Automatic walking method, system and equipment for bridge hanging basket and medium

Abstract

The invention discloses an automatic walking method, system and equipment for a bridge hanging basket and a medium, and relates to the technical field of bridge hanging basket construction. Detecting the relative position of the fulcrum seat on the longitudinal beam, and judging whether the walking state of the bridge hanging basket at the moment is a longitudinal beam advancing state or a fulcrum seat moving state; if the longitudinal beam is in the advancing state at the moment, the longitudinal beam advancing limiting unit is controlled to be switched to the limitation relieving state, and meanwhile the fulcrum seat advancing limiting unit is switched to the limitation state; a main pushing oil cylinder is started, and the longitudinal beam advances; when the bridge hanging basket moves to a target position, the supporting point seat moving state is switched, and the supporting oil cylinder extends out until the supporting point seat is suspended; the longitudinal beam advancing limiting unit is controlled to be switched to a limiting state, and the fulcrum seat advancing limiting unit is controlled to be sequentially switched to a limiting releasing state and a limiting state; the main pushing oil cylinder is started repeatedly, the fulcrum base advances, and the fulcrum base advances; the walking mechanism has the advantage of being simpler in walking process.

Description

Technical Field

[0001] The invention relates to the technical field of bridge hanging basket construction, and in particular to an automatic walking method, system, equipment and medium for a bridge hanging basket. Background Art

[0002] The hanging basket is one of the main equipment in the cantilever construction of large concrete buildings such as bridges. It can be divided into four types according to the structural form: truss type, cable-stayed type, steel type and mixed type. The so-called hanging basket construction refers to the use of the hanging basket method when pouring a cantilever beam bridge with a larger span, and the cantilever operation is carried out in sections on site. It does not require the erection of brackets or the use of large cranes.

[0003] The hanging basket system is a set of equipment that can move. The hanging basket is an aerial construction platform, which is hung on the extended end of the truss through a hanger. The casting construction is carried out section by section. When the construction of the current beam section is completed, the hanging basket constraint is released, and the truss drives the hanging basket to move forward one beam section to carry out the construction of the next beam section. This cycle continues until the casting of the cantilever beam section is completed.

[0004] The traditional hanging basket relies on manual dragging with a hand winch to move forward. In recent years, the number of devices for hanging basket movement has gradually increased, but the existing technology still mainly relies on manual control of the hydraulic station to control the movement of the oil cylinder to achieve the movement of the hanging basket. The lack of automated means has resulted in low efficiency in hanging basket construction.

[0005] The Chinese patent with the publication number CN113502759B discloses an automatic travel device for the truss and track of the hanging basket system. The device is provided with front and rear hanging wheels between the truss and the I-shaped track. When the truss is automatically raised, the I-shaped track is completely lifted by the front and rear hanging wheels. The I-shaped track is driven to move relative to the truss by the wire rope drum unit fixed on the truss. After the I-shaped track moves into place, the truss automatically descends to put down the I-shaped track. After the position of the I-shaped track is manually corrected and fixed on the cast beam section, the truss moves relatively to the specified position on the I-shaped track, and then the truss is fixed to the beam section with anchor screws, thereby realizing the automatic travel of the truss and the I-shaped track. However, in the process of automatic travel of the truss, multiple devices such as hydraulic jacks, wire rope drums, anchor screws, etc. are involved, which makes the automatic travel process more cumbersome and still affects the efficiency of the hanging basket construction.

[0006] Therefore, we propose a method that makes the walking process more concise. Summary of the invention

[0007] The object of the present invention is to provide an automatic walking method, system, equipment and medium for a bridge hanging basket, which has the characteristic of a simpler walking process.

