Intelligent co-location control system and intelligent co-location control method

Abstract

The invention provides an intelligent co-location control system and an intelligent co-location control method, belongs to the technical field of bridges, and aims to solve the problems that in the prior art, the vibration amplitude of a cable strand is very large, and the bridge construction progress and the erection precision of a main cable are seriously influenced. Comprising a limiting frame, a first bottom beam, a second bottom beam and a driving device, the limiting frame is installed on a bridge cable strand, positioning plates are arranged at the two ends of the limiting frame, and a plurality of steel plate combs are arranged on the limiting frame at intervals; stand columns are hinged to the two ends of the second bottom beam correspondingly, and a first telescopic device is hinged to one side of each stand column; the number of the driving devices is two, each driving device is provided with a positioning table, and the positioning tables are perpendicular to the positioning plate. In the early stage of erection of the main cable, the to-be-adjusted cable strand is connected with the catwalk through the intelligent co-location control system, and vibration of the to-be-adjusted cable strand is limited through the rigidity of the catwalk.

Description

Technical Field

[0001] This invention belongs to the field of bridge technology, specifically relating to an intelligent alignment control system and an intelligent alignment control method. Background Technology

[0002] A suspension bridge, also known as a suspension bridge, is a bridge whose superstructure primarily consists of cables (or steel chains) suspended from towers and anchored to both banks (or both ends of the bridge). The geometry of the cables is determined by force equilibrium conditions and generally approximates a parabola. Numerous suspenders hang from the cables, supporting the bridge deck. Stiffening beams are often installed between the bridge deck and the suspenders, forming a combined system with the cables to reduce deflection caused by loads. A catwalk is a temporary linear access road erected below and parallel to the main cables during suspension bridge construction. It serves as high-altitude scaffolding for construction workers and a construction platform for the main cable system and even the entire superstructure of the suspension bridge.

[0003] Even under windless, self-vibrating conditions, the vibration amplitude of cable strands in extra-long span suspension bridges can be very large; in the presence of wind or environmental vibrations, the vibration of cable strands is further aggravated. Using traditional cable adjustment methods, it is impossible to measure the absolute and relative sag of the cable strands, which seriously affects the bridge construction progress and the accuracy of the main cable erection.

[0004] Therefore, it is necessary to take certain control measures to address the vibration of the cable strands during the erection of the main cable of a long-span suspension bridge, so as to improve the erection accuracy of the cable strands and shorten the construction period of the cable strand erection. Summary of the Invention

[0005] In view of this, the present invention provides an intelligent alignment control system and an intelligent alignment control method to solve the problem that, even under windless natural vibration conditions, the vibration amplitude of the cable strands can be very large; and the vibration of the cable strands is even more aggravated under windy or environmental vibration conditions. Using traditional cable adjustment methods, the absolute and relative sag of the cable strands cannot be measured at all, which seriously affects the bridge construction progress and the accuracy of the main cable erection.

[0006] The technical solution adopted in this invention is as follows:

[0007] An intelligent positioning control system and an intelligent positioning control method are disclosed. The intelligent positioning control system includes:

[0008] A limiting frame is installed on the bridge cable strands. The limiting frame is provided with several steel plate combs at intervals. Positioning plates are provided at both ends of the limiting frame, and circular grooves are provided at the ends of the positioning plates.

[0009] The driving device comprises two units, each located on one side of the catwalk. Each unit has a positioning platform opposite to the circular groove, with the diameter of the positioning platform being smaller than the diameter of the circular groove. The two driving devices can drive the two positioning platforms to move respectively. A laser ranging sensor is provided on the side wall of the positioning platform. There are two laser ranging sensors, namely laser ranging sensor A and laser ranging sensor B. Laser ranging sensor B is located at the top of the positioning platform facing the circular groove. Laser ranging sensor A and laser ranging sensor B are on the same plane and perpendicular to each other.

[0010] The controller is electrically connected to the laser rangefinder and the drive device;

[0011] The first bottom beam and the second bottom beam are spaced apart on the cat walkway. Each end of the second bottom beam is hinged with a column. The two columns are located on both sides of the limiting frame. Each column is hinged with a first telescopic device on one side. The end of the first telescopic device away from the column is hinged to the first bottom beam.

[0012] The intelligent location control system includes:

[0013] Step 1: Two drive devices drive two positioning platforms to insert into the circular slots of the corresponding positioning plates respectively;

[0014] Step 2: Obtain the relative deviation between the center of the positioning platform and the center of the circular groove using a laser rangefinder;

[0015] Step 2 specifically includes:

[0016] Step 2.1: Obtain the radius r1 of the circular groove and the radius r2 of the positioning platform. Define the direction from the end of the positioning platform to the laser range sensor A as the horizontal direction and the direction from the end of the positioning platform to the laser range sensor B as the vertical direction. The horizontal distance from the center of the end of the positioning platform through the laser range sensor A to the edge of the circular groove is d1, and the vertical distance from the center of the end of the positioning platform through the laser range sensor B to the edge of the circular groove is d2.

[0017] Step 2.2: Establish a rectangular coordinate system with the center of the positioning stage as the origin O', O'A as the x-axis, and O'B as the y-axis, where O'A is the direction from the center of the positioning stage to the laser rangefinder A, and O'B is the direction from the center of the positioning stage to the laser rangefinder B.

[0018] Step 2.3: Set the center coordinates of the circular groove to O(x0, y0), the center coordinates of the positioning stage to O'(0,0), the coordinates of laser range sensor A to A(r2,0), the coordinates of laser range sensor B to B(0, r2), the coordinates of the point A' furthest from the center of the positioning stage in the horizontal direction of the circular groove to A'(r2+d1,0), and the coordinates of the point B' furthest from the center of the positioning stage in the vertical direction of the circular groove to B'(0, r2+d2).

