An intelligent disassembly system for high-rise buildings

Abstract

The present invention relates to the technical field of high-rise building disassembly, and more particularly to an intelligent disassembly system for high-rise buildings, comprising: a temporary support frame, a data acquisition module, and a disassembly control module. The disassembly control module includes a region division unit for dividing a plurality of disassembly areas into preset sizes, determining the distribution uniformity of wall concrete aggregates based on wave velocity differences, adjusting the preset sizes based on the volume ratio of angular aggregates in the disassembly areas, a region optimization unit for re-dividing the remaining disassembly areas of the remaining wall based on exposed reinforcement lengths, determining a disassembly sequence based on ascending stirrup density corresponding to the plurality of disassembly areas, a sequence determination unit for optimizing the disassembly sequence based on the deformation form of the reinforcement nodes, and a support control unit for determining a depth adjustment coefficient based on the crack propagation rate on the wall surface and optimizing the depth adjustment coefficient based on the deformation angle of the support rod. The present invention improves the disassembly safety of high-rise building walls.

Description

Technical Field

[0001] The present invention relates to the technical field of high-rise building disassembly, and in particular to an intelligent disassembly system for high-rise buildings. Background Art

[0002] In the field of high-rise building demolition, traditional methods for dismantling load-bearing walls often lack precise structural analysis and dynamic control, leading to uncontrollable stress release and a high risk of damage to adjacent structures. To address this pain point, an intelligent dismantling system based on the Internet of Things, artificial intelligence, and robotics has emerged. Its core lies in constructing a millimeter-level digital twin of the load-bearing wall through 3D laser scanning and modeling technology. This system uses distributed strain sensors to monitor the wall's stress distribution in real time, and utilizes AI algorithms to dynamically plan the demolition sequence for each area. For example, the load-bearing wall is divided into a "core load-bearing area-secondary load-transfer area-edge buffer zone," prioritizing the demolition of wall sections that are not critical to the load transfer path. Furthermore, hydraulic support devices and static cutting technology are used to achieve segmented unloading, ensuring that the stress redistribution process remains within safe thresholds.

[0003] Chinese Patent Publication No.: CN114635586B discloses a method for demolishing a load-bearing wall of a brick-concrete structure and a supporting frame, wherein the method includes the following steps: S100: demolishing walls on both sides of the width of the load-bearing wall to be demolished to form a column installation space, and installing columns in the column installation space; S200: dividing the load-bearing wall into blocks along the width direction of the load-bearing wall, and demolishing the upper parts of the blocks in sequence to form beam installation spaces in sequence; S300: arranging a beam at the top of the formed beam installation space, and arranging a tightening device at the bottom of the beam; S400: connecting the arranged beams to each other, and connecting the upper ends of the columns to adjacent beams; S500: filling grouting material between the beam and the top wall of the beam installation space, and between the column and the wall of the column installation space; S600: demolishing the remaining load-bearing wall. The invention adopts the method of dismantling the load-bearing wall piece by piece and installing the supporting beam piece by piece, so that the dismantling of the load-bearing wall is safe and the roof load above is firmly supported.

[0004] The existing technology also has the following problems: due to the lack of detection and real-time adjustment of the high-rise building wall dismantling process in the existing technology, the load transfer of the wall during the dismantling process is uncontrollable, resulting in low dismantling safety. Summary of the Invention

[0005] To this end, the present invention provides an intelligent disassembly system for high-rise buildings to overcome the problem in the prior art of uncontrollable load transfer during the disassembly process of the walls due to the lack of detection and real-time adjustment of the disassembly process of the walls of high-rise buildings, thereby resulting in low safety of the wall disassembly.

