Multifunctional crossing frame and control system thereof

Abstract

The invention relates to the technical field of power grid power transmission and transformation project spanning frame equipment and automatic sequence control systems, in particular to a multifunctional spanning frame and a control system thereof, which comprise a spanning frame main body, a state sensing assembly and a control device. The crossing frame body is composed of an adjustable moving structure, a height adjusting structure, an opening and closing structure and a folding and shrinking structure. The control device comprises a data acquisition module, a logic operation module and an execution instruction module. The data acquisition module receives sensor signals, processes the signals and then transmits the signals directionally, a mode switching instruction and a height adjusting instruction are generated, structural dynamic parameters are transmitted to the telescopic control model to generate a flow adjusting instruction, and tension and wind speed data are transmitted to the open-close synchronous model to generate a rotating speed synchronous adjusting instruction. According to the invention, by constructing sequential control logic of data fusion, terrain adaptive movement, automatic parameter adjustment and mechanical operation linkage are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of spanning frame equipment and automatic sequence control systems for power grid transmission and transformation projects, and in particular to a multifunctional spanning frame and its control system. Background Art

[0002] In power transmission and transformation projects, the installation of transmission lines often requires crossing obstacles such as roads, rivers or existing power lines. Multifunctional crossing frames are key operating equipment. Their structure is usually composed of a modular frame with adjustable height and span, load-bearing rigging and supporting columns, and has mechanical properties that can adapt to different spans, heights and load conditions; the corresponding control system includes stress monitoring sensors, displacement encoders, environmental anemometers and other data acquisition units, signal conditioning and analog-to-digital conversion modules, and a logic control unit with a programmable logic controller (PLC) as the core, forming a closed-loop control architecture, realizing the adaptive adjustment capability of the crossing frame in complex environments, and effectively solving the problems of force concentration and single applicable scenarios caused by the inability to dynamically adjust the traditional fixed structure crossing frame, thereby improving the efficiency and reliability of crossing operations in power transmission and transformation projects.

[0003] Existing vertical spanning gantry systems face the following technical pain points in power transmission and transformation projects: The control system lacks sequential control logic based on data fusion, resulting in the equipment's inability to achieve terrain-adaptive movement, automated parameter adjustment, and mechanized operation linkage. The fundamental reason for this is that the control system fails to integrate terrain perception, structural condition monitoring, and actuator movement into a unified sequential control process. For example, when erecting spanning gantry systems in hilly terrain, traditional control systems can only execute fixed-height adjustment commands and are unable to automatically trigger the sequential raising and lowering of the column hydraulic mechanism based on real-time terrain inclination data, significantly reducing operational efficiency. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a multifunctional crossing frame and its control system to solve the problem that the control system of the vertical crossing frame does not build a sequential control logic for data fusion, resulting in the inability to incorporate terrain perception, structural status monitoring and actuator action into a unified sequential control process, and thus unable to achieve terrain adaptive movement, automatic parameter adjustment and mechanized operation linkage.

[0005] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows: In a first aspect, the present invention provides a multifunctional spanning frame, comprising a spanning frame body, a state sensing component, and a control device; The main body of the spanning frame is composed of an adjustable movable structure, a height adjustment structure, an opening and closing structure, and a folding and shrinking structure; The state perception component includes a terrain perception unit, a structural state monitoring unit and an environmental monitoring unit; The control device is connected to the drive controllers of each structure of the cross-frame body and the sensors of each unit of the state sensing component through a signal transmission link, and is used to receive signals collected by the sensors of each unit of the state sensing component and output control instructions to the drive controllers of each structure of the cross-frame body.

[0006] In a second aspect, the present invention provides a multifunctional spanning frame control system, which is applied to the multifunctional spanning frame, including a spanning frame body, a state sensing component, and a control device, wherein the control device establishes a communication connection with the spanning frame body and the state sensing component; The control device includes a data acquisition module, a logic operation module and an execution instruction module; The data acquisition module is connected to the sensors of each unit of the state perception component, and is used to receive the signals collected by the sensors and transmit them to the logic operation module; The logic operation module is connected to the data acquisition module and is used to generate control instructions based on the received signals and transmit them to the execution instruction module; The execution instruction module is connected to the drive controllers of each structure of the spanning frame body and is used to send control instructions to the drive controllers.

[0007] Furthermore, the multifunctional spanning frame control system of the present invention includes point cloud data collected by a laser radar of a terrain sensing unit, image data collected by a camera, and inclination data collected by a terrain inclination sensor; The expansion and contraction speed data collected by the displacement encoder of the structural condition monitoring unit, the force data collected by the stress sensor, and the tension data collected by the tension sensor; Wind speed data collected by the ambient anemometer of the environmental monitoring unit; The data acquisition module filters, amplifies and performs analog-to-digital conversion on the received analog signal through the signal conditioning module. After generating a digital signal, the data acquisition module transmits the point cloud data, image data and inclination data of the terrain perception unit to the terrain adaptive model of the logic operation module. Transmitting the expansion and contraction speed data and force data of the structural condition monitoring unit to the expansion and contraction control model of the logic operation module; The tension data of the structural status monitoring unit and the wind speed data of the environmental monitoring unit are transmitted to the opening and closing synchronization model of the logic operation module.

[0008] Furthermore, in the multifunctional spanning frame control system of the present invention, the terrain adaptive model is connected to the data acquisition module and is used to receive the laser radar point cloud data, terrain inclination data and camera image data of the terrain perception unit transmitted by the data acquisition module; The terrain adaptive model extracts terrain features through an image recognition algorithm and, combined with a preset terrain mode threshold, generates a mode switching instruction for controlling the adjustable mobile structure to switch terrain modes and a height adjustment instruction for controlling the height adjustment structure to adjust its height.