[0008] The present invention is achieved through the following technical solutions:

[0009] An automatic walking method for a bridge hanging basket, specifically comprising:

[0010] S1. Contract the supporting cylinder until the fulcrum is seated on the ground;

[0011] S2, detecting the relative position of the fulcrum seat on the longitudinal beam, and determining whether the walking state of the bridge hanging basket at this time is the longitudinal beam advancing state or the fulcrum seat moving state;

[0012] S3, if the longitudinal beam is in the forward state at this time, the longitudinal beam forward limit unit is controlled to switch to the restriction release state, and the fulcrum seat forward limit unit is switched to the restriction state;

[0013] S4, start the main push cylinder to move the longitudinal beam forward;

[0014] S5, wait for the bridge hanging basket to move to the target position, switch to the fulcrum seat moving state, and extend the supporting cylinder until the fulcrum seat is suspended in the air;

[0015] S6, controlling the longitudinal beam forward limit unit to switch to the limit state, and controlling the fulcrum seat forward limit unit to switch to the limit release state and the limit state in sequence;

[0016] S7, repeatedly start the main push cylinder, enter the fulcrum seat forward state, and perform the fulcrum seat forward action;

[0017] S8. Repeat S1-S7 until the bridge construction is completed.

[0018] Furthermore, the S2 uses a laser rangefinder to determine the relative position of the fulcrum seat on the longitudinal beam.

[0019] Furthermore, the S2 uses an image recognition device to determine the relative position of the fulcrum seat on the longitudinal beam.

[0020] An automatic walking system for a bridge hanging basket comprises a fulcrum seat, a fulcrum seat forward limiting unit and a longitudinal beam forward limiting unit; the rear end of the fulcrum seat is fixedly connected to the fulcrum seat forward limiting unit, the fulcrum seat is hinged with the fixed end of the main push oil cylinder, and the telescopic end of the main push oil cylinder is extended from the head end of the fulcrum seat and is hinged with the longitudinal beam forward limiting unit;

[0021] The tops of the fulcrum seat, the fulcrum seat forward limiting unit and the longitudinal beam forward limiting unit are all used to place the longitudinal beam, and the fulcrum seat forward limiting unit and the longitudinal beam forward limiting unit can limit the forward state of the longitudinal beam and the fulcrum seat.

[0022] Furthermore, the forward limit unit of the fulcrum seat includes a first shell, and a first reversing cylinder, a first reversing baffle and a first limit block installed in the first shell; the top of the first shell is used to place the longitudinal beam, the first shell is fixedly connected to the fulcrum seat, and a first pin shaft perpendicular to the longitudinal beam is fixedly provided in the first shell; the shaft body of the first pin shaft is rotatably provided with a first limit block; the top of the first limit block is located in the longitudinal beam, and the bottom of the first limit block is located in the reversing channel of the first reversing baffle plate surface, and the reversing channel is set to a right-angle Z shape; the first reversing baffle is fixedly connected to the telescopic end of the first reversing cylinder, and the telescopic direction of the first reversing cylinder is correspondingly perpendicular to the longitudinal beam.

[0023] Furthermore, a first inclination sensor for detecting the inclination state of the first limit block is installed on the forward limit unit of the fulcrum seat.

[0024] Furthermore, the longitudinal beam forward limit unit includes a second shell, and a second reversing cylinder, a second reversing baffle and a second limit block installed in the second shell; the top of the second shell is used to place the longitudinal beam, the second shell is hinged to the telescopic end of the main push cylinder, and a second pin shaft perpendicular to the longitudinal beam is fixedly provided in the second shell; the shaft body of the second pin shaft is rotatably provided with a second limit block; the top of the second limit block is located in the longitudinal beam, and the bottom of the second limit block is located in the reversing channel of the second reversing baffle plate surface, and the reversing channel is set to a right-angle Z shape; the second reversing baffle is fixedly connected to the telescopic end of the second reversing cylinder, and the telescopic direction of the second reversing cylinder is perpendicular to the longitudinal beam.

[0025] Furthermore, a second inclination sensor for detecting the inclination state of the second limiting block is installed on the longitudinal beam forward limiting unit.

[0026] An electronic device comprises: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of the above-mentioned automatic walking method.

[0027] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the automatic walking method are executed.

[0028] The technical solution of the present invention has at least the following advantages and beneficial effects:

[0029] The present invention discloses an automatic walking method, system, equipment and medium for a bridge hanging basket. Through the cooperation of two limit units, the main push oil cylinder only needs to perform the extension and retraction action to realize the forward movement of the fulcrum seat or the longitudinal beam, thereby simplifying the process steps of the automatic walking of the bridge hanging basket and further improving the efficiency of the automatic walking of the bridge hanging basket.