[0006] To achieve the above objectives, the present invention provides an intelligent disassembly system for high-rise buildings, comprising:

[0007] A temporary support frame, which includes a number of support rods, used to provide temporary support for the walls of high-rise buildings;

[0008] a data acquisition module comprising a laser scanner mounted on the temporary support frame for collecting point cloud data of the high-rise building wall, an ultrasonic detection assembly for collecting the wave velocity of ultrasonic waves in the wall, a laser rangefinder for collecting the indentation distance of the wall, and an image collector mounted on the demolition robot for collecting images of cracks on the wall surface;

[0009] A disassembly control module, which is connected to the data acquisition module, includes:

[0010] a region division unit, configured to establish a wall model based on the point cloud data and divide the wall into a plurality of demolition regions according to a preset size, and determine the distribution uniformity of the wall concrete aggregate according to the speed difference of the wave velocity, so as to adjust the preset size according to the volume ratio of the angular aggregate in the demolition region;

[0011] An area optimization unit, which is used to re-divide the remaining demolition area of ​​the remaining wall according to the exposed reinforcement length on the remaining wall surface;

[0012] a sequence determination unit, configured to determine a disassembly sequence according to the ascending order of stirrup densities corresponding to a plurality of disassembly regions, and to determine an optimization method for the disassembly sequence according to deformation forms of steel bar nodes in the remaining disassembly regions;

[0013] A support control unit is used to determine whether the support strength of the support rod is qualified according to the distance deviation of the retraction distance, to determine the depth adjustment coefficient according to the crack expansion rate on the wall surface to adjust the support depth of the support rod, and to optimize the depth adjustment coefficient based on the deformation angle of the support rod.

[0014] Furthermore, the area division unit uses the geometric center of the high-rise building wall as a reference point and divides the demolition areas into a plurality of square grid shapes with a preset size as a side length toward the edge of the wall, wherein the preset size is determined according to the wall thickness and the concrete compressive strength of the wall.

[0015] Furthermore, the area division unit determines that the wall concrete aggregate is unevenly distributed according to a comparison result that the speed difference is greater than or equal to a preset difference.

[0016] Furthermore, the area division unit determines to reduce the preset size based on a comparison result that the volume proportion of the angular aggregate is greater than or equal to a preset proportion under the condition that the wall concrete aggregate is determined to be unevenly distributed.

[0017] Furthermore, under the condition of determining to reduce the preset size, the area division unit determines to reduce the preset size by a first size adjustment coefficient based on a comparison result that the difference between the volume share and the preset share is greater than a first preset difference, and determines to reduce the preset size by a second size adjustment coefficient based on a comparison result that the difference between the volume share and the preset share is less than or equal to the first preset difference.

[0018] Furthermore, the sequence determination unit determines to select a disassembly area perpendicular to the shear direction for demolition based on the judgment result that the deformation form of the steel bar nodes in the remaining disassembly area is shear deformation, and determines to select a disassembly area symmetrical to the disassembly area where bending deformation occurs for demolition based on the judgment result that the deformation form of the steel bar nodes in the remaining disassembly area is bending deformation.

[0019] Furthermore, the support control unit determines that the support strength of the support rod is unqualified based on a comparison result that the distance deviation is greater than a preset deviation.

[0020] Furthermore, under the condition that the support strength of the support rod is determined to be unqualified, the support control unit determines to increase the support depth by a first depth adjustment coefficient based on the comparison result that the crack expansion rate is greater than the preset expansion rate, and determines to increase the support depth by a second depth adjustment coefficient based on the comparison result that the crack expansion rate is less than or equal to the preset expansion rate.

[0021] Furthermore, the support control unit determines to increase the depth adjustment coefficient with a first depth optimization coefficient based on a comparison result that the deformation angle of the support rod is greater than a preset angle, and determines to increase the depth adjustment coefficient with a second depth optimization coefficient based on a comparison result that the deformation angle of the support rod is less than or equal to the preset angle.

[0022] Furthermore, the area optimization unit re-divides the remaining demolition area of ​​the remaining wall based on the comparison result of the exposed reinforcement length and the preset length.

[0023] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention uses a laser scanner, an ultrasonic detection component, a laser rangefinder and an image collector to obtain wall point cloud data, wave velocity, indentation distance and crack image in real time, forming a comprehensive structural status database, providing an accurate basis for disassembly decisions, judging the uniformity of aggregate distribution by the difference in ultrasonic wave velocity, and dynamically adjusting the size of the disassembly area according to the volume ratio of the angular aggregate, so that the system can adapt to wall structures with different concrete proportions, avoiding local stress concentration during disassembly due to uneven distribution of aggregate strength, using a laser rangefinder to monitor the indentation distance of the wall, and timely discovering the risk of insufficient support strength, avoiding the hidden danger of collapse caused by support failure, the support control unit dynamically adjusts the support rod depth according to the indentation distance deviation and the crack expansion rate, and increases the support depth when the crack expansion rate exceeds the preset value, and optimizes the adjustment coefficient in combination with the deformation angle to ensure that the support structure adapts in real time to changes in the wall, thereby improving the overall stability and further improving the safety of wall disassembly.