[0009] Furthermore, in the multifunctional spanning frame control system of the present invention, the logic operation module includes a telescopic control model; The telescopic control model is connected to the data acquisition module and is used to receive the telescopic speed data of the displacement encoder of the structural state monitoring unit and the force data of the stress sensor of the structural state monitoring unit transmitted by the data acquisition module; The telescopic control model calculates the flow regulation coefficient of the hydraulic drive device through a fuzzy control algorithm to generate a flow regulation instruction for the hydraulic pump of the height adjustment structure.

[0010] Furthermore, in the multifunctional crossing frame control system of the present invention, the logic operation module includes an opening and closing synchronization model; The opening and closing synchronization model is connected to the data acquisition module and is used to receive the tensioning force data of the tension sensor of the structural state monitoring unit and the environmental wind speed data of the environmental monitoring unit transmitted by the data acquisition module; The opening and closing synchronization model calculates the rotation angle deviation of the electric motor of the opening and closing structure through a synchronization control algorithm and generates a motor speed synchronization adjustment instruction.

[0011] Furthermore, in the multifunctional spanning frame control system of the present invention, the control instructions output by the execution instruction module include: sending a mode switching instruction generated by a terrain adaptive model to a width adjustment cylinder of the adjustable movable structure, for switching the terrain mode; Sending height adjustment instructions generated by the terrain adaptive model to the hydraulic drive device of the height adjustment structure for synchronously raising and lowering the inner column; Sending a flow adjustment instruction generated by the telescopic control model to the hydraulic pump of the height adjustment structure to adjust the telescopic speed of the piston rod; The speed synchronization adjustment command generated by the opening and closing synchronization model is sent to the electric motor of the opening and closing structure to drive the mast to rotate and adjust the tension of the wire rope.

[0012] Furthermore, the multifunctional spanning frame control system of the present invention further includes: The spanning frame body includes a first spanning frame and a second spanning frame; The adjustable movable structure includes a first adjustable movable device and a second adjustable movable device; The height adjustment structure includes a first height adjustment device and a second height adjustment device; The opening and closing structure includes a first opening and closing device and a second opening and closing device; The folding and shrinking structure includes a first folding and shrinking device and a second folding and shrinking device.

[0013] Furthermore, the multifunctional spanning frame control system of the present invention further comprises: a first spanning frame connected to a first adjustable movable device, a first folding and contracting device installed on the top of the first adjustable movable device, and the first folding and contracting device connected to the first opening and closing device; The second adjustable moving device is connected to the second height adjusting device, and a second folding and shrinking device is installed on the top of the second height adjusting device.

[0014] Furthermore, the multifunctional spanning frame control system of the present invention further includes: the first spanning frame is connected to the second spanning frame's second opening and closing device via the first opening and closing device, thereby completing the connection and fixation between the first spanning frame and the second spanning frame.

[0015] Beneficial effects of the present invention: The present invention solves the pain points of traditional technologies by constructing a sequential control logic of data fusion, which is specifically embodied as follows: the state perception component synchronously collects terrain point cloud data and inclination data, structural expansion and contraction speed and force data, and environmental wind speed data, and after unified filtering and analog-to-digital conversion by the data acquisition module, it is distributed to the dedicated model of the logic operation module according to functional relevance; the terrain adaptive model integrates the depth information of the lidar and the edge features of the image, and combines the terrain mode threshold to generate mode switching instructions and height adjustment instructions to achieve cross-frame chassis configuration adaptation and horizontal posture calibration; the expansion and contraction control model dynamically calculates the hydraulic pump flow adjustment coefficient based on the displacement speed deviation and stress load deviation through the fuzzy rule library to maintain The speed stability and structural safety of the inner column extension and retraction process; the opening and closing synchronization model couples the wire rope tension data and wind load influencing parameters, and outputs the motor speed differential command through proportional integral control to eliminate the double mast rotation angle deviation; the execution instruction module synchronously distributes the instructions of each model to the width adjustment cylinder, hydraulic drive device and electric motor controller, drives the adjustable mobile structure to switch terrain modes, the height adjustment structure to rise and fall synchronously, and the opening and closing structure to dynamically balance the tension, combined with the interlocking mechanism of the buckle lock groove of the double span frame unit and the folding and retracting device to form a full closed-loop control process of terrain perception-decision-making-execution, realizing terrain adaptive movement, automatic parameter adjustment and mechanized operation linkage functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on the drawings without paying any creative labor.

[0017] Figure 1This is a system architecture diagram of the multifunctional spanning frame control system provided in an embodiment of the present invention.

[0018] Figure 2 A schematic structural diagram of a multifunctional spanning frame provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The technical solutions provided by each embodiment of the present invention are described in detail below in conjunction with the drawings. In order to better understand the purpose of the present invention, the present invention is further described in detail below.

[0020] In a first aspect, the present invention provides a multifunctional spanning frame, comprising a spanning frame body, a state sensing component, and a control device; The main body of the spanning frame is composed of an adjustable movable structure, a height adjustment structure, an opening and closing structure, and a folding and shrinking structure; The state perception component includes a terrain perception unit, a structural state monitoring unit and an environmental monitoring unit; The control device is connected to the drive controllers of each structure of the cross-frame body and the sensors of each unit of the state sensing component through a signal transmission link, and is used to receive signals collected by the sensors of each unit of the state sensing component and output control instructions to the drive controllers of each structure of the cross-frame body.