[0019] Step 2.4: Based on the coordinates obtained in Step 2.3, obtain the center coordinates O(x0, y0) of the circular groove;

[0020] Step 2.4 specifically includes the following steps:

[0021] Step 2.41: Obtain the equation of the line A'B, as shown in the following formula:

[0022]

[0023] Step 2.42: Obtain the coordinates M of the midpoint of A'B' Obtain the slope of the OM line

[0024] Step 2.43: Obtain the equation of the line OM as: y = kx + b. Based on the midpoint coordinates M obtained in Step 2.42 and the slope of the line OM, we can obtain...

[0025] Step 2.44: Draw a circle with A' and B' as centers and r1 as radius to obtain two intersection points O and O1;

[0026] Step 2.45; Obtain the length of A'B.

[0027] Step 2.46; Construct right-angled sides ON and MN with OM as the hypotenuse, parallel to the coordinate axes respectively. Then, use the system of equations... achievable

[0028] Step 2.47: Determine the coordinates of O based on ON, MN, and point M. There are two solutions, as shown in the following equation:

[0029]

[0030] Expand on the following:

[0031]

[0032] Simultaneously, the positioning stage is within the circular groove, satisfying x0. 2 +y0 2 ≤(r1-r2) 2 Finally, the coordinates of point O are obtained.

[0033] Step 2.5: The controller adjusts the position of the positioning stage according to the obtained center coordinates.

[0034] Step 3: The controller obtains the relative deviation from Step 2 and controls the drive device to move the positioning stage in real time according to the relative deviation until the center of the positioning stage coincides with the center of the circular groove.

[0035] In this technical solution, it should be noted that the limiting frame has a V-shaped structure and is vertically installed. Several steel plate combs are spaced apart on the limiting frame, and adjacent steel plate combs are used to limit the movement of individual strands (the main cable consists of many strands). The limiting frame is installed on the strands, and the end of the positioning plate has a circular groove. The first and second bottom beams are both made of steel, and the two bottom beams are perpendicular to the catwalk. The uprights are vertically installed and serve as fulcrums for the drive device. The first telescopic device uses a hydraulic cylinder to drive the uprights to rotate. The hydraulic cylinder is a linear motion actuator whose output force is proportional to the effective area of ​​the piston and the pressure difference across it. Its function is to convert hydraulic energy into mechanical energy. The input to the hydraulic cylinder is the fluid flow rate and pressure, and the output is linear motion speed and force. The piston of the hydraulic cylinder can complete linear reciprocating motion, and the output linear displacement is limited; the positioning platform is cylindrical, and two driving devices drive the two positioning platforms to press against the circular grooves of the two positioning plates respectively, so that the device connects the cable strands and the catwalk together; the specific principle of this intelligent positioning control system is as follows: (1) When the operation starts, the two first telescopic devices are activated, so that the first telescopic devices are extended, and the first telescopic devices drive the two columns to rotate to a vertical state; (2) Positioning of the positioning platform and the positioning plate, the two driving devices are activated, and the driving devices drive the positioning platform to move, so that the positioning platform presses against the circular grooves of the positioning plate, and then the two positioning platforms clamp the limit frame, so that the installed cable strands and the catwalk are connected together; (3) Pass the cable strand to be adjusted through the two adjacent Between the steel plate combs; In summary, the present invention has the following advantages: 1. In the initial stage of main cable erection, the intelligent alignment control system connects the strand to be adjusted with the catwalk, and the rigidity of the catwalk is used to limit the vibration of the strand to be adjusted; 2. The intelligent alignment control system connects the already installed strands with the catwalk, and the rigidity of the main cable is used to reduce the lateral sway of the catwalk due to wind load during construction, improve the working environment for workers, and make construction safer; 3. At the same time, during strand erection, due to the lateral constraint effect of the intelligent alignment control system, strand measurement and adjustment will be more convenient, and the strands will not be unable to be adjusted or the adjusted strands will not fail to meet the specifications due to strand vibration; 4. Through the set intelligent alignment control method, the positioning platform and the circular groove can be automatically aligned without manual operation.

[0036] Preferably, the driving device includes a lateral moving component and a vertical moving component. The vertical moving component is mounted on the second bottom beam, and its top is connected to the lateral moving component. One end of the lateral moving component is connected to the positioning platform. The vertical moving component, the lateral moving component, and the first telescopic device cooperate to control the positioning platform to move to the center position of the positioning plate and press the positioning plate against it.

[0037] In this technical solution, it's important to note that the coordinated operation of the vertical moving component, the horizontal moving component, and the first telescopic device plays a crucial role in ensuring the positioning platform moves precisely to the center of the positioning plate and achieves a secure clamping, thereby guaranteeing the stability of the connection between the cable strands and the catwalk. The specific operating principle is as follows: When the need arises to connect the catwalk and the cable strands, the first telescopic device first activates, rotating the column. As the column rotates, the vertical moving component also starts simultaneously, moving the positioning platform along the height of the column. This process aims to precisely align the positioning platform with the positioning plate, preparing for the subsequent clamping operation. After the positioning platform and positioning plate are initially aligned, the horizontal moving component receives the instruction and begins to drive the positioning platform to move horizontally. This horizontal movement achieves a secure clamping against the positioning plate. This clamping state ensures a stable connection between the cable strands and the catwalk, providing reliable protection for subsequent construction operations. Furthermore, this technical solution also possesses a certain degree of self-adjustment capability. When the center of the positioning platform deviates from the center of the positioning plate, i.e., the centers are not precisely aligned, the system automatically initiates the corresponding adjustment procedure. Specifically, the first telescopic component will again rotate the column, while the vertical movement component will move the positioning platform up and down as needed. This coordinated rotation and movement effectively corrects the misalignment between the positioning platform and the positioning plate, ensuring the center of the positioning platform is realigned with the center of the positioning plate. This precise alignment and clamping mechanism fully demonstrates the intelligence and reliability of this technical solution in ensuring the stability of the cable strand and catwalk connection, providing solid technical support for the smooth progress of the entire construction process.