[0024] Furthermore, the present invention establishes a wall model based on point cloud data, divides the square grid disassembly area with the geometric center of the wall as the reference point, determines the preset size in combination with the wall thickness and compressive strength, forms a standardized area division, and adjusts the preset size according to the uniformity of concrete aggregate distribution and the volume proportion of angular aggregate. When the aggregate distribution is uneven or the volume proportion of angular aggregate is high, the division size is reduced to make the disassembly area more in line with the actual strength distribution of the wall, which is convenient for construction planning and can be flexibly adjusted according to the mechanical properties of the wall, balancing the disassembly efficiency and structural safety, thereby further improving the disassembly safety of the wall.

[0025] Furthermore, the present invention determines the disassembly order according to the ascending order of stirrup density, gives priority to disassembling areas with low stirrup density, and reduces the impact on the bearing capacity of the wall. At the same time, the disassembly area selection is adjusted based on the deformation form of the steel bar node. During shear deformation, the area perpendicular to the shear direction is selected for demolition to avoid instability caused by the concentration of internal forces in the structure, thereby further improving the disassembly safety of the wall.

[0026] Furthermore, the present invention re-divides the remaining wall area according to the exposed reinforcement length, and dynamically adjusts the solution according to the changes in the distribution of exposed reinforcement during the disassembly process, ensuring that subsequent disassembly operations accurately match the structural status, thereby further improving the safety of wall disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of an intelligent disassembly system for high-rise buildings according to an embodiment of the present invention;

[0028] Figure 2 This is a structural block diagram of an intelligent disassembly system for high-rise buildings according to an embodiment of the present invention;

[0029] Figure 3This is a flow chart for determining whether the distribution of wall concrete aggregate is uniform according to an embodiment of the present invention;

[0030] Figure 4 A flowchart for determining a reduced preset size for an embodiment of the present invention;

[0031] In the figure: 1. Temporary support frame, 2. Hydraulic assembly, 3. Support rod, 4. High-rise building wall, 5. Robotic arm, 6. Base, 7. Cutting assembly, 8. Laser rangefinder, 9. Image collector, 10. Triangular support frame. DETAILED DESCRIPTION

[0032] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0033] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0034] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0035] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0036] See also Figures 1-4 As shown, Figure 1 This is a schematic structural diagram of an intelligent disassembly system for high-rise buildings according to an embodiment of the present invention; Figure 2 This is a structural block diagram of an intelligent disassembly system for high-rise buildings according to an embodiment of the present invention; Figure 3 This is a flow chart for determining whether the distribution of wall concrete aggregate is uniform according to an embodiment of the present invention; Figure 4 A flowchart of determining a reduced preset size according to an embodiment of the present invention.

[0037] The embodiment of the present invention is used for an intelligent disassembly system of a high-rise building, comprising:

[0038] A dismantling robot comprising a base 6, a robotic arm 5 and a cutting assembly 7 for dismantling a high-rise building wall 4;

[0039] A temporary support frame 1, comprising a plurality of support rods 3 and a hydraulic assembly 2, is used to provide temporary support for a high-rise building wall 4;

[0040] a data acquisition module comprising a laser scanner mounted on the temporary support frame 1 for collecting point cloud data of the high-rise building wall 4, an ultrasonic detection component for collecting the wave velocity of ultrasonic waves in the high-rise building wall 4, a laser rangefinder 8 for collecting the indentation distance of the high-rise building wall 4, and an image collector 9 mounted on the demolition robot for collecting images of cracks on the surface of the high-rise building wall 4;

[0041] A disassembly control module, which is connected to the data acquisition module, includes:

[0042] a region division unit, configured to establish a wall model based on the point cloud data and divide the wall into a plurality of initial demolition regions according to preset sizes, and determine the distribution uniformity of the wall concrete aggregate according to the speed difference of the wave velocity, so as to adjust the preset size according to the volume ratio of the angular aggregate in the demolition region;

[0043] An area optimization unit, which is used to re-divide the remaining demolition area of ​​the remaining wall according to the exposed reinforcement length on the remaining wall surface;

[0044] a sequence determination unit, configured to determine a disassembly sequence according to the ascending order of stirrup densities corresponding to a plurality of disassembly regions, and to determine an optimization method for the disassembly sequence according to the deformation of the steel bar nodes in the remaining disassembly regions;

[0045] A support control unit is used to determine whether the support strength of the support rod 3 is qualified according to the distance deviation of the retraction distance, to determine the depth adjustment coefficient according to the crack expansion rate on the wall surface to adjust the support depth of the support rod 3, and to optimize the depth adjustment coefficient based on the deformation angle of the support rod 3.

[0046] Specifically, the temporary support frame 1 provides temporary support for the high-rise building wall 4 in the following manner: the control module is disassembled to control the hydraulic assembly 2 so that several support rods 3 enter the high-rise building wall 4 through the drill bits at the ends of the support rods 3 to provide temporary support force for the high-rise building wall 4.

[0047] Specifically, the hydraulic assembly 2 includes but is not limited to a hydraulic pump, a hydraulic cylinder and a hydraulic motor, which are prior art.

[0048] Specifically, the temporary support frame 1 in the embodiment of the present invention is only used to support the high-rise building wall 4 being dismantled to prevent large-scale collapse of the high-rise building wall 4. The supporting structure of the remaining connected parts of the high-rise building wall 4 being dismantled is reinforced according to the force applied to the wall. This is existing technology and will not be described in detail.

[0049] Specifically, the disassembly control module in the embodiment of the present invention is respectively connected to the disassembly robot and the temporary support frame 1. The disassembly robot and the temporary support frame 1 are respectively located on both sides of the high-rise building wall 4. The high-rise building wall 4 is gradually dismantled according to the instructions of the disassembly control module. The disassembly control module can be located in a mobile terminal such as a computer, and is not specifically limited.

[0050] Specifically, the temporary support frame 1 is fixedly connected to the scaffolding surrounding the outer layer of the high-rise building when the outer wall of the high-rise building is demolished, and is fixedly connected to the ground through the triangular support iron frame 10 when the inner wall of the high-rise building is demolished.

[0051] Specifically, the laser scanner is, for example, Faro Focus S70, and the laser rangefinder 8 is, for example, HMAIPTL1000. Specific models and parameters are not limited, and they only need to meet the measurement requirements of generating a wall model based on the measurement results.

[0052] Specifically, the image collector 9 is, for example, an industrial camera, and its specific model and parameters are not limited, as long as it meets the detection requirements.

[0053] Specifically, the ultrasonic detection component includes but is not limited to an ultrasonic transmitter and an ultrasonic receiver, which are not specifically limited.

[0054] Specifically, the cutting assembly 7 includes a power system and a cutting head body. The power system can be a hydraulic power system or an electric power system, which is not specifically limited. Technical personnel in this field can select devices of different power systems according to actual needs. The cutting heads used for cutting at different positions are different. In the embodiment of the present invention, the cutting head is replaceable. The specific disassembly scenarios and the corresponding types of cutting heads used are existing technologies and will not be repeated here.

[0055] It is understandable that in the embodiment of the present invention, the demolition is performed according to the determined demolition area and demolition sequence, and after each demolition area is demolished, the remaining wall is inspected to determine the next demolition sequence and demolition area.

[0056] Specifically, the essence of demolishing the walls 4 of high-rise buildings, especially the load-bearing walls, is to gradually eliminate the force transmission path of the original structure. While destroying the original structure, it prevents the remaining structure from collapsing due to stress mutations. By dividing the demolition areas and determining the demolition sequence, and adjusting it in real time according to the demolition process, uncontrollable structural damage can be converted into predictable and safe disintegration through staged load release and dynamic balance control.