[0030] In addition, the use of a laser rangefinder or an image recognition device can accurately obtain the position of the fulcrum seat, thereby providing a data basis for the subsequent processes of the automatic walking method and improving the entire process of automatic walking; and the two tilt sensors are used to detect the tilt posture of the first limit block and the second limit block, which also provides a data basis for the subsequent processes of the automatic walking method and is conducive to improving the degree of automation of the automatic walking method. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A method flow chart of the present invention;

[0032] Figure 2 A schematic diagram of a system structure of the present invention;

[0033] Figure 3 for Figure 2 A-axis sectional view of the middle structure;

[0034] Figure 4 It is a structural schematic diagram of the forward limiting unit of the fulcrum seat of the present invention;

[0035] Figure 5 It is a structural schematic diagram of the longitudinal beam forward limiting unit of the present invention;

[0036] Figure 6 for Figure 5 B-axis cross-sectional view of the middle structure.

[0037] Figure markings: 1. fulcrum seat; 2. main push cylinder; 3. fulcrum seat forward limit unit; 31. first shell; 32. first reversing cylinder; 33. first reversing baffle; 34. first limit block; 4. longitudinal beam forward limit unit; 41. second shell; 42. second reversing cylinder; 43. second reversing baffle; 44. second limit block; 5. first tilt sensor; 6. second tilt sensor; 7. longitudinal beam; 8. supporting cylinder. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0041] In the description of the present invention, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Example 1

[0044] As attached Figure 1 The automatic walking method for a bridge hanging basket shown in the figure specifically comprises:

[0045] S1, retract the supporting cylinder 8 until the fulcrum seat 1 falls to the ground;

[0046] S2, detecting the relative position of the fulcrum seat 1 on the longitudinal beam 7, and determining whether the walking state of the bridge hanging basket at this time is the forward state of the longitudinal beam 7 or the moving state of the fulcrum seat 1;

[0047] S3, if the longitudinal beam 7 is in the forward state at this time, the longitudinal beam forward limit unit 4 is controlled to switch to the restriction release state, and the fulcrum seat forward limit unit 3 is switched to the restriction state;

[0048] S4, start the main push cylinder 2 to move the longitudinal beam 7 forward;

[0049] S5, wait for the bridge hanging basket to move to the target position, switch to the moving state of the fulcrum seat 1, and extend the supporting cylinder 8 until the fulcrum seat 1 is suspended in the air;

[0050] S6, controlling the longitudinal beam forward limit unit 4 to switch to the restricted state, and controlling the fulcrum seat forward limit unit 3 to switch to the restriction release state and the restriction state in sequence;

[0051] S7, repeatedly start the main push cylinder 2, enter the forward state of the fulcrum seat 1, and perform the forward movement of the fulcrum seat 1;

[0052] S8. Repeat S1-S7 until the bridge construction is completed.

[0053] Through the cooperation of the two limit units, the main push cylinder 2 can realize the forward movement of the fulcrum seat 1 or the longitudinal beam 7 by only performing the extension and retraction action, thereby simplifying the process steps of the automatic movement of the bridge hanging basket and further improving the efficiency of the automatic movement of the bridge hanging basket;

[0054] It should be noted that the longitudinal beam 7 of the bridge hanging basket has multiple partitions inside, so that the space inside the longitudinal beam 7 is divided into multiple sections, and the limit intervals of the longitudinal beam forward limit unit 4 and the fulcrum seat forward limit unit 3 also correspond to the multiple sections of space; in addition, the supporting cylinder 8 is installed on the side of the longitudinal beam 7, and the telescopic end of the supporting cylinder 8 corresponds to the ground. During the contraction of the supporting cylinder 8, the longitudinal beam 7 and the fulcrum seat 1 are lowered as a whole. When the fulcrum seat 1 falls on the ground, the longitudinal beam 7 is supported as a whole by the fulcrum seat 1; and during the extension process of the supporting cylinder 8, when the telescopic end of the supporting cylinder 8 contacts the ground, the longitudinal beam 7 and the fulcrum seat 1 will be lifted as a whole;

[0055] In addition, when the fulcrum seat forward limit unit 3, the fulcrum seat 1 and the longitudinal beam forward limit unit 4 in S7 move forward together as a whole, an arched movement method similar to that of a caterpillar is adopted, that is, the fulcrum seat forward limit unit 3 and the fulcrum seat 1 are first fixed in position, and the longitudinal beam forward limit unit 4 is driven forward, and then the longitudinal beam forward limit unit 4 is fixed in position, and the fulcrum seat forward limit unit 3 and the fulcrum seat 1 are driven forward, and the overall forward movement is completed alternately in sequence. This forward movement method, combined with the multi-section space in the longitudinal beam 7, can be simply and effectively implemented, and the forward movement efficiency can also be guaranteed.