[0038] Preferably, the lateral movement component includes a second telescopic device, one end of which abuts against the column and the other end of which is connected to the positioning platform.

[0039] In this technical solution, it should be noted that the second telescopic device uses a hydraulic cylinder as its core driving element. The structural design of the column also cleverly incorporates a transverse support frame, which is connected to the column via diagonal braces, forming a stable triangular structure. This design not only enhances the stability of the column but also provides it with the necessary support force. A support column is located at the end of the transverse support frame furthest from the column. This support column is hinged to the second bottom beam and its main function is to provide additional support for the transverse support frame, ensuring the stability of the entire structure. Furthermore, a positioning frame for precisely positioning the vertically moving components is installed on the transverse support frame, further improving the positioning accuracy of the intelligent positioning control method. Steel wire ropes and tensioners are installed on the two symmetrical support columns. After the catwalk and cable strands are connected, the support columns on both sides are tightly connected together using steel wire ropes and tensioners. This not only enhances the overall integrity of the intelligent positioning control method but also makes it more stable, effectively improving the reliability and safety of the intelligent positioning control method during operation.

[0040] Preferably, the end of the second telescopic device facing the column is provided with a rubber pad.

[0041] In this technical solution, it should be noted that the rubber pad reduces wear between the second telescopic device and the column. Furthermore, the rubber pad, when pressed against the column, supports the second telescopic device, ensuring that the second telescopic device is subjected to balanced forces from left to right, thereby improving its lifespan.

[0042] Preferably, the vertical moving component includes a third telescopic device, which is vertically arranged and whose top is connected to the second telescopic device.

[0043] In this technical solution, it should be noted that the third telescopic device is a hydraulic cylinder. The third telescopic device is set vertically and can drive the positioning platform to move in the vertical direction, thereby adjusting the height of the positioning platform.

[0044] Preferably, the tops of the two columns are connected by an upper crossbeam, and the bottom of the upper crossbeam is provided with several partitions at intervals; the column includes a fixed column and a movable column, the bottom of the fixed column is hinged to the second bottom beam, the fixed column has a hollow structure, the movable column slides into the fixed column from the top of the fixed column, the fixed column is provided with a fifth telescopic device, the fifth telescopic device is arranged vertically, and one end of the fifth telescopic device is connected to the fixed column and the other end is connected to the movable column.

[0045] In this technical solution, it is important to note that the upper crossbeam and several diaphragms play a crucial role. Specifically, the upper crossbeam, through its structural characteristics, works in conjunction with the diaphragms to achieve precise positioning of the top of the main cable. This positioning function effectively prevents unnecessary displacement of the main cable during construction, ensuring its accurate positioning. Simultaneously, these diaphragms also have the function of measuring the cable strands, providing strong support for quality control during construction. It is worth noting that bridge main cables are typically complex structures composed of multiple cable strands. During the installation of the cable strands, as the number of strands increases, the diameter of the main cable also gradually increases. To accommodate this diameter change, this solution innovatively designs the column structure as a telescopic structure. Specifically, the fifth telescopic device uses a hydraulic cylinder as the power element. Through the telescopic movement of the cylinder, the moving column can be raised and lowered, thereby achieving flexible changes in the column height. This telescopic structure design not only adapts to changes in the main cable diameter but also ensures that the column provides stable and reliable support for the cable strands at different construction stages, effectively improving the adaptability and safety during construction.

[0046] Preferably, the upper crossbeam includes two sub-crossbeams, one end of each of the two sub-crossbeams being connected to two movable columns. Each sub-crossbeam includes a fixed beam and a rotating beam. The fixed beam is connected to the movable columns and is driven to rotate by a second motor mounted on the movable columns. One end of the rotating beam is hinged to the inner end of the fixed beam. The fixed beam is provided with a sixth telescopic device, one end of which is hinged to the fixed beam and the other end of which is hinged to the rotating beam.

[0047] In this technical solution, it should be noted that the upper crossbeam adopts a two-section structural design, specifically comprising two sub-crossbeams. This design allows the two columns to function as two independent entities, thus providing greater flexibility and adaptability. When the device transitions from a horizontal to an vertical position, the two sub-crossbeams open smoothly via the drive of the second motor. This action effectively prevents movement interference between the upper crossbeam and the already erected cable strands, ensuring the smoothness and safety of the device during state transitions. Furthermore, after the columns successfully rotate to a vertical position, the two sub-crossbeams can be precisely rotated to the same straight line again via the drive of the second motor, thereby achieving closure. This flexible opening and closing design not only improves the ease of operation of the device but also enhances its stability under different working conditions. In addition, the sub-crossbeams in this solution are cleverly composed of a fixed beam and a rotating beam. When the entire device is in a horizontal position, the sub-crossbeams can be folded using the sixth telescopic device. This folding design greatly reduces the space occupied by the device in its non-working state.

[0048] Preferably, the second bottom beam is further provided with a lifting device, the lifting device including a scissor lift slidably connected to the second bottom beam, the top of the scissor lift is provided with a platform, the top of the platform is provided with a hoist, and the top of the hoist is provided with a striking plate.

[0049] In this technical solution, it should be noted that during the cable strand erection process, the weight of the main cable will increase, causing it to sag due to gravity. Therefore, this solution includes a scissor lift, a hoist, and a striking plate. The scissor lift is a widely used specialized piece of equipment for aerial work. The scissor lift drives the hoist to rise or fall, and the striking plate on the hoist lifts the sagning main cable.