[0057] Specifically, the area division unit uses the geometric center of the high-rise building wall 4 as the reference point and gradually divides the demolition areas into several square grid shapes toward the edge of the wall with a preset size as the side length, wherein the preset size is determined according to the wall thickness and the concrete compressive strength of the wall.

[0058] Specifically, the preset size is determined according to the wall thickness and the concrete compressive strength, and the preset size = safety factor × (wall thickness × concrete strength correction factor × standard value of concrete axial compressive strength) ⋀1 / 2, where the unit of the preset size is mm, the concrete strength correction factor is determined according to the concrete strength grade, and the safety factor is determined based on experience, with an optional range of [1.5, 2]. In the embodiment of the present invention, 1.6 is preferred. The standard value of concrete axial compressive strength is determined based on experiments, and this formula is an empirical formula.

[0059] It can be understood that the four sides of the square grid are equal in length and have an angle of 90°, which ensures that the load is evenly distributed in the X or Y direction and avoids local stress concentration caused by irregular shapes. For example, if a triangular grid is used, the stress concentration coefficient of the triangle vertex can reach 1.8, while that of the square is only 1.2. In addition, during the demolition of the high-rise building wall 4, the load is gradually released along the grid boundary, forming a regular stress release zone, reducing the random expansion of cracks. At the same time, the cross-sectional inertia moment of the square grid is higher than that of other shapes under the same area, which is more conducive to resisting the vibration torque of the demolition equipment.

[0060] Specifically, the area division unit determines that the wall concrete aggregate is unevenly distributed according to the comparison result that the speed difference is greater than or equal to a preset difference;

[0061] The area division unit determines that the wall concrete aggregate is evenly distributed according to a comparison result that the speed difference is less than or equal to the preset difference.

[0062] Specifically, the calculation process of the ultrasonic velocity difference is:

[0063] Randomly select points within the area of ​​the high-rise building wall 4 on one side to transmit ultrasonic waves, and receive ultrasonic waves on the high-rise building wall 4 on the other side to determine the velocity differences of the ultrasonic waves at each point;

[0064] The standard deviation of a number of said speed differences is determined as the speed difference.

[0065] Specifically, the value of the preset difference is determined based on experiments, and the optional range is set to [0.3 m / s, 0.8 m / s]. In the embodiment of the present invention, 0.5 m / s is preferred.

[0066] Specifically, when ultrasonic waves propagate through concrete, they are primarily transmitted through the interface between aggregates (such as gravel and sand) and cement paste. Because the elastic modulus and density of aggregates are much higher than those of cement paste, sound waves are reflected, refracted, and scattered at the interface between aggregate and cement paste. When aggregates are evenly distributed, the "aggregate-cement paste" interface distribution in various regions within the concrete is relatively regular, and the length of the sound wave propagation path, energy attenuation, and wave velocity are more consistent. Conversely, if the aggregate distribution is uneven, such as with localized aggregate accumulation or segregation, the interface distribution becomes disordered, and the propagation path length and degree of scattering of sound waves in different regions vary significantly. This ultimately manifests as increased dispersion in propagation velocity, i.e., greater velocity variation.

[0067] Specifically, the area division unit determines to reduce the preset size based on a comparison result that the volume proportion of the angular aggregate is greater than or equal to the preset proportion under the condition that the wall concrete aggregate is unevenly distributed;

[0068] The area division unit determines that the preset size remains unchanged based on a comparison result that the volume proportion of the angular aggregate is less than the preset proportion.

[0069] Specifically, the proportion of angular aggregate is determined using ultrasonic scattering imaging technology, with an optional range of [25%, 35%], with 30% being preferred in this embodiment. It is understood that when ultrasonic waves propagate within concrete, the difference in elastic wave impedance between the aggregate and the mortar generates scattered waves, which are then used to determine the shape and distribution of the aggregate.

[0070] Specifically, the angular aggregate usually refers to aggregate particles with a particle size larger than the minimum particle size required by the project, irregular shape and sharp edges. The stress concentration at the edges may reduce the compressive strength of the concrete. During demolition, the edges of the angular aggregate are prone to become stress concentration points, causing the concrete to crack along the edges and the crack expansion rate to be faster.