[0021] The multifunctional spanning frame consists of three core components: the spanning frame body, a state-sensing component, and a control device. The spanning frame body comprises an adjustable movable structure, a height-adjustable structure, an opening and closing structure, and a folding and retracting structure. The adjustable movable structure utilizes a width-adjusting hydraulic cylinder mechanism for terrain-adaptive movement, switching between different modes to adapt to flat or rough terrain. The height-adjustable structure utilizes a hydraulic drive to synchronously raise and lower the inner columns to adjust the overall height to meet varying obstacle crossing requirements. The opening and closing structure utilizes an electric motor to rotate the mast, enabling the spanning frame to be deployed and closed. The folding and retracting structure utilizes a hinged linkage design, allowing the device to fold when not in operation to minimize space. These components work together to form the foundation for mechanical execution.

[0022] The state perception components include a terrain perception unit, a structural condition monitoring unit, and an environmental monitoring unit. The terrain perception unit uses lidar, cameras, and terrain inclination sensors to collect point cloud data, image data, and inclination data, respectively, for real-time acquisition of surface features and inclination angles. The structural condition monitoring unit is equipped with displacement encoders, stress sensors, and tension sensors to collect data on expansion and contraction speed, force, and tension, respectively, to monitor the dynamic changes of the span's mechanical components. The environmental monitoring unit uses an ambient anemometer to collect wind speed data and assess the impact of external wind loads. These units continuously output signals through a sensor network, providing real-time input to the control system.

[0023] The control device is connected to the drive controllers of each structure of the spanning frame and the sensors of each unit of the state sensing component via a signal transmission link. This signal transmission link uses an industrial bus protocol to achieve high-speed data transmission and reliable communication. The control device receives signals from the sensors of each unit of the state sensing component, generates control instructions through internal processing logic, and outputs these instructions to the drive controllers of each structure of the spanning frame. The data acquisition module is responsible for receiving and preprocessing the raw signals. The logic operation module performs algorithm analysis based on the preprocessed data. The instruction execution module converts the calculation results into drive signals and distributes them to the controllers.

[0024] The entire system logic process is reflected in closed-loop control: the terrain, structural status and environmental data collected by the state perception component are transmitted to the control device through a signal transmission link; the data acquisition module of the control device filters and performs analog-to-digital conversion on the input signal to generate a standard digital signal; the logic operation module calls the terrain adaptation model, telescopic control model and opening and closing synchronization model according to the digital signal to generate mode switching instructions, height adjustment instructions, flow adjustment instructions and speed synchronization adjustment instructions respectively; the execution instruction module distributes these instructions to the width adjustment cylinder of the adjustable movable structure, the hydraulic drive device of the height adjustment structure and the electric motor of the opening and closing structure, driving the corresponding mechanisms to execute the action; ultimately, terrain adaptive movement, precise height adjustment and opening and closing synchronization operation are achieved, and each step is based on data fusion sequential control logic to achieve efficient and reliable functional linkage.

[0025] Second, see Figure 1 The present invention provides a multifunctional spanning frame control system, which is applied to the multifunctional spanning frame, including a spanning frame body, a state sensing component and a control device, wherein the control device establishes a communication connection with the spanning frame body and the state sensing component; The control device includes a data acquisition module, a logic operation module and an execution instruction module; The data acquisition module is connected to the sensors of each unit of the state perception component, and is used to receive the signals collected by the sensors and transmit them to the logic operation module; The logic operation module is connected to the data acquisition module and is used to generate control instructions based on the received signals and transmit them to the execution instruction module; The execution instruction module is connected to the drive controllers of each structure of the spanning frame body and is used to send control instructions to the drive controllers.

[0026] A multifunctional crossing rack control system is applied to the multifunctional crossing rack, and its control device includes a data acquisition module, a logic operation module and an execution instruction module; the data acquisition module is connected to the sensor network of the state perception component, and a signal conditioning unit is used to receive the sensor signal. The signal conditioning unit is equipped with a preamplifier and a bandpass filter to eliminate noise interference in the sensor signal, and at the same time perform voltage offset calibration to generate a preprocessed digital signal; the signal transmission process is realized through a serial communication protocol, and the data acquisition module transmits the signal to the logic operation module to provide a clean data stream for subsequent analysis.

[0027] The logic operation module executes the decision algorithm based on the signal transmitted by the data acquisition module and uses an embedded processor to implement control logic processing; this module integrates the terrain adaptive model and the structural dynamic model, inputs the point cloud data and image data of the terrain perception unit, the displacement data and stress data of the structural status monitoring unit, and the wind speed data of the environmental monitoring unit, and generates control instructions through the state estimation algorithm; specifically, the terrain adaptive model outputs mode switching instructions to adapt to different terrains, and the structural dynamic model outputs height adjustment instructions and opening and closing synchronization instructions based on the force data. These instructions are calculated by the logic operation module and transmitted to the execution instruction module.

[0028] The execution instruction module is communicatively connected with the logic operation module, and uses a digital output interface to distribute the control instructions to the drive controllers of each structure of the spanning frame body; for example, the width adjustment controller of the adjustable movable structure, the hydraulic drive controller of the height adjustment structure, and the electric motor controller of the opening and closing structure; the execution instruction module converts the mode switching instruction into a switch signal, the height adjustment instruction into a pulse signal, and the opening and closing synchronization instruction into a speed control signal based on the communication link. After receiving the signal, the drive controller drives the corresponding mechanism to act, thereby realizing adaptive movement adjustment, mast height change and mast rotation operation.

[0029] The entire control system forms a closed-loop feedback mechanism: the signals collected by the sensors are pre-processed by the data acquisition module and then input into the logic operation module; the logic operation module calls the control model to generate instructions, which are distributed to the drive controller by the execution instruction module; the drive controller responds to the instructions to adjust the mechanical components of the span frame; at the same time, the sensors continuously monitor the structural status and environmental changes, and re-input the signals into the system to dynamically correct the control process; this sequential processing is based on real-time data flow to ensure the response speed and stability of functional linkage.