[0056] In addition, the S2 uses a laser rangefinder or an image recognition device to determine the relative position of the fulcrum seat 1 on the longitudinal beam 7.

[0057] If a laser rangefinder is used, the laser rangefinder will be installed at both ends of the longitudinal beam 7, and the laser rangefinder will emit laser to the fulcrum seat 1, and the relative position of the fulcrum seat 1 on the longitudinal beam 7 will be measured according to the time of receiving the laser. Although the laser has a high measurement accuracy, the laser will be scattered to a certain extent after being irradiated on the fulcrum seat 1, and the laser will cause damage to human eyes. Therefore, the construction workers need to wear corresponding protective glasses during the use of the laser rangefinder, which affects the comfort of the workers;

[0058] If an image recognition device is used, the device will be installed at the construction site, and it is ensured that the image recognition device can take pictures of the entire longitudinal beam 7 and the fulcrum seat 1 placed under the longitudinal beam 7. Then the image recognition device continuously collects video images of the longitudinal beam 7 and the fulcrum seat 1, and then identifies and analyzes the continuous video images through the processing unit, thereby determining the relative position of the fulcrum seat 1 on the longitudinal beam 7. This method also has high measurement accuracy, is not easily affected by weather, and has no effect on workers. However, in this device, the image processing process is relatively complicated, so the image processing speed determines the efficiency of the subsequent automatic movement of the bridge hanging basket.

[0059] In order to improve the image processing speed, the present invention also proposes an image processing method, comprising:

[0060] Based on the collected video images, the key feature points of the fulcrum seat 1 and the edge of the longitudinal beam 7 are identified and extracted through the image processing algorithm;

[0061] Then, the position of the fulcrum seat 1 is determined by comparing the number of pixels between the key feature points of the fulcrum seat 1 and the edge of the longitudinal beam 7;

[0062] Finally, the calculated results are adjusted according to the pre-established calibration parameters to eliminate errors caused by factors such as viewing angle and lens distortion.

[0063] In addition, when determining the position of the fulcrum seat 1, deep learning can also be used to accelerate the determination:

[0064] Specifically: a convolutional neural network CNN is trained to automatically extract the features of the longitudinal beam 7 and the fulcrum seat 1, and determine the relative positions. The deep learning model can automatically learn the best image features and processing methods during the training process, thereby improving the recognition accuracy and speed;

[0065] Use model quantization and hardware acceleration such as GPU or dedicated TPU hardware to further increase image processing speed;

[0066] Parallelize different parts of image processing, such as dividing the image into blocks for processing, calculating operations such as feature point extraction and edge detection separately, and finally merging the results.

[0067] Use multi-threading or distributed computing architecture in the computing process to accelerate the processing of each frame of the video stream;

[0068] And adopt an incremental image processing method, that is, only the changed part of each frame is processed instead of recalculating the entire image; this can effectively reduce the amount of calculation for each frame and improve the overall processing speed.

[0069] In the traditional hanging basket design, a single oil cylinder is generally used, or multiple oil cylinders are controlled by serial oil circuits to realize the function of longitudinal beam lifting. However, this method will cause the action states of multiple oil cylinders to be the same, that is, each oil cylinder cannot be controlled individually. As a result, the traditional hanging basket may have problems such as uneven force and difficulty in adjusting the posture when encountering a horizontal slope during construction.