[0071] Specifically, the interface transition zone between angular aggregate and cement slurry is the weakest link in concrete. Its thickness is about 10-50μm, and there are a large number of pores and microcracks. The contact area between angular aggregate and mortar is larger than that of round aggregate, but the contact stress is more concentrated and the contact point pressure is higher, which makes the microcracks in the interface transition zone easier to expand. When demolishing the walls of high-rise buildings, the microcracks in the interface transition zone will rapidly expand along the edges of the aggregate. If the grid size is too large, the cracks may span multiple grids, causing local collapse. Therefore, the grid size needs to be reduced to limit the development of cracks.

[0072] Specifically, the area division unit determines, under the condition of determining that the preset size is to be reduced, to reduce the preset size by a first size adjustment coefficient based on a comparison result that a difference between the volume share and the preset share is greater than a first preset difference;

[0073] The area division unit determines to reduce the preset size by a second size adjustment coefficient based on a comparison result that a difference between the volume ratio and the preset ratio is less than or equal to the first preset difference.

[0074] Specifically, the value range of the first preset difference is set to [2%, 5%], and 3% is preferably selected in the embodiment of the present invention; the value range of the first size adjustment coefficient is set to [0.8, 0.89], and 0.85 is preferably selected in the embodiment of the present invention; the value range of the second size adjustment coefficient is set to [0.9, 0.96], and 0.93 is preferably selected in the embodiment of the present invention.

[0075] Specifically, the sequence determination unit determines the disassembly sequence of the disassembly area according to the ascending order of stirrup density. The greater the stirrup density, the later the disassembly sequence. The stirrup density indicates the number of stirrups per unit length. The greater the stirrup density, the denser the stirrups are, which can effectively restrain the lateral deformation of the concrete and resist shear force. It is the core stress-bearing area of ​​the structure. Premature disassembly may cause the concrete to lose restraint, causing local collapse or crack expansion, and the disassembly needs to be delayed. The stirrup density is small and mainly bears bending moment. The restraint force on the concrete is weak. The impact on the overall structure during disassembly is small, and it is not easy to cause chain damage. Therefore, it can be demolished first.

[0076] Specifically, the sequence determination unit determines to select a disassembly area perpendicular to the shear direction for disassembly based on a determination result that the deformation of the steel bar nodes in the remaining disassembly area is shear deformation;

[0077] The sequence determination unit determines to select a disassembly area symmetrical to the disassembly area where the bending deformation occurs for disassembly based on a determination result that the deformation of the steel bar nodes in the remaining disassembly area is bending deformation.

[0078] Specifically, the process of determining the deformation form of the steel bar node includes:

[0079] Determine the original shape of the steel bar node based on the wall model generated by point cloud data;

[0080] Determine the real-time shape of the steel bar nodes during the disassembly process based on the wall model;

[0081] Overlapping the real-time form with the original form;

[0082] The deformation is determined as shear deformation or bending deformation according to the deformation direction.

[0083] Specifically, the support control unit determines that the support strength of the support rod 3 is unqualified based on the comparison result that the distance deviation is greater than the preset deviation;

[0084] The support control unit determines that the support strength of the support rod 3 is qualified based on the comparison result that the distance deviation is less than or equal to the preset deviation.

[0085] Specifically, the distance deviation is the maximum deviation of the inward retraction distance of the surrounding walls adjacent to the demolished area. The preset deviation is determined according to the historical demolition process, and the optional range is set to [0.05mm, 0.3mm]. In the embodiment of the present invention, 0.1mm is preferred.

[0086] Specifically, the high-rise building wall 4 in the original structure is a continuous load-bearing system, with each part transmitting loads through the synergistic action of concrete and steel. When a partial wall is demolished, the original continuity constraint is broken. The wall in the demolished area originally borne the vertical loads of the upper structure, such as floor slabs and beams, and formed a "force flow channel" with the adjacent wall through steel bars. After demolition, this path is interrupted, and the upper load must be retransmitted to the foundation or other supporting structure through the remaining wall. There are bidirectional constraints between the adjacent wall and the demolished area, horizontal tension or compression, and vertical shear. After demolition, the adjacent wall loses the constraints of the demolished area, and its original stress state needs to be readjusted, resulting in local stress concentration or release. However, the wall composed of concrete and steel has an elastic modulus. When the stress state suddenly changes, the material undergoes reversible deformation within the elastic range. Since the demolished area loses support, the adjacent walls will rebound toward the demolished area under the action of their own weight and upper load, which manifests as elastic shrinkage. The essence of elastic shrinkage is the elastic deformation of the remaining wall due to stress redistribution after losing the constraint of the demolished area. The role of the support rod 3 is to make this deformation more uniform by providing reverse constraint force, avoiding serious consequences due to stress concentration. If the strength of the support rod 3 is insufficient, it cannot effectively offset the shrinkage force, resulting in the deviation of the shrinkage distance exceeding the allowable range.