[0030] Specifically, the multifunctional spanning frame control system of the present invention comprises point cloud data collected by a laser radar of a terrain sensing unit, image data collected by a camera, and inclination data collected by a terrain inclination sensor; The expansion and contraction speed data collected by the displacement encoder of the structural condition monitoring unit, the force data collected by the stress sensor, and the tension data collected by the tension sensor; Wind speed data collected by the ambient anemometer of the environmental monitoring unit; The data acquisition module filters, amplifies and performs analog-to-digital conversion on the received analog signal through the signal conditioning module. After generating a digital signal, the data acquisition module transmits the point cloud data, image data and inclination data of the terrain perception unit to the terrain adaptive model of the logic operation module. Transmitting the expansion and contraction speed data and force data of the structural condition monitoring unit to the expansion and contraction control model of the logic operation module; The tension data of the structural status monitoring unit and the wind speed data of the environmental monitoring unit are transmitted to the opening and closing synchronization model of the logic operation module.

[0031] The data collection and distribution process of the multifunctional crossing frame control system includes the following technical links: the terrain perception unit uses the laser radar to emit a scanning beam to receive the surface reflection signal to generate three-dimensional point cloud data, the camera uses the optical lens to capture the surface image data, and the terrain inclination sensor uses the gravity sensing element to measure the angle data between the surface plane and the horizontal plane; the structural status monitoring unit uses the displacement encoder to record the displacement change of the inner column of the height adjustment structure to calculate the expansion and contraction speed data, the stress sensor uses the strain gauge to detect the deformation of the load-bearing components of the height adjustment structure and converts it to generate force data, and the tension sensor uses the tension wheel mechanism to measure the tension value of the opening and closing structure wire rope to generate tension data; the environmental anemometer of the environmental monitoring unit collects the airflow velocity through the rotation of the wind cup to generate wind speed data.

[0032] The data acquisition module receives the raw analog signals from these sensors. The signal conditioning module uses a second-order active filter to eliminate high-frequency interference. An operational amplifier adjusts the signal amplitude to the input range of the analog-to-digital converter (ADC). The 16-bit ADC converts the continuous analog signal into a discrete digital signal. The standardized digital signals generated after signal conditioning are logically distributed according to data type: point cloud data, image data, and inclination data are transmitted via a data bus to the terrain adaptation model in the logic operation module, forming the basis for terrain feature analysis. Extension and extension velocity data and force data are transmitted via a parallel interface to the extension and extension control model, serving as the basis for hydraulic system adjustments. Tension force data and wind speed data are transmitted via a serial communication protocol to the opening and closing synchronization model, supporting synchronous control of the opening and closing mechanism.

[0033] The data transmission process follows the principle of functional correspondence: Surface feature data collected by the terrain sensing unit is fed into the terrain adaptive model, which generates control instructions for the mobile mechanism based on the terrain's undulating features. Mechanical state parameters collected by the structural condition monitoring unit are fed into the telescopic control model, which adjusts the hydraulic system based on the component's motion. Tension force and wind speed data are fed into the opening and closing synchronization model, which combines structural mechanical properties with environmental loads to generate a synchronization strategy for the opening and closing mechanism. Each model receives its own dedicated data category to avoid signal crosstalk between different functional control logics. The signal distribution logic divides data flows based on the control task type, establishing a directional association mechanism between sensor data and control models, thus forming a structured data processing channel.

[0034] Specifically, in the multifunctional spanning frame control system of the present invention, the terrain adaptive model is connected to the data acquisition module and is used to receive the laser radar point cloud data, terrain inclination data and camera image data of the terrain perception unit transmitted by the data acquisition module; The terrain adaptive model extracts terrain features through an image recognition algorithm and, combined with a preset terrain mode threshold, generates a mode switching instruction for controlling the adjustable mobile structure to switch terrain modes and a height adjustment instruction for controlling the height adjustment structure to adjust its height.

[0035] The terrain-adaptive model of the multifunctional spanning control system analyzes terrain features through multi-source data fusion. This model establishes a communication link with the data acquisition module and receives three types of raw data from the terrain perception unit in real time: 3D point cloud data generated by lidar scanning reflects the 3D coordinate distribution of the surface contour; inclination data output by the terrain inclination sensor represents the angle between the surface plane and the horizontal reference plane; and RGB image data captured by the camera provides visual information about the surface texture and obstacles. The data fusion process uses spatial coordinate alignment technology to match the point cloud data with the image data at the pixel level, while overlaying the inclination data to create a 3D digital model of the terrain.

[0036] The model uses an image recognition algorithm to process visual data captured by the camera, employing edge detection operators to extract surface boundary features and identifying areas of slope change based on the depth information of the point cloud data. The terrain feature extraction results are then fed into a terrain classifier, which presets three terrain mode thresholds: flat ground mode, gentle slope mode, and steep slope mode. The classifier automatically determines the current terrain category based on the degree of surface undulation. The terrain adaptive model generates control instructions based on the terrain classification results: when a steep slope mode is identified, a mode switching instruction is sent to the drive controller of the adjustable mobile structure, triggering the width adjustment cylinder to change the wheelbase configuration to enhance equipment stability. A height adjustment instruction is simultaneously sent to the drive controller of the height adjustment structure, driving the hydraulic cylinder to adjust the column height to compensate for the surface height difference and maintain the horizontal state of the span frame.

[0037] The command generation logic prioritizes terrain adaptation: mode switching commands control the adjustable mobile structure's switching travel mechanism configuration to adapt to varying surface friction coefficients; height adjustment commands control the height adjustment structure's retracted inner column length to compensate for uneven bearing surfaces caused by surface tilt. Control commands are distributed to the corresponding drive controllers via the command execution module, forming a closed-loop control process of terrain perception, feature extraction, pattern determination, and mechanism adjustment, enabling adaptive movement and stable support of the spanning frame over complex terrain.