[0050] Preferably, a third guide rod and a third lead screw are respectively mounted on both sides of the second bottom beam, the scissor lift is threadedly connected to the third lead screw, and the scissor lift is slidably connected to the third guide rod.

[0051] In this technical solution, it should be noted that a third guide rod and a third lead screw are respectively installed on both sides of the second bottom beam. The scissor lift is threadedly connected to the third lead screw, and the scissor lift is slidably connected to the third guide rod. The position of the scissor lift in the length direction of the second bottom beam is adjusted by rotating the third lead screw.

[0052] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0053] 1. In this invention, during the initial stage of main cable erection, the strand to be adjusted is connected to the catwalk through an intelligent co-position control method, and the vibration of the strand to be adjusted is limited by the stiffness of the catwalk.

[0054] 2. In this invention, the already installed cable strands and catwalk are connected by an intelligent co-position control method. By utilizing the stiffness of the main cable, the lateral sway of the catwalk due to wind load during construction is reduced, the working environment for workers is improved, and construction is made safer.

[0055] 3. In this invention, when the cable strands are erected, due to the lateral constraint effect of the intelligent alignment control method, the measurement and adjustment of the cable strands will be more convenient, and the cable strands will not be unable to be adjusted or the accuracy of the adjusted cable strands will not fail to meet the specifications due to cable strand vibration.

[0056] 4. In this invention, the intelligent alignment control method enables automatic alignment between the positioning platform and the circular groove without manual operation. Attached Figure Description

[0057] The present invention will be described by way of example and with reference to the accompanying drawings, wherein:

[0058] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0059] Figure 2 This is a three-dimensional structural diagram of the limiting frame of the present invention;

[0060] Figure 3 This is a three-dimensional structural diagram of a driving device and a column according to the present invention;

[0061] Figure 4 This is a three-dimensional structural diagram of the driving device of the present invention;

[0062] Figure 5 This is a schematic diagram of the three-dimensional structure of the second bottom beam of the present invention;

[0063] Figure 6 This is a schematic diagram of the positioning platform and the circular groove in the intelligent positioning control method of the present invention;

[0064] Wherein: 1-First bottom beam, 2-Second bottom beam, 21-Scissor lift, 22-Platform, 26-Lifter, 261-Striking plate, 28-Third guide rod, 29-Third lead screw, 3-Column, 31-Fixed column, 32-Moving column, 33-Fifth telescopic device, 4-Upper crossbeam, 41-Sub-crossbeam, 411-Fixed beam, 412-Rotating beam, 413-Sixth telescopic device, 43-Second motor, 44-Partition plate, 5-Limiting frame, 51-Steel 52-Positioning plate, 53-Circular groove, 6-Positioning platform, 61-Laser rangefinder A, 62-Laser rangefinder B, 7-Drive device, 71-Second telescopic device, 74-Support column, 75-Third telescopic device, 76-Diagonal brace, 77-Transverse support frame, 78-Positioning frame, 79-Rubber pad, 8-First telescopic device, 9-Catway, 101-Third guide rod, 102-Third lead screw, 103-Wire rope, 104-Tightening device. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0066] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0067] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0068] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0069] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0070] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0071] Example 1

[0072] like Figures 1-6 As shown in the figure, an intelligent co-location control system and an intelligent co-location control method are disclosed in this embodiment of the invention. The intelligent co-location control system includes:

[0073] The limiting frame 5 is installed on the bridge cable strand. The limiting frame 5 is provided with several steel plate combs 51 at intervals. The two ends of the limiting frame 5 are provided with positioning plates 52. The ends of the positioning plates 52 are provided with circular grooves 53.

[0074] Two drive devices 7 are respectively located on both sides of the catwalk 9. Each drive device 7 is equipped with a positioning platform 6, which is opposite to the circular groove 53. The diameter of the positioning platform 6 is smaller than the diameter of the circular groove 53. The two drive devices 7 can drive the two positioning platforms 6 to move respectively. A laser rangefinder sensor is provided on the side wall of the positioning platform 6. There are two laser rangefinder sensors, namely laser rangefinder A61 and laser rangefinder B62. Laser rangefinder B62 is located on the top of the positioning platform 6 facing the circular groove 53. Laser rangefinder A61 and laser rangefinder B62 are on the same plane and perpendicular to each other.

[0075] The controller is electrically connected to the laser rangefinder and the drive unit 7;

[0076] The first bottom beam 1 and the second bottom beam 2 are spaced apart on the cat walkway 9. The two ends of the second bottom beam 2 are respectively hinged to the column 3. The two columns 3 are located on both sides of the limiting frame 5. Each column 3 is hinged to one side of a first telescopic device 8. The end of the first telescopic device 8 away from the column 3 is hinged to the first bottom beam 1.