[0087] Specifically, the support control unit determines that the support strength of the support rod 3 is unqualified and determines to increase the support depth by a first depth adjustment coefficient based on a comparison result that the crack expansion rate is greater than a preset expansion rate;

[0088] The support control unit determines to increase the support depth by a second depth adjustment coefficient based on a comparison result that the crack expansion rate is less than or equal to the preset expansion rate.

[0089] Specifically, the value of the preset expansion rate is determined according to the historical disassembly process, and the optional range is set to [1mm / min, 3mm / min]. The embodiment of the present invention preferably uses 2mm / min; the value range of the first depth adjustment coefficient is set to [1.15, 1.3], and the embodiment of the present invention preferably uses 1.2; the value range of the second depth adjustment coefficient is set to [1.05, 1.14], and the embodiment of the present invention preferably uses 1.1.

[0090] Specifically, crack expansion is essentially a disruption of the dynamic balance between energy release and material resistance. According to fracture mechanics theory, the driving force behind crack expansion is determined by the stress intensity factor, while the material's ability to resist expansion is characterized by fracture toughness. When the stress intensity factor exceeds the fracture toughness, cracks expand unsteadily. Increasing support depth can increase the reinforcement strength and, by increasing the wall's fracture toughness, mitigate crack instability.

[0091] Specifically, the support control unit determines to increase the depth adjustment coefficient by the first depth optimization coefficient based on the comparison result that the deformation angle of the support rod 3 is greater than the preset angle;

[0092] The support control unit determines to increase the depth adjustment coefficient by the second depth optimization coefficient based on a comparison result that the deformation angle of the support rod 3 is less than or equal to the preset angle.

[0093] Specifically, the value range of the preset angle is set to [5°, 10°], and 8° is preferred in the embodiment of the present invention. The value range of the first depth optimization coefficient is set to [1.2, 1.4], and 1.25 is preferred in the embodiment of the present invention. The value range of the second depth optimization coefficient is set to [1.08, 1.19], and 1.15 is preferred in the embodiment of the present invention.

[0094] It is understandable that the larger the deformation angle of the support rod 3 is, the smaller the support strength provided by the same support depth is. The support depth is the distance that the support rod 3 enters the wall 4 of the high-rise building.

[0095] Specifically, the area optimization unit re-divides the remaining demolition area of ​​the remaining wall based on the comparison result of the exposed reinforcement length and the preset length.

[0096] Specifically, the area optimization unit determines the exposed steel bar length based on the wall surface image, takes the center position of the exposed steel bar with a length greater than or equal to a preset length as the geometric center, and divides the disassembly area with a preset size as the side length.

[0097] Specifically, exposed rebar, that is, steel bars exposed outside the concrete, is a typical feature of concrete structure deterioration. Its length directly reflects the degree of failure of the concrete cover. Locations where the exposed rebar length is greater than or equal to the preset length are high-risk areas and need to be divided into independent disassembly areas as a priority.

[0098] Specifically, the value of the preset length is determined according to the historical disassembly process, and the optional range is set to [25mm, 40mm]. In the embodiment of the present invention, 30mm is preferred.