[0038] Specifically, in the multifunctional spanning frame control system of the present invention, the logic operation module includes a telescopic control model; The telescopic control model is connected to the data acquisition module and is used to receive the telescopic speed data of the displacement encoder of the structural state monitoring unit and the force data of the stress sensor of the structural state monitoring unit transmitted by the data acquisition module; The telescopic control model calculates the flow regulation coefficient of the hydraulic drive device through a fuzzy control algorithm to generate a flow regulation instruction for the hydraulic pump of the height adjustment structure.

[0039] The telescopic control model of the multifunctional spanning frame control system utilizes a closed-loop feedback mechanism to regulate the movement of the height adjustment structure. This model uses a data acquisition module to receive two key parameters from the structural status monitoring unit in real time: telescopic velocity data collected by the displacement encoder reflects the real-time displacement rate of the height adjustment structure's internal columns, and force data collected by the stress sensor represents the stress distribution within the load-bearing components of the hydraulic drive. These input parameters are transmitted to the telescopic control model's processor unit via an industrial bus, forming a synchronized monitoring data stream for motion and load status.

[0040] The core processing of the telescopic control model utilizes a fuzzy control algorithm to establish a dynamic adjustment mechanism. This algorithm establishes a fuzzy rule base for telescopic speed deviation and force deviation. It compares the current telescopic speed data with a preset speed reference value to generate a speed deviation, while the force data is compared with the rated load threshold to generate a stress deviation. The fuzzy inference engine performs rule matching based on the dual input parameters and uses a weighted average defuzzification method to generate a flow control coefficient. This coefficient reflects the required oil flow adjustment range of the hydraulic system to compensate for speed fluctuations and prevent structural overload.

[0041] Based on the flow adjustment coefficient output by the fuzzy algorithm, the telescopic control model generates a flow adjustment command for the hydraulic pump. This command, a digital control signal, is transmitted to the hydraulic drive controller of the height adjustment structure via the command execution module. Upon receiving the command, the hydraulic pump adjusts its output flow, altering the thrust velocity of the hydraulic cylinder piston rod to stabilize the inner column's telescopic movement within the set range. The system continuously receives new data from the displacement encoder and stress sensor, and adjusts the flow adjustment command in real time. This forms a closed-loop control system of "monitoring-calculation-adjustment-feedback," achieving coordinated control of speed stability and structural safety during height adjustment.

[0042] Specifically, in the multifunctional spanning frame control system of the present invention, the logic operation module includes an opening and closing synchronization model; The opening and closing synchronization model is connected to the data acquisition module and is used to receive the tensioning force data of the tension sensor of the structural state monitoring unit and the environmental wind speed data of the environmental monitoring unit transmitted by the data acquisition module; The opening and closing synchronization model calculates the rotation angle deviation of the electric motor of the opening and closing structure through a synchronization control algorithm and generates a motor speed synchronization adjustment instruction.

[0043] The opening and closing synchronization model achieves synchronized control of the opening and closing structure's movements based on structural mechanics and environmental load monitoring. The model uses a data acquisition module to acquire signals from the tension sensor of the structural condition monitoring unit and the anemometer of the environmental monitoring unit. The tension sensor, installed on the wire rope drive system of the opening and closing structure, collects dynamic wire rope tension data; the environmental anemometer, installed atop the span, outputs real-time airflow velocity data. These two data types undergo analog-to-digital conversion to generate digital signals that are then input into the opening and closing synchronization model.

[0044] The synchronous control algorithm for the opening and closing synchronization model utilizes a dual-parameter feedback mechanism. The core of the algorithm is the rotation angle deviation calculation module, which establishes a correspondence between the tension reference value and the wind speed compensation coefficient. First, the current tension data is compared with the preset tension threshold to generate a tension deviation. Simultaneously, the angle compensation is obtained by querying a table of wind load influencing parameters based on the wind speed data. The calculation module integrates the tension deviation and angle compensation values ​​and outputs the rotation angle deviation value through a proportional-integral controller. This deviation value represents the actual position difference between the left and right masts of the opening and closing mechanism.

[0045] Based on the rotation angle deviation value, the opening and closing synchronization model generates a motor speed synchronization adjustment instruction. This instruction is a differential control signal, which is distributed to the dual electric motor controller of the opening and closing structure through the execution instruction module. Specifically, the instruction signal is converted into a pulse width modulation waveform, and the drive controller adjusts the motor input current according to the waveform duty cycle: an acceleration instruction is output to the motor on the lagging side of the rotation, and a deceleration instruction is output to the motor on the leading side, so that the rotation angle deviation of the masts on both sides converges to the allowable range. The system continuously receives updated tension data to form a closed-loop feedback, dynamically maintaining the balance of wire rope tension. At the same time, the compensation mechanism triggered by wind speed changes ensures the synchronization accuracy of the opening and closing action under wind load conditions.

[0046] Specifically, in the multifunctional spanning frame control system of the present invention, the control instructions output by the execution instruction module include: sending a mode switching instruction generated by a terrain adaptive model to a width adjustment cylinder of the adjustable movable structure, for switching the terrain mode; Sending height adjustment instructions generated by the terrain adaptive model to the hydraulic drive device of the height adjustment structure for synchronously raising and lowering the inner column; Sending a flow adjustment instruction generated by the telescopic control model to the hydraulic pump of the height adjustment structure to adjust the telescopic speed of the piston rod; The speed synchronization adjustment command generated by the opening and closing synchronization model is sent to the electric motor of the opening and closing structure to drive the mast to rotate and adjust the tension of the wire rope.

[0047] The core function of the execution module is to distribute the control commands generated by the logic operation module to the various actuators on the main spanning structure. This module receives the mode switching commands output by the terrain adaptation model and sends pulse control signals to the width adjustment cylinders of the adjustable mobile structure through a digital output interface. In response to these commands, the cylinder controller drives the piston rod to extend and retract, changing the track configuration of the mobile structure and enabling the equipment to adaptively switch from flat mode to rough terrain.