[0077] It should be noted that the limiting frame 5 has a V-shaped structure and is vertically installed. Several steel plate combs 51 are spaced apart on the limiting frame 5. Two adjacent steel plate combs 51 are used to limit the movement of a single strand (the main cable consists of many strands). The limiting frame 5 is installed on the strands. The end of the positioning plate 52 has a circular groove 53. The first bottom beam 1 and the second bottom beam 2 are both made of steel, and the two bottom beams are perpendicular to the catwalk 9. The column 3 is vertically installed and serves as a fulcrum for the drive device 7. The first telescopic device 8 is a hydraulic cylinder, used to drive the column 3 to rotate. The hydraulic cylinder is a linear motion actuator whose output force is proportional to the effective area of ​​the piston and the pressure difference across it. Its function is to convert hydraulic energy into mechanical energy. The input to the hydraulic cylinder is the fluid flow rate and pressure, and the output is linear motion speed and force. The piston of the hydraulic cylinder can complete linear reciprocating motion, and the output linear displacement is limited; the positioning platform 6 is cylindrical, and the two positioning platforms 6 are driven by two driving devices 7 to press against the circular grooves 53 of the two positioning plates 52 respectively, so that the control system connects the cable strand and the catwalk 9 together; the specific principle of this intelligent positioning control system is as follows: (1) When the operation starts, the two first telescopic devices 8 are activated, so that the first telescopic devices 8 are extended, and the first telescopic devices 8 drive the two columns 3 to rotate to a vertical state; (2) Positioning of the positioning platform 6 and the positioning plate 52, the two driving devices 7 are activated, the driving devices 7 drive the positioning platform 6 to move, so that the positioning platform 6 presses against the circular grooves 53 on the positioning plate 52, so that the two positioning platforms 6 clamp the limit frame 5, so that the already installed cable strand and catwalk 9 are connected together; (3) The waiting The adjusting cable strand passes between two adjacent steel plate combs 51. In summary, the present invention has the following advantages: 1. In the initial stage of main cable erection, the cable strand to be adjusted is connected to the catwalk 9 through the intelligent alignment control system, and the vibration of the cable strand to be adjusted is limited by the rigidity of the catwalk 9; 2. The already installed cable strand is connected to the catwalk 9 through the intelligent alignment control system, and the lateral sway of the catwalk 9 due to wind load is reduced by the rigidity of the main cable, improving the working environment for workers and making construction safer; 3. At the same time, during cable strand erection, due to the lateral constraint effect of the intelligent alignment control system, cable strand measurement and adjustment will be more convenient, and cable strand adjustment will not be impossible or the accuracy of the adjusted cable strand will not meet the specifications due to cable strand vibration; 4. Through the set intelligent alignment control system, the positioning platform 6 and the circular groove 53 can be automatically aligned without manual operation.

[0078] like Figure 6As shown, the intelligent location control system includes:

[0079] Step 1: The two drive devices 7 drive the two positioning platforms 6 to insert into the circular slots 53 of the corresponding positioning plates 52 respectively;

[0080] Step 2: Obtain the relative deviation between the center of the positioning platform 6 and the center of the circular groove 53 using a laser rangefinder;

[0081] Step 2 specifically includes:

[0082] Step 2.1: Obtain the radius r1 of the circular groove 53 and the radius r2 of the positioning platform 6. Define the direction from the end of the positioning platform 6 to the laser range sensor A61 as the horizontal direction and the direction from the end of the positioning platform 6 to the laser range sensor B62 as the vertical direction. The horizontal distance from the center of the end of the positioning platform 6 through the laser range sensor A61 to the edge of the circular groove 53 is d1, and the vertical distance from the center of the end of the positioning platform 6 through the laser range sensor B62 to the edge of the circular groove 53 is d2.

[0083] Step 2.2: Establish a rectangular coordinate system with the center of the positioning stage 6 as the origin O', O'A as the x-axis and O'B as the y-axis, where O'A is the direction from the center of the positioning stage 6 to the laser rangefinder A 61 and O'B is the direction from the center of the positioning stage to the laser rangefinder B 62.

[0084] Step 2.3: Set the center coordinates of the circular groove 53 to O(x0, y0), the center coordinates of the positioning stage 6 to O'(0,0), the coordinates of the laser rangefinder A61 to A(r2,0), the coordinates of the laser rangefinder B62 to B(0, r2), the coordinates of the point A' furthest from the center of the positioning stage 6 in the horizontal direction of the circular groove 53 to A'(r2+d1,0), and the coordinates of the point B' furthest from the center of the positioning stage 6 in the vertical direction of the circular groove 53 to B'(0, r2+d2).

[0085] Step 2.4: Based on the coordinates obtained in Step 2.3, obtain the center coordinates O(x0, y0) of the circular groove 53;

[0086] Step 2.4 specifically includes the following steps:

[0087] Step 2.41: Obtain the equation of the line A'B, as shown in the following formula:

[0088]

[0089] Step 2.42: Obtain the coordinates M of the midpoint of A'B' Obtain the slope of the OM line

[0090] Step 2.43: Obtain the equation of the line OM as: y = kx + b. Based on the midpoint coordinates M obtained in Step 2.42 and the slope of the line OM, we can obtain...

[0091] Step 2.44: Draw a circle with A' and B' as centers and r1 as radius to obtain two intersection points O and O1;

[0092] Step 2.45; Obtain the length of A'B.

[0093] Step 2.46; Construct right-angled sides ON and MN with OM as the hypotenuse, parallel to the coordinate axes respectively. Then, use the system of equations... achievable

[0094] Step 2.47: Determine the coordinates of O based on ON, MN, and point M. There are two solutions, as shown in the following equation:

[0095]

[0096] Expand on the following:

[0097]

[0098]

[0099] Meanwhile, the positioning stage 6 is within the circular groove 53, satisfying x0. 2 +y0 2 ≤(r1-r2) 2 Finally, the coordinates of point O are obtained.

[0100] Step 2.5: The controller adjusts the position of the positioning stage according to the obtained center coordinates.

[0101] Step 3: The controller obtains the relative deviation from Step 2 and controls the drive device to move the positioning stage in real time according to the relative deviation until the center of the positioning stage 6 coincides with the center of the circular groove 53.