[0070] The supporting cylinders 8 of the present invention are multiple, and the multiple supporting cylinders 8 adopt a hydraulic control system based on parallel oil circuits, in which a parallel oil circuit design is adopted, that is, the oil inlet and outlet pipelines of the multiple cylinders are respectively connected to the common main oil inlet and main oil outlet pipelines. This layout enables the hydraulic oil to be evenly distributed to each cylinder at the same time. For example, when it is necessary to lift the longitudinal beam, the hydraulic oil output by the oil pump will flow to each cylinder at the same time through the parallel oil circuit, ensuring that each cylinder can obtain the same pressure source at the same time. Multiple cylinders are connected in parallel, and their piston rods will extend or retract at the same time to work together. For example, in a large hanging basket system, 4 or more cylinders may be arranged at key support positions. These cylinders are connected in parallel to jointly bear the weight of the hanging basket and realize various displacement operations of the hanging basket, and the basic setting method of the supporting cylinders 8 is to set one on each side of the longitudinal beam;

[0071] After adopting the parallel multi-cylinder layout, the hanging basket has the ability to adapt to the cross slope. When the hanging basket is on the bridge deck with a cross slope, since each cylinder is connected in parallel and can act independently (within a certain range), they can automatically adjust the extension and retraction of the piston rod according to the pressure changes they are subjected to. For example, if the cylinder on one side is under greater pressure because it is at a lower cross slope, the cylinder will retract a little, while the cylinder at a higher cross slope with relatively less pressure will extend a little. Through this automatic and subtle adjustment, the hanging basket can always maintain a relatively horizontal posture, so as to better adapt to the changes in the cross slope of the bridge deck, ensure the stability and safety of the hanging basket during the construction process, and also help to improve the accuracy and quality of bridge construction, and reduce the adverse effects such as additional structural stress and deformation caused by cross slope problems;

[0072] It should be noted that before the automatic adjustment of the supporting cylinder 8, the telescopic distance of the supporting cylinder 8 is detected by the laser rangefinder arranged on the top of the supporting cylinder 8, and the hydraulic system controls multiple supporting cylinders 8 according to the distance, and adjusts the telescopic length of each supporting cylinder 8 according to the flatness of the ground.

[0073] Example 2

[0074] like Figure 2 The automatic walking system for a bridge hanging basket shown in the figure comprises a fulcrum seat 1, a fulcrum seat forward limiting unit 3 and a longitudinal beam forward limiting unit 4; the tail end of the fulcrum seat 1 is fixedly connected to the fulcrum seat forward limiting unit 3, and the fulcrum seat 1 is hinged with the fixed end of the main push cylinder 2, and the telescopic end of the main push cylinder 2 is extended from the head end of the fulcrum seat 1 and is hinged with the longitudinal beam forward limiting unit 4;

[0075] The tops of the fulcrum seat 1, the fulcrum seat forward limiting unit 3 and the longitudinal beam forward limiting unit 4 are all used to place the longitudinal beam 7, and the fulcrum seat forward limiting unit 3 and the longitudinal beam forward limiting unit 4 can limit the forward state of the longitudinal beam 7 and the fulcrum seat 1;

[0076] The bottom of the fulcrum seat 1 is a support pad, which is used to bear the overall weight of the longitudinal beam 7 when the longitudinal beam 7 enters the walking state. When the system is in actual construction, the fulcrum seat 1 is generally set at the edge of the bridge section, and then when the longitudinal beam 7 is driven forward by the main push cylinder 2, the longitudinal beam 7 can be pushed out of the bridge section, and then the corresponding construction operation is performed on the bridge;

[0077] In addition, when the longitudinal beam 7 is moving forward, the fulcrum seat forward limit unit 3 is in a contact limit state, while the longitudinal beam forward limit unit 4 is in a limit state. At this time, when the main push cylinder 2 pushes the longitudinal beam forward limit unit 4, the longitudinal beam forward limit unit 4 and the main beam are relatively integrated, thereby driving the longitudinal beam 7 to move forward together, and the current fulcrum seat 1 will also maintain a fixed fulcrum effect under the gravity of the longitudinal beam 7; when the fulcrum seat 1 is moving forward, the fulcrum seat forward limit unit 3 is in a limit state, while the longitudinal beam forward limit unit 4 is in a limit release state. At this time, the contraction action of the main push cylinder 2 is changed to push the fulcrum seat 1 to move, that is, the fulcrum seat forward limit unit 3 and the fulcrum seat 1 can move together along the longitudinal beam 7;

[0078] It should be noted that since the longitudinal beam 7 has a multi-section space structure and the main push cylinder 2 has a limited movement range, after the main push cylinder 2 has completed a stroke and the longitudinal beam forward limit unit 4 is located in a certain section of the longitudinal beam 7, after completing driving the longitudinal beam 7 forward, it is necessary to retract the telescopic end of the main push cylinder 2, that is, to drive the longitudinal beam forward limit unit 4 to be retracted, so that the longitudinal beam forward limit unit 4 reaches the next section of the longitudinal beam 7, and then extend the main push cylinder 2 to drive the longitudinal beam forward limit unit 4 and the longitudinal beam 7 forward again.