[0048] The command execution module receives height adjustment commands generated by the terrain adaptive model, converts them into analog voltage signals through a signal conversion circuit, and transmits them to the hydraulic drive unit of the height adjustment structure. The hydraulic drive controller adjusts the opening of the proportional valve based on the voltage amplitude, controlling the oil flow in multiple hydraulic cylinders. This drives the inner columns to achieve synchronous raising and lowering movements, compensating for surface height differences and maintaining the spanning frame level.

[0049] The execution module converts the flow control instructions calculated by the telescopic control model into serial communication protocol packets and transmits them to the hydraulic pump controller of the height adjustment mechanism. After parsing the packets, the controller adjusts the speed of the hydraulic pump motor, altering the output flow of the hydraulic system. This precisely controls the piston rod's telescopic speed, ensuring that the inner column's movement remains within the set speed threshold.

[0050] The execution module processes the speed synchronization control commands generated by the opening and closing synchronization model and transmits them to the controllers of the dual electric motors in the opening and closing structure using a differential signal transmission mechanism. The controller converts the speed deviation into a PWM duty cycle signal, adjusting the input current to the left and right motors separately: increasing the duty cycle of the lagging motor to accelerate rotation, and decreasing the duty cycle of the leading motor to slow rotation, thereby eliminating mast angle deviation and maintaining balanced wire rope tension. The system continuously acquires feedback data from the tension sensor to form a closed-loop control loop, achieving precise opening and closing synchronization under dynamic wind load conditions.

[0051] Specifically, see Figure 2 The multifunctional spanning frame control system of the present invention further includes: The span frame body includes a first span frame 11 and a second span frame 12; The adjustable movable structure includes a first adjustable movable device 111 and a second adjustable movable device 211; The height adjustment structure includes a first height adjustment device 112 and a second height adjustment device 212; The opening and closing structure includes a first opening and closing device 113 and a second opening and closing device 213; The folding and contracting structure includes a first folding and contracting device 114 and a second folding and contracting device 213 .

[0052] Specifically, the multifunctional spanning frame control system of the present invention further includes: The first spanning frame 11 is connected to the first adjustable movable device 111 , a first folding and shrinking device 114 is installed on the top of the first adjustable movable device 111 , and the first folding and shrinking device 114 is connected to the first opening and closing device 113 ; The second adjustable moving device 211 is connected to the second height adjusting device 212 , and a second folding and shrinking device 213 is installed on the top of the second height adjusting device 212 .

[0053] The first spanning frame 11 is connected to the second spanning frame 12 via the first opening and closing device 113 , thereby completing the connection and fixation between the first spanning frame 11 and the second spanning frame 12 .

[0054] The multifunctional overpass control system utilizes a dual-body collaborative architecture, consisting of two independent units: the first overpass and the second overpass. The first overpass's main body is connected to a first adjustable movable device at its base, which utilizes a universal wheel mechanism for multi-directional movement. A first folding and retracting device, employing a hinged four-bar linkage, is mounted on top of the first adjustable movable device. The first folding and retracting device's end is connected to a first opening and closing device, which includes a snap mechanism driven by an electric push rod. A second adjustable movable device is located at the base of the second overpass's main body, with a second height adjustment device mounted on top. A second folding and retracting device is secured to the top of the second height adjustment device and mechanically linked to the second opening and closing device.

[0055] The dual spanning frame connection mechanism is achieved through an opening and closing mechanism: the snap mechanism of the first opening and closing mechanism moves toward the locking slot of the second opening and closing mechanism, and an electric push rod drives the snap into the locking slot. Simultaneously, an electromagnetic lock tongue is triggered to insert into the snap positioning hole, physically locking the first spanning frame to the second spanning frame. During the connection process, the first and second adjustable movable mechanisms maintain synchronous movement, preventing the connection mechanism from being subjected to lateral shear forces.

[0056] Once connected, the folding and retracting mechanisms enter operation: the linkage of the first folding and retracting mechanism unfolds to form a triangular, stable support, while the slide rail mechanism of the second folding and retracting mechanism simultaneously extends, synergistically expanding the span frame's load-bearing area. Once connected, the height adjustment mechanisms activate their coordinated adjustment function: the first height adjustment mechanism receives height data from the second height adjustment mechanism and uses hydraulic cylinders to synchronously raise and lower the inner columns to maintain a consistent horizontal reference plane for the two span frames.

[0057] After the operation is completed, the opening and closing mechanism separates: the electromagnetic lock bolt retracts to release the latch, the electric push rod drives the latch out of the lock slot, and the first and second folding and retracting mechanisms simultaneously begin folding. The four-bar linkage retracts to its vertical storage position, and the slide mechanism retracts to its initial length, ultimately reverting to two independently movable units.

[0058] The present invention solves the traditional technical problems by constructing a sequential control logic for data fusion. Its technical solution is embodied in a three-level linkage mechanism: Multi-source data fusion and directional transmission mechanism: The state perception component integrates a terrain perception unit, a structural state monitoring unit, and an environmental monitoring unit to collect terrain point cloud data, inclination data, and image data; structural expansion and contraction velocity, force, and tension data; and ambient wind speed data. The data acquisition module uses a signal conditioning unit to perform simultaneous filtering, amplification, and analog-to-digital conversion on these heterogeneous data types. After generating standardized digital signals, these signals are transmitted directionally based on functional relevance: terrain data is input into the terrain adaptive model, structural dynamic parameters into the expansion and contraction control model, and tension and wind speed data into the opening and closing synchronization model. This mechanism breaks the data silos of traditional spanning structures and establishes a logical mapping between sensor data and control models.