[0102] Example 2

[0103] like Figure 3As shown, this embodiment is largely the same as the previous embodiment, except that the driving device 7 includes a horizontal moving component and a vertical moving component. The vertical moving component is mounted on the second bottom beam 2, with its top connected to the horizontal moving component and one end connected to the positioning platform 6. The vertical moving component, the horizontal moving component, and the first telescopic device 8 cooperate to control the positioning platform 6 to move to the center position of the positioning plate 52 and to press the positioning plate 52 against it. It should be noted that the coordinated cooperation between the vertical moving component, the horizontal moving component, and the first telescopic device 8 plays a crucial role in ensuring that the positioning platform 6 moves accurately to the center position of the positioning plate 52 and achieves a firm press, thereby ensuring the stability of the connection between the cable strand and the catwalk 9. The specific operating principle is as follows: When there is a need to connect the catwalk 9 and the cable strand together, the first telescopic device 8 first starts to operate, driving the column 3 to rotate. As the column 3 rotates, the vertical moving component also starts simultaneously, driving the positioning platform 6 to move along the height direction of the column 3. The purpose of this process is to ensure that the positioning platform 6 is precisely aligned with the positioning plate 52, preparing for subsequent clamping operations. After the positioning platform 6 and the positioning plate 52 are initially aligned, the lateral movement component receives the instruction and begins to drive the positioning platform 6 to move laterally. This lateral movement achieves a firm clamping of the positioning plate 52. This clamping state ensures a stable connection between the cable strands and the catwalk 9, providing reliable protection for subsequent construction operations. In addition, this technical solution also has a certain self-adjustment capability. When the center of the positioning platform 6 and the center of the positioning plate 52 are offset, that is, when their centers are not precisely aligned, the system will automatically initiate the corresponding adjustment procedure. Specifically, the first telescopic component will drive the column 3 to rotate again, while the vertical movement component will also drive the positioning platform 6 to move up and down as needed. Through this coordinated action of rotation and up and down movement, the offset between the positioning platform 6 and the positioning plate 52 can be effectively corrected, so that the center of the positioning platform 6 is re-aligned with the center of the positioning plate 52. This precise alignment and clamping mechanism fully demonstrates the intelligence and reliability of the technical solution in ensuring the stability of the connection between the cable strands and the catwalk 9, providing solid technical support for the smooth progress of the entire construction process.

[0104] Example 3

[0105] like Figure 3As shown, this embodiment is largely the same as the previous embodiment, except that the lateral movement component includes a second telescopic device 71. One end of the second telescopic device 71 abuts against the column 3, and the other end is connected to the positioning platform 6. It should be noted that the second telescopic device 71 uses a hydraulic cylinder as its core driving element. In the structural design of the column 3, a lateral support frame 77 is cleverly provided. This support frame is connected to the column 3 through diagonal braces 76, thus forming a stable triangular structure. This design not only enhances the stability of the column 3 but also provides it with the necessary support force. At the end of the lateral support frame 77 away from the column 3, there is a support column 74. This support column 74 is connected to the second bottom beam 2 by a hinge. Its main function is to provide additional support for the lateral support frame 77 and ensure the stability of the entire structure. In addition, a positioning frame 78 for precise positioning of the vertical movement component is also installed on the lateral support frame 77, further improving the positioning accuracy of the device. On the two symmetrical support columns 74, steel wire ropes 103 and rope tensioners 104 are respectively provided. After the connection between the catwalk 9 and the cable strands is completed, the support columns 74 on both sides are tightly connected together by the wire rope 103 and the tensioner 104. This not only enhances the overall integrity of the device, but also makes it more stable, effectively improving the reliability and safety of the device during operation.

[0106] As shown in the figure, a rubber pad 79 is provided at the end of the second telescopic device 71 facing the column 3. It should be noted that the rubber pad 79 reduces wear between the second telescopic device 71 and the column 3. Furthermore, the rubber pad 79 abuts against the column 3, supporting the second telescopic device 71, thus balancing the forces on the left and right sides of the second telescopic device 71 and improving its lifespan.

[0107] Example 4

[0108] like Figure 3 As shown, this embodiment is largely the same as the above embodiment, except that the vertical moving component includes a third telescopic device 75, which is vertically arranged and its top is connected to the second telescopic device 71. It should be noted that the third telescopic device 75 is a hydraulic cylinder, and its vertical arrangement allows it to move the positioning platform 6 vertically, adjusting the height of the positioning platform 6.

[0109] Example 5

[0110] like Figure 1 As shown, this embodiment is largely the same as the above embodiment, except that...

[0111] The tops of the two uprights 3 are connected by an upper crossbeam 4, and the bottom of the upper crossbeam 4 is provided with several partitions 44 at intervals. Each upright 3 includes a fixed column 31 and a movable column 32. The bottom of the fixed column 31 is hinged to the second bottom beam 2. The fixed column 31 has a hollow structure. The movable column 32 slides into the fixed column 31 from the top. The fixed column 31 is provided with a fifth telescopic device 33, which is vertically arranged, with one end connected to the fixed column 31 and the other end connected to the movable column 32. It should be noted that the upper crossbeam 4 and the partitions 44 play a crucial role. Specifically, the upper crossbeam 4, through its structural characteristics, works in conjunction with the partitions 44 to achieve a precise limiting function for the top of the main cable. This limiting function effectively prevents unnecessary displacement of the main cable during construction, ensuring the accurate position of the main cable. Simultaneously, these partitions 44 also have the function of measuring the cable strands, providing strong support for quality control during construction. It is worth noting that bridge main cables are typically complex structures composed of multiple strands. During the installation of these strands, the diameter of the main cable gradually increases as the number of strands increases. To accommodate this diameter change, this design innovatively redesigns the column 3 structure, making it a telescopic structure. Specifically, the fifth telescopic device 33 uses a hydraulic cylinder as its power element. The extension and retraction of the cylinder drives the moving column 32 to rise and fall, thus enabling flexible changes in the height of column 3. This telescopic structure design not only adapts to changes in the main cable diameter but also ensures that column 3 provides stable and reliable support for the strands at different construction stages, effectively improving adaptability and safety during construction.