[0099] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. An intelligent disassembly system for high-rise buildings, characterized in that: include: A temporary support frame, which includes a number of support rods, used to provide temporary support for the walls of high-rise buildings; a data acquisition module comprising a laser scanner mounted on the temporary support frame for collecting point cloud data of the high-rise building wall, an ultrasonic detection assembly for collecting the wave velocity of ultrasonic waves in the wall, a laser rangefinder for collecting the indentation distance of the wall, and an image collector mounted on the demolition robot for collecting images of cracks on the wall surface; A disassembly control module, which is connected to the data acquisition module, includes: a region division unit, configured to establish a wall model based on the point cloud data and divide the wall into a plurality of demolition regions according to a preset size, and determine the distribution uniformity of the wall concrete aggregate according to the speed difference of the wave velocity, so as to adjust the preset size according to the volume ratio of the angular aggregate in the demolition region; An area optimization unit, which is used to re-divide the remaining demolition area of ​​the remaining wall according to the exposed reinforcement length on the remaining wall surface; a sequence determination unit, configured to determine a disassembly sequence according to the ascending order of stirrup densities corresponding to a plurality of disassembly regions, and to determine an optimization method for the disassembly sequence according to deformation forms of steel bar nodes in the remaining disassembly regions; A support control unit is used to determine whether the support strength of the support rod is qualified according to the distance deviation of the retraction distance, to determine the depth adjustment coefficient according to the crack expansion rate on the wall surface to adjust the support depth of the support rod, and to optimize the depth adjustment coefficient based on the deformation angle of the support rod.

2. The intelligent disassembly system for high-rise buildings according to claim 1, characterized in that: The area division unit uses the geometric center of the high-rise building wall as a reference point and divides the demolition areas into a plurality of square grid shapes with a preset size as a side length toward the edge of the wall, wherein the preset size is determined according to the wall thickness and the concrete compressive strength of the wall.

3. The intelligent disassembly system for high-rise buildings according to claim 2, characterized in that: The area division unit determines that the wall concrete aggregate is unevenly distributed according to a comparison result that the speed difference is greater than or equal to a preset difference.

4. The intelligent disassembly system for high-rise buildings according to claim 3, characterized in that: The area division unit determines to reduce the preset size based on a comparison result that the volume proportion of the angular aggregate is greater than or equal to the preset proportion, under the condition that it is determined that the wall concrete aggregate is unevenly distributed.

5. The intelligent disassembly system for high-rise buildings according to claim 4, characterized in that: Under the condition of determining to reduce the preset size, the area division unit determines to reduce the preset size by a first size adjustment coefficient based on a comparison result that the difference between the volume share and the preset share is greater than a first preset difference, and determines to reduce the preset size by a second size adjustment coefficient based on a comparison result that the difference between the volume share and the preset share is less than or equal to the first preset difference.

6. The intelligent disassembly system for high-rise buildings according to claim 5, characterized in that: The sequence determination unit determines to select a disassembly area perpendicular to the shear direction for disassembly based on the judgment result that the deformation form of the steel bar nodes in the remaining disassembly area is shear deformation, and determines to select a disassembly area symmetrical to the disassembly area where bending deformation occurs for disassembly based on the judgment result that the deformation form of the steel bar nodes in the remaining disassembly area is bending deformation.

7. The intelligent disassembly system for high-rise buildings according to claim 6, characterized in that: The support control unit determines that the support strength of the support rod is unqualified based on a comparison result that the distance deviation is greater than a preset deviation.

8. The intelligent disassembly system for high-rise buildings according to claim 7, characterized in that: Under the condition that the support strength of the support rod is determined to be unqualified, the support control unit determines to increase the support depth by a first depth adjustment coefficient based on a comparison result that the crack expansion rate is greater than a preset expansion rate, and determines to increase the support depth by a second depth adjustment coefficient based on a comparison result that the crack expansion rate is less than or equal to the preset expansion rate.

9. The intelligent disassembly system for high-rise buildings according to claim 8, characterized in that: The support control unit determines to increase the depth adjustment coefficient by the first depth optimization coefficient based on the comparison result that the deformation angle of the support rod is greater than the preset angle, and determines to increase the depth adjustment coefficient by the second depth optimization coefficient based on the comparison result that the deformation angle of the support rod is less than or equal to the preset angle.

10. The intelligent disassembly system for high-rise buildings according to claim 9, characterized in that: The area optimization unit re-divides the remaining demolition area of ​​the remaining wall based on the comparison result of the exposed reinforcement length and the preset length.

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