[0059] Modeled sequential decision logic: Logical operation modules perform hierarchical decisions based on the input data stream: The terrain adaptive model integrates point cloud depth information with image edge features, identifies slope changes and matches them to preset terrain mode thresholds, and generates mode switching commands (controlling the wheelbase configuration of the adjustable mobile structure) and height adjustment commands (driving the hydraulic cylinder to compensate for surface height differences). The telescopic control model calculates the flow adjustment coefficient based on the displacement encoder speed data and the stress sensor load data through the fuzzy rule base, and generates the hydraulic pump flow command to stabilize the inner column telescopic speed; The opening and closing synchronization model couples tension data from the pull sensor with wind load data from the anemometer. Using proportional-integral control, it outputs motor speed deviation commands, synchronously adjusting the rotation angles of the twin masts. Each model generates commands in the order of "terrain adaptation, structural adjustment, and environmental compensation," forming a closed-loop control flow.

[0060] Actuator Coordination: The execution command module converts decision commands into drive signals: Mode switching commands trigger the width adjustment cylinders to change the chassis configuration; height adjustment commands drive the hydraulic actuators to synchronously raise and lower the inner columns; flow control commands control the hydraulic pumps to stabilize piston rod speed; and speed synchronization commands drive the dual electric motors via differential PWM signals to eliminate mast angle deviation. Simultaneously, the double-span frame units are mechanically interlocked via a snap-lock mechanism in the opening and closing mechanisms, with the first and second folding and retracting mechanisms working together to deploy the load-bearing structure. The system dynamically adjusts commands using real-time sensor data, achieving mechanized coordination of terrain-adaptive movement, precise height adjustment, and synchronized opening and closing operations.

[0061] The specific embodiment of the present invention is implemented in a spanning operation scenario for power transmission and transformation projects, such as the installation of power transmission lines across hilly terrain. The spanning frame body includes an adjustable movable structure, a height adjustment structure, an opening and closing structure, and a folding and retracting structure: the adjustable movable structure uses a hydraulically driven width adjustment cylinder to change the wheelbase configuration to adapt to different surface friction coefficients; the height adjustment structure includes a hydraulic cylinder to drive the extension and retraction of the inner column to achieve synchronous adjustment of the column height; the opening and closing structure is equipped with an electric motor to drive the mast rotation, and the equipment is controlled to unfold via a wire rope transmission; the folding and retracting structure uses a hinged four-bar linkage to achieve equipment folding and storage. The state perception component deploys a laser radar and camera in the terrain perception unit to respectively collect three-dimensional surface point cloud data and visual image data. The terrain inclination sensor measures the angle between the surface plane and the horizontal plane in real time. The displacement encoder in the structural state monitoring unit records the displacement change of the inner column to calculate the extension and retraction speed. The stress sensor detects the deformation of the load-bearing component to generate force data. The tension sensor monitors the tension of the wire rope and outputs tension data. The environmental anemometer in the environmental monitoring unit collects wind speed data in the operation area.

[0062] The control device's data acquisition module processes the raw sensor signals through a signal conditioning circuit. A preamplifier adjusts the signal amplitude, a bandpass filter eliminates high-frequency interference, and an analog-to-digital converter generates a digital signal. Signal distribution follows the principle of functional mapping: point cloud data, image data, and inclination angle data are input into the terrain adaptive model, telescopic speed data and force data are input into the telescopic control model, and tension force data and wind speed data are input into the opening and closing synchronization model. The terrain adaptive model uses an image edge detection algorithm to extract surface contour features, integrates point cloud depth information to identify slope changes, compares threshold parameters for flat ground mode, gentle slope mode, and steep slope mode, and generates mode switching commands to control the width adjustment cylinder to switch the wheelbase configuration. It also outputs height adjustment commands to drive the hydraulic cylinder to compensate for surface height differences.

[0063] The telescopic control model receives speed data from the displacement encoder and load data from the stress sensor, establishes a fuzzy rule base for telescopic speed deviation and stress deviation, calculates the hydraulic pump flow adjustment coefficient through weighted average defuzzification, and generates a flow command to stabilize the inner column movement speed. The opening and closing synchronization model integrates tension data from the pull sensor and wind load parameters from the anemometer. The proportional-integral controller calculates the rotation angle deviation value and outputs a differential speed command to drive the dual electric motors. A pulse-width modulation signal adjusts the acceleration of the lagging motor and the deceleration of the leading motor to maintain mast angle synchronization. The execution command module converts mode switching commands into pulse signals to drive the width adjustment cylinder and height adjustment commands into analog voltage signals to control the hydraulic drive unit. Flow adjustment commands are transmitted to the hydraulic pump controller via a serial protocol, and speed synchronization commands drive the motor controller using differential PWM signals.

[0064] When the two spanning frame units work together, the electric push rod of the first opening and closing device of the first spanning frame drives the buckle to fit into the lock slot of the second opening and closing device of the second spanning frame, and the electromagnetic lock tongue is inserted into the positioning hole to complete the mechanical interlocking. The four-bar mechanism of the first folding and retracting device and the slide rail mechanism of the second folding and retracting device are synchronously unfolded to form a load-bearing platform. The first height adjustment device receives the height parameters of the second height adjustment device, and the hydraulic cylinder is synchronously raised and lowered to maintain the horizontal reference. At the end of the operation, the electromagnetic lock tongue retracts and releases the buckle, and the folding and retracting mechanism is linked to retract to the storage state. The entire process collects terrain characteristics, structural stress and wind load parameters in real time, and generates execution instructions through data fusion and sequential decision-making, realizing the adaptive movement of the spanning frame in complex terrain, precise height adjustment and mechanical linkage of opening and closing.