[0112] like Figure 1As shown, in this embodiment, the upper crossbeam 4 includes two sub-crossbeams 41, one end of which is connected to two movable columns 32 respectively. Each sub-crossbeam 41 includes a fixed beam 411 and a rotating beam 412. The fixed beam 411 is connected to the movable column 32 and is driven to rotate by a second motor 43 mounted on the movable column 32. One end of the rotating beam 412 is hinged to the inner end of the fixed beam 411. A sixth telescopic device 413 is provided on the fixed beam 411, with one end hinged to the fixed beam 411 and the other end hinged to the rotating beam 412. It should be noted that the upper crossbeam 4 adopts a two-section structural design, specifically including two sub-crossbeams 41. This design allows the two columns 3 to function as two independent entities, thus providing greater flexibility and adaptability. When the device changes from a horizontal to a vertical position, the two sub-crossbeams 41 can be smoothly opened by the drive of the second motor 43. This action effectively prevents movement interference between the upper crossbeam 4 and the already erected cable strands, ensuring the smoothness and safety of the device during state transitions. Furthermore, after the column 3 successfully rotates to a vertical position, the two sub-crossbeams 41 can be precisely rotated to the same straight line by the drive of the second motor 43, thus achieving closure. This flexible opening and closing design not only improves the ease of operation of the device but also enhances its stability under different working conditions. In addition, the sub-crossbeams 41 in this design are cleverly combined from a fixed beam 411 and a rotating beam 412. When the entire device is in a flat position, the sub-crossbeams 41 can be folded using the sixth telescopic device 413. This folding design greatly reduces the space occupied by the device in its non-working state.

[0113] Example 7

[0114] like Figure 6 As shown, this embodiment is largely the same as the above embodiment, except that...

[0115] The second bottom beam 2 is also equipped with a lifting device, which includes a scissor lift 21 slidably connected to the second bottom beam 2. The top of the scissor lift 21 is equipped with a platform 22, and the top of the platform 22 is equipped with a hoist 26. The top of the hoist 26 is equipped with a striking plate 261. It should be noted that during the cable strand erection process, the weight of the main cable will increase, causing it to sag due to gravity. Therefore, this solution includes a scissor lift 21, a hoist 26, and a striking plate 261. The scissor lift 21 is a versatile high-altitude work equipment. The scissor lift 21 drives the hoist 26 to rise or fall, and the striking plate 261 on the hoist 26 lifts the sagning main cable.

[0116] like Figure 5As shown, a third guide rod 28 and a third lead screw 29 are respectively mounted on both sides of the second bottom beam 2. The scissor lift 21 is threadedly connected to the third lead screw 29, and the scissor lift 21 is slidably connected to the third guide rod 28. It should be noted that the third guide rod 28 and the third lead screw 29 are respectively mounted on both sides of the second bottom beam 2. The scissor lift 21 is threadedly connected to the third lead screw 29, and the scissor lift 21 is slidably connected to the third guide rod 28. The position of the scissor lift 21 along the length of the second bottom beam 2 is adjusted by rotating the third lead screw 29.

[0117] The working principle of this invention is as follows:

[0118] (1) Start of operation: Start the two first telescopic devices 8 to extend the first telescopic devices 8. The first telescopic devices 8 drive the two columns 3 to rotate to a vertical state. The second motor 43 drives the two crossbeams to rotate to a straight line to achieve closure.

[0119] (2) Positioning of positioning platform 6 and positioning plate 52: The positioning platform 6 is moved by the horizontal moving component and the vertical moving component, so that the positioning platform 6 is pressed against the circular groove 53 on the positioning plate 52, and then the two positioning platforms 6 clamp the limit frame 5, so that the installed cable strand and cat walkway 9 are connected together.

[0120] (3) Pass the strand to be adjusted through the space between two adjacent steel plate combs 51.

[0121] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The scope of protection of this invention does not involve any improvement to the software and methods.

[0122] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0123] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent co-location control system and an intelligent co-location control method, characterized in that, The intelligent location control system includes: A limiting frame (5) is installed on the bridge cable strands. Several steel plate combs (51) are spaced apart on the limiting frame (5). Positioning plates (52) are provided at both ends of the limiting frame (5). A circular groove (53) is provided at the end of the positioning plate (52). The driving device (7) consists of two devices, which are respectively located on both sides of the cat walkway (9). Each driving device (7) is equipped with a positioning platform (6), which is opposite to the circular groove (53). The diameter of the positioning platform (6) is smaller than the diameter of the circular groove (53). The two driving devices (7) can drive the two positioning platforms (6) to move respectively. A laser rangefinder is provided on the side wall of the positioning platform (6). The controller is electrically connected to the laser ranging sensor and the drive unit (7); The intelligent co-location control method includes: Step 1: Two drive devices (7) drive two positioning platforms (6) to insert into the circular grooves (53) of the corresponding positioning plates (52); Step 2: Obtain the relative deviation between the center of the positioning platform (6) and the center of the circular groove (53) using a laser rangefinder; Step 3: The controller obtains the relative deviation in step 2 and controls the drive device (7) to drive the positioning stage (6) to move in real time according to the relative deviation until the center of the positioning stage (6) coincides with the center of the circular groove (53).

2. The intelligent co-location control system and intelligent co-location control method according to claim 1, characterized in that, The number of laser rangefinders is two, including laser rangefinder A (61) and laser rangefinder B (62). Laser rangefinder B (62) is located on the top of the positioning platform (6) facing the circular groove (53). Laser rangefinder A (61) and laser rangefinder B (62) are on the same plane and perpendicular to each other.