[0079] Example 3

[0080] like Figure 3-6 The fulcrum seat forward limit unit 3 shown includes a first shell 31, and a first reversing cylinder 32, a first reversing baffle 33 and a first limit block 34 installed in the first shell 31; the top of the first shell 31 is used to place the longitudinal beam 7, the first shell 31 is fixedly connected to the fulcrum seat 1, and a first pin shaft perpendicular to the longitudinal beam 7 is fixedly provided in the first shell 31; the shaft body of the first pin shaft is rotatably provided with a first limit block 34; the top of the first limit block 34 is located in the longitudinal beam 7, and the bottom of the first limit block 34 is located in the reversing channel on the plate surface of the first reversing baffle 33, and the reversing channel is set to a right-angle Z shape; the first reversing baffle 33 is fixedly connected to the telescopic end of the first reversing cylinder 32, and the telescopic direction of the first reversing cylinder 32 is correspondingly perpendicular to the longitudinal beam 7.

[0081] The right-angle Z-shaped reversing channel on the first reversing baffle 33 has two bends, and the two bends are connected to straight channels in opposite directions, so that the two bends can limit the tail end of the first limit block 34 in two directions, and the first reversing cylinder 32 pushes or pulls back the first reversing baffle 33, so as to switch the limit of the tail end of the first limit block 34 at the two bends;

[0082] Combined with the multi-section spatial structure inside the longitudinal beam 7, with the forward direction of the longitudinal beam 7 as the front, when the fulcrum seat forward limit unit 3 is in a restricted state, that is, the longitudinal beam 7 is in a forward state, the first reversing cylinder 32 controls the bending surface of the right-angle Z-shaped reversing channel in the first reversing baffle 33 to collide with the front of the bottom of the first limit block 34. Since the positions of the fulcrum seat 1 and the fulcrum seat forward limit unit 3 are fixed under the influence of the gravity of the longitudinal beam 7 at this time, a partition can first collide with the back of the first limit block 34 during the forward process, and then the partition continues to move forward to push the first limit block 34 to rotate, and the first limit block 34 will not block the partition.

[0083] In addition, the longitudinal beam forward limiting unit 4 includes a second shell 41, and a second reversing cylinder 42, a second reversing baffle 43 and a second limit block 44 installed in the second shell 41; the top of the second shell 41 is used to place the longitudinal beam 7, the second shell 41 is hinged to the telescopic end of the main push cylinder 2, and a second pin shaft perpendicular to the longitudinal beam 7 is fixedly provided in the second shell 41; the shaft body of the second pin shaft is rotatably provided with a second limit block 44; the top of the second limit block 44 is located in the longitudinal beam 7, and the bottom of the second limit block 44 is located in the reversing channel of the second reversing baffle 43, and the reversing channel is set to a right-angle Z shape; the second reversing baffle 43 is fixedly connected to the telescopic end of the second reversing cylinder 42, and the telescopic direction of the second reversing cylinder 42 is correspondingly perpendicular to the longitudinal beam 7.

[0084] The working principle of this unit is similar to that of the fulcrum seat forward limit unit 3. When the longitudinal beam 7 is in the forward state and the longitudinal beam forward limit unit 4 is in the restriction release state, the force direction of the second shell 41 is the forward direction of the longitudinal beam 7, and the overall force point of the second limit block 44 is also at the second pin shaft. At this time, the second reversing cylinder 42 controls the bending part of the right-angle Z-shaped reversing channel of the second reversing baffle 43 to collide with the front of the second limit block 44, so that when the top front of the second limit block 44 moves forward and collides with a partition of the longitudinal beam 7, the second reversing baffle 43 blocks the front of the second limit block 44, so that the second limit block 44 is in a vertical state, and then when the main push cylinder 2 drives the longitudinal beam forward limit unit 4 to move forward, the second limit block 44 pushes the longitudinal beam 7 forward together.

