outrigger platform to continue to complete the hoisting of the prefabricated cross beam; S9. Repeat steps S5 and S6 to complete the installation of the entire slideway cross beam and dismantle the operating facilities.

8. The installation method of the slideway cross beam installation system according to claim 7, characterized in that: The method comprises: installing a cross beam through intelligent positioning by means of a laser radar (104), and performing safety monitoring by a camera (105), and the specific steps are: A1. Laser radar data collection and preliminary positioning: Use a laser radar (104) installed on the support leg (102) of the lifting system (1) to scan the position of the installation pier (5) to obtain the spatial coordinate data of the installation pier (5) relative to the lifting system (1); the position of the laser radar (104) is set as the coordinate origin. , the coordinates of a certain feature point on the mounting pier (5) are obtained by scanning: , calculate the straight-line distance from the position (coordinate origin) of the laser radar (104) to the characteristic point of the installation pier (5) The formula is: ; Through this distance value, the relative distance between the lifting system (1) and the installation pier (5) can be preliminarily determined, providing a distance reference for the subsequent transportation of the cross beam to the approximate installation position; A2. Planning of the transport path of the cross beam based on laser radar data: Based on the position information of the installation pier (5) obtained by scanning the laser radar (104), combined with the current position of the lifting system (1) and the size of the cross beam, plan the optimal path for transporting the cross beam from the current position to the installation position; suppose the current position coordinates of the lifting system (1) are , the length of the cross beam is , the width is , the height is ; Horizontal path planning: If , then the horizontal moving distance , ensure that the front end of the cross beam reaches the appropriate position above the installation pier (5); if ,but Similarly, for Direction, if ,but ;like ,but ; Vertical path planning: If , then the vertical moving distance , consider lowering the cross beam as a whole to the installation position; if ,but ; Horizontal path planning and vertical path planning are used to accurately calculate the moving distances in each direction required for the cross beam to be transported from the current position of the lifting system (1) to the appropriate installation position above the installation pier (5) in three-dimensional space; by reasonably planning the path; A3. Real-time adjustment of the position of the cross beam during transportation: When the cross beam is transported according to the planned path, the relative position relationship between the installation pier (5) and the cross beam is continuously monitored by the laser radar (104); the coordinates of a reference point at the front end of the cross beam at a certain moment during the transportation process are assumed to be , the coordinates of the feature point corresponding to the installation pier (5) are still ; The horizontal deviation adjustment formula is: ,like , the gantry crane of the lifting system (1) is adjusted horizontally in the direction of the main beam (101) by means of the lifting trolley (103), and the speed is adjusted With deviation is proportional to ; The vertical deviation adjustment formula is: ,like , the gantry crane is adjusted in the vertical direction to adjust the speed ; The horizontal deviation adjustment formula is and the vertical deviation adjustment formula is used to calculate the position deviation of the cross beam and the installation pier (5) in real time during transportation, and dynamically adjust the transportation speed and direction of the cross beam according to the deviation, so as to ensure that the cross beam can be accurately transported to the approximate installation position above the installation pier (5), so as to prepare for subsequent manual fine-tuning; A4. Manual fine-tuning and docking installation: After the cross beam is transported to the top of the installation pier (5) and close to the installation position, manual fine-tuning is performed to ensure that the cross beam and the installation pier (5) are accurately docked and installed. During this process, manual fine-tuning is performed by controlling the relevant operating components of the lifting system (1) according to the actual situation on site; A5. Camera safety monitoring and abnormality handling: Use the camera (105) installed on the leg (102) of the lifting system (1) to detect the installation status around the cross beam in real time; set a safety area with the cross beam as the center and a radius of The spherical area is considered as a safe area; suppose the distance from a potential dangerous object detected by the camera (105) to the center of the cross beam is ; Determine whether to enter the safe area: If , it is judged that a potential dangerous situation has occurred; Hazard level assessment: The hazard level coefficient is , ,when If it is greater than a certain threshold, it is considered a high-risk situation; By using the data detected by the camera (105), it is quickly determined whether there is a potential danger around the cross beam, and the degree of danger is quantitatively evaluated; when it is determined that a dangerous situation has occurred, the lifting system (1) stops operating, and the staff is promptly reminded to eliminate the safety hazard.

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