Claims

1. A multifunctional spanning frame, characterized in that: It includes a spanning frame body, a state sensing component and a control device; The main body of the spanning frame is composed of an adjustable movable structure, a height adjustment structure, an opening and closing structure, and a folding and shrinking structure; The state perception component includes a terrain perception unit, a structural state monitoring unit and an environmental monitoring unit; The control device is connected to the drive controllers of each structure of the cross-frame body and the sensors of each unit of the state sensing component through a signal transmission link, and is used to receive signals collected by the sensors of each unit of the state sensing component and output control instructions to the drive controllers of each structure of the cross-frame body.

2. A multifunctional spanning frame control system, applied to the multifunctional spanning frame according to claim 1, characterized in that: It includes a spanning frame body, a state sensing component and a control device, wherein the control device establishes a communication connection with the spanning frame body and the state sensing component; The control device includes a data acquisition module, a logic operation module and an execution instruction module; The data acquisition module is connected to the sensors of each unit of the state perception component, and is used to receive the signals collected by the sensors and transmit them to the logic operation module; The logic operation module is connected to the data acquisition module and is used to generate control instructions based on the received signals and transmit them to the execution instruction module; The execution instruction module is connected to the drive controllers of each structure of the spanning frame body and is used to send control instructions to the drive controllers.

3. The multifunctional spanning frame control system according to claim 2, characterized in that: Point cloud data collected by the laser radar of the terrain perception unit, image data collected by the camera, and inclination data collected by the terrain inclination sensor; The expansion and contraction speed data collected by the displacement encoder of the structural condition monitoring unit, the force data collected by the stress sensor, and the tension data collected by the tension sensor; Wind speed data collected by the ambient anemometer of the environmental monitoring unit; The data acquisition module filters, amplifies and performs analog-to-digital conversion on the received analog signal through the signal conditioning module. After generating a digital signal, the data acquisition module transmits the point cloud data, image data and inclination data of the terrain perception unit to the terrain adaptive model of the logic operation module. Transmitting the expansion and contraction speed data and force data of the structural condition monitoring unit to the expansion and contraction control model of the logic operation module; The tension data of the structural status monitoring unit and the wind speed data of the environmental monitoring unit are transmitted to the opening and closing synchronization model of the logic operation module.

4. The multifunctional spanning frame control system according to claim 3, characterized in that: The terrain adaptive model is connected to the data acquisition module and is used to receive the laser radar point cloud data of the terrain perception unit, the terrain inclination data of the terrain perception unit and the camera image data of the terrain perception unit transmitted by the data acquisition module; The terrain adaptive model extracts terrain features through an image recognition algorithm and, combined with a preset terrain mode threshold, generates a mode switching instruction for controlling the adjustable mobile structure to switch terrain modes and a height adjustment instruction for controlling the height adjustment structure to adjust its height.

5. The multifunctional spanning frame control system according to claim 4, characterized in that: The logic operation module includes a telescopic control model; The telescopic control model is connected to the data acquisition module and is used to receive the telescopic speed data of the displacement encoder of the structural state monitoring unit and the force data of the stress sensor of the structural state monitoring unit transmitted by the data acquisition module; The telescopic control model calculates the flow regulation coefficient of the hydraulic drive device through a fuzzy control algorithm to generate a flow regulation instruction for the hydraulic pump of the height adjustment structure.

6. The multifunctional spanning frame control system according to claim 5, characterized in that: The logic operation module includes an opening and closing synchronization model; The opening and closing synchronization model is connected to the data acquisition module and is used to receive the tensioning force data of the tension sensor of the structural state monitoring unit and the environmental wind speed data of the environmental monitoring unit transmitted by the data acquisition module; The opening and closing synchronization model calculates the rotation angle deviation of the electric motor of the opening and closing structure through a synchronization control algorithm and generates a motor speed synchronization adjustment instruction.

7. The multifunctional spanning frame control system according to claim 6, characterized in that: The control instructions output by the execution instruction module include: sending a mode switching instruction generated by a terrain adaptive model to a width adjustment cylinder of the adjustable movable structure, for switching the terrain mode; Sending height adjustment instructions generated by the terrain adaptive model to the hydraulic drive device of the height adjustment structure for synchronously raising and lowering the inner column; Sending a flow adjustment instruction generated by the telescopic control model to the hydraulic pump of the height adjustment structure to adjust the telescopic speed of the piston rod; The speed synchronization adjustment command generated by the opening and closing synchronization model is sent to the electric motor of the opening and closing structure to drive the mast to rotate and adjust the tension of the wire rope.

8. The multifunctional spanning frame control system according to claim 7, characterized in that: Also includes: The spanning frame body comprises a first spanning frame (11) and a second spanning frame (12); The adjustable movable structure comprises a first adjustable movable device (111) and a second adjustable movable device (211); The height adjustment structure comprises a first height adjustment device (112) and a second height adjustment device (212); The opening and closing structure comprises a first opening and closing device (113) and a second opening and closing device (213); The folding and contracting structure comprises a first folding and contracting device (114) and a second folding and contracting device (213).

9. The multifunctional spanning frame control system according to claim 8, characterized in that: Also includes: The first spanning frame (11) is connected to the first adjustable movable device (111), a first folding and shrinking device (114) is installed on the top of the first adjustable movable device (111), and the first folding and shrinking device (114) is connected to the first opening and closing device (113); The second adjustable moving device (211) is connected to the second height adjustment device (212), and a second folding and contracting device (213) is installed on the top of the second height adjustment device (212).

10. The multifunctional spanning frame control system according to claim 9, characterized in that: Also includes: The first spanning frame (11) is connected to the second spanning frame (12) through the first spanning frame (113) via the second spanning frame (213), thereby completing the connection and fixation of the first spanning frame (11) and the second spanning frame (12).

Images