[0085] When the fulcrum seat forward limiting unit 3, the fulcrum seat 1 and the longitudinal beam forward limiting unit 4 move forward together as a whole, ① the fulcrum seat forward limiting unit 3 and the fulcrum seat 1 are position-limited, and the longitudinal beam forward limiting unit 4 moves forward first: at this time, the bending surface of the right-angle Z-shaped reversing channel in the first reversing baffle 33 is controlled by the first reversing cylinder 32 to collide with the back surface of the bottom of the first limiting block 34, and the bending surface of the right-angle Z-shaped reversing channel in the second reversing baffle 43 is controlled by the second reversing cylinder 42 to collide with the back surface of the bottom of the second limiting block 44; the force applied to the fulcrum seat forward limiting unit 3 is in the opposite direction of the longitudinal beam 7, and the force applied to the longitudinal beam forward limiting unit 4 is in the forward direction of the longitudinal beam 7;

[0086] ② The longitudinal beam forward limit unit 4 is position-limited, and the fulcrum seat forward limit unit 3 and the fulcrum seat 1 move forward: at this time, the first reversing oil cylinder 32 controls the bending surface of the right-angle Z-shaped reversing channel in the first reversing baffle 33 to collide with the front surface of the bottom of the first limit block 34, and the second reversing oil cylinder 42 controls the bending surface of the right-angle Z-shaped reversing channel in the second reversing baffle 43 to collide with the back surface of the bottom of the second limit block 44; the force of the current fulcrum seat forward limit unit 3 is in the forward direction of the longitudinal beam 7, and the force of the longitudinal beam forward limit unit 4 is in the opposite direction of the forward direction of the longitudinal beam 7;

[0087] In addition, the first limit block 34 and the second limit block 44 are respectively provided with a first tilt sensor 5 and a second tilt sensor 6, which are used to detect the vertical state of the first limit block 34 and the second limit block 44, respectively. When the angle of a limit block changes, it means that the limit block has passed through a section of the longitudinal beam 7. In combination with the above method, as a signal node, combined with the current forward state, the host computer can determine the action node of the current bridge hanging basket, which is convenient for the continuous automatic walking process.

[0088] For example, when the longitudinal beam 7 is in the forward state, when the second inclination sensor 6 detects that the second limit block 44 is in the vertical state within a time threshold, it means that the longitudinal beam 7 is advancing correctly; but after exceeding the time threshold, the second inclination sensor 6 still detects that the second limit block 44 is in the vertical state, which means that a stroke of the main push cylinder 2 has ended, and the longitudinal beam forward limit unit 4 needs to be retracted at this time; when the second inclination sensor 6 detects that the second limit block 44 is tilted, it means that the longitudinal beam forward limit unit 4 is entering the rear section of the longitudinal beam 7; when the second inclination sensor 6 detects that the second limit block 44 has resumed the vertical state, it means that the longitudinal beam forward limit unit 4 has entered the rear section of the longitudinal beam 7, that is, the main push cylinder 2 can start a new round of pushing.

[0089] An electronic device comprises: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of the above-mentioned automatic walking method.

[0090] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the automatic walking method are executed.

[0091] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic walking method for a bridge hanging basket, characterized in that: Specifically include: S1, retract the supporting cylinder (8) until the fulcrum seat (1) falls to the ground; S2, detecting the relative position of the fulcrum seat (1) on the longitudinal beam (7), and determining whether the walking state of the bridge hanging basket at this time is the longitudinal beam (7) forward state or the fulcrum seat (1) moving state; S3, if the longitudinal beam (7) is in the forward state at this time, the longitudinal beam forward limit unit (4) is controlled to switch to the restriction release state, and the fulcrum seat forward limit unit (3) is switched to the restriction state; S4, start the main push cylinder (2) to move the longitudinal beam (7) forward; S5, when the bridge hanging basket moves to the target position, the fulcrum seat (1) is switched to the moving state, and the supporting oil cylinder (8) is extended until the fulcrum seat (1) is suspended in the air; S6, controlling the longitudinal beam forward limit unit (4) to switch to the limit state, and controlling the fulcrum seat forward limit unit (3) to switch to the limit release state and the limit state in sequence; S7, repeatedly start the main push cylinder (2), enter the forward state of the fulcrum seat (1), and perform the forward movement of the fulcrum seat (1); S8. Repeat S1-S7 until the bridge construction is completed.