3. The intelligent co-location control system and intelligent co-location control method according to claim 2, characterized in that, Step 2 specifically includes: Step 2.1: Obtain the radius r1 of the circular groove (53) and the radius r2 of the positioning platform (6). Define the direction from the end of the positioning platform (6) to the laser range sensor A (61) as the horizontal direction and the direction from the end of the positioning platform (6) to the laser range sensor B (62) as the vertical direction. The horizontal distance from the center of the end of the positioning platform (6) through the laser range sensor A (61) to the edge of the circular groove (53) is d1, and the vertical distance from the center of the end of the positioning platform (6) through the laser range sensor B (62) to the edge of the circular groove (53) is d2. Step 2.2: Establish a rectangular coordinate system with the center of the positioning stage (6) as the origin O', O'A as the x-axis and O'B as the y-axis, where O'A is the direction from the center of the positioning stage (6) to the laser range sensor A (61) and O'B is the direction from the center of the positioning stage (6) to the laser range sensor B (62). Step 2.3: Set the center coordinates of the circular groove (53) to O(x0, y0), the center coordinates of the positioning stage (6) to O'(0,0), the coordinates of the laser range sensor A (61) to A(r2,0), the coordinates of the laser range sensor B (62) to B(0, r2), the coordinates of the point A' furthest from the center of the positioning stage (6) in the horizontal direction of the circular groove (53) to A'(r2+d1,0), and the coordinates of the point B' furthest from the center of the positioning stage (6) in the vertical direction of the circular groove (53) to B'(0, r2+d2); Step 2.4: Based on the coordinates obtained in Step 2.3, obtain the center coordinates O(x0, y0) of the circular groove (53); Step 2.5: The controller adjusts the position of the positioning stage (6) according to the obtained center coordinates.

4. The intelligent co-location control system and intelligent co-location control method according to claim 3, characterized in that, Step 2.4 specifically includes the following steps: Step 2.41: Obtain the equation of the line A'B, as shown in the following formula: Step 2.42: Obtain the coordinates M of the midpoint of A'B' Obtain the slope of the OM line Step 2.43: Obtain the equation of the line OM as: y = kx + b. Based on the midpoint coordinates M obtained in Step 2.42 and the slope of the line OM, we can obtain... Step 2.44: Draw circles with A' and B' as centers and r1 as radius to obtain two intersection points O and O1; Step 2.45: Obtain the length of A'B. Step 2.46: Construct right-angled sides ON and MN, parallel to the coordinate axes, with OM as the hypotenuse. Then, using the system of equations... achievable Step 2.47: Determine the coordinates of O based on ON, MN, and point M. There are two solutions, as shown in the following equation: Expand on the following: Simultaneously, the positioning stage is within the circular groove, satisfying x0. 2 +y0 2 ≤(r1-r2) 2 Finally, the coordinates of point O are obtained.

5. The intelligent co-location control system and intelligent co-location control method according to claim 1, characterized in that, The intelligent positioning control system also includes a first bottom beam (1) and a second bottom beam (2). The first bottom beam (1) and the second bottom beam (2) are spaced apart on the cat walkway (9). The two ends of the second bottom beam (2) are respectively hinged with columns (3). The two columns (3) are located on both sides of the limiting frame (5). A first telescopic device (8) is hinged on one side of each column (3). The end of the first telescopic device (8) away from the column (3) is hinged to the first bottom beam (1). The two driving devices (7) are respectively located on the two columns (3).

6. The intelligent co-location control system and intelligent co-location control method according to claim 5, characterized in that, The driving device (7) includes a horizontal moving component and a vertical moving component. The vertical moving component is mounted on the second bottom beam (2). The top of the vertical moving component is connected to the horizontal moving component, and one end of the horizontal moving component is connected to the positioning platform (6). The vertical moving component, the horizontal moving component, and the first telescopic device (8) cooperate to control the positioning platform (6) to move to the center position of the positioning plate (52) and press the positioning plate (52) against it.

7. The intelligent co-location control system and intelligent co-location control method according to claim 6, characterized in that, The lateral movement component includes a second telescopic device (71), one end of which abuts against the column (3) and the other end is connected to the positioning platform (6). A rubber pad is provided at the end of the second telescopic device (71) facing the column. The vertical moving component includes a third telescopic device (75), which is vertically arranged and whose top is connected to a second telescopic device (71).

8. The intelligent co-location control system and intelligent co-location control method according to claim 5, characterized in that, The tops of the two columns (3) are connected by an upper crossbeam (4), and the bottom of the upper crossbeam (4) is provided with several partitions (44) at intervals; The column (3) includes a fixed column (31) and a movable column (32). The bottom of the fixed column (31) is hinged to the second bottom beam (2). The fixed column (31) has a hollow structure. The movable column (32) slides into the fixed column (31) from the top. The fixed column (31) is provided with a fifth telescopic device (33). The fifth telescopic device (33) is vertically arranged, and one end of the fifth telescopic device (33) is connected to the fixed column (31), and the other end is connected to the movable column (32).

9. The intelligent co-location control system and intelligent co-location control method according to claim 8, characterized in that, The upper crossbeam (4) includes two sub-crossbeams (41), one end of which is connected to two movable columns (32) respectively. The sub-crossbeam (41) includes a fixed beam (411) and a rotating beam (412). The fixed beam (411) is connected to the movable column (32), and the fixed beam (411) is driven to rotate by a second motor (43) mounted on the movable column. One end of the rotating beam (412) is hinged to the inner end of the fixed beam. A sixth telescopic device (413) is provided on the fixed beam (411). One end of the sixth telescopic device (413) is hinged to the fixed beam (411), and the other end is hinged to the rotating beam (412).

10. The intelligent co-location control system and intelligent co-location control method according to claim 9, characterized in that, The second bottom beam (2) is also provided with a lifting device, which includes a scissor lift (21) slidably connected to the second bottom beam (2). The top of the scissor lift (21) is provided with a platform (22), the top of the platform (22) is provided with a hoist (26), and the top of the hoist (26) is provided with a striking plate (261).

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