2. The automatic walking method for a bridge hanging basket according to claim 1 is characterized in that: The S2 uses a laser rangefinder to determine the relative position of the fulcrum seat (1) on the longitudinal beam (7).

3. The automatic walking method for a bridge hanging basket according to claim 1 is characterized in that: The S2 uses an image recognition device to determine the relative position of the fulcrum seat (1) on the longitudinal beam (7).

4. An automatic walking system for a bridge hanging basket, comprising a fulcrum seat (1), a fulcrum seat forward limiting unit (3) and a longitudinal beam forward limiting unit (4); the rear end of the fulcrum seat (1) is fixedly connected to the fulcrum seat forward limiting unit (3), the fulcrum seat (1) is hinged with the fixed end of the main push cylinder (2), and the telescopic end of the main push cylinder (2) is extended from the head end of the fulcrum seat (1) and is hinged with the longitudinal beam forward limiting unit (4); The tops of the fulcrum seat (1), the fulcrum seat forward limiting unit (3) and the longitudinal beam forward limiting unit (4) are all used to place the longitudinal beam (7), and the fulcrum seat forward limiting unit (3) and the longitudinal beam forward limiting unit (4) can limit the forward state of the longitudinal beam (7) and the fulcrum seat (1).

5. The automatic walking system for a bridge hanging basket according to claim 4 is characterized in that: The fulcrum seat forward limiting unit (3) comprises a first shell (31), and a first reversing oil cylinder (32), a first reversing baffle (33) and a first limiting block (34) installed in the first shell (31); the top of the first shell (31) is used to place the longitudinal beam (7), the first shell (31) is fixedly connected to the fulcrum seat (1), and a first pin shaft perpendicular to the longitudinal beam (7) is fixedly provided in the first shell (31); the shaft body of the first pin shaft is rotatably provided with a first limiting block (34); the top of the first limiting block (34) is located in the longitudinal beam (7), and the bottom of the first limiting block (34) is located in the reversing channel of the plate surface of the first reversing baffle (33), and the reversing channel is set in a right-angle Z shape; the first reversing baffle (33) is fixedly connected to the telescopic end of the first reversing oil cylinder (32), and the telescopic direction of the first reversing oil cylinder (32) is correspondingly perpendicular to the longitudinal beam (7).

6. The automatic walking system for a bridge hanging basket according to claim 5 is characterized in that: The fulcrum seat forward limiting unit (3) is provided with a first inclination sensor (5) for detecting the inclination state of the first limiting block (34).

7. The automatic walking system for a bridge hanging basket according to claim 4 is characterized in that: The longitudinal beam forward limiting unit (4) comprises a second shell (41), and a second reversing oil cylinder (42), a second reversing baffle (43) and a second limiting block (44) installed in the second shell (41); the top of the second shell (41) is used to place the longitudinal beam (7), the second shell (41) is hinged to the telescopic end of the main push oil cylinder (2), and a second pin shaft perpendicular to the longitudinal beam (7) is fixedly provided in the second shell (41); the shaft body of the second pin shaft is rotatably provided with a second limiting block (44); the top of the second limiting block (44) is located in the longitudinal beam (7), and the bottom of the second limiting block (44) is located in the reversing channel of the plate surface of the second reversing baffle (43), and the reversing channel is set in a right-angle Z shape; the second reversing baffle (43) is fixedly connected to the telescopic end of the second reversing oil cylinder (42), and the telescopic direction of the second reversing oil cylinder (42) is correspondingly perpendicular to the longitudinal beam (7).

8. The automatic traveling system for a bridge hanging basket according to claim 7 is characterized in that: The longitudinal beam forward limiting unit (4) is provided with a second inclination sensor (6) for detecting the inclination state of the second limiting block (44).

9. An electronic device, comprising: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the automatic walking method as described in claims 1-3.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program executes the steps of the automatic walking method according to claims 1 to 3 when executed by a processor.

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