Walking hanging basket linear control method and system based on visual feedback and application equipment

Abstract

The invention discloses a walking hanging basket linear control method and system based on visual feedback and application equipment, and relates to the technical field of hanging basket walking monitoring, and the method comprises the steps: obtaining the structural design information of a hanging basket, and obtaining the design information of a construction bridge body; according to the construction bridge body design information, walking route information of the hanging basket structure is formulated in advance; according to the construction bridge body design information, at least one image capturing area is arranged in the direction of the construction bridge body, and the image capturing area is used for collecting the connection state of the construction bridge body and the hanging basket structure. According to the construction real-time connection state of the hanging basket structure and the bridge body, the adjustment amount of the hanging basket structure and the bridge body can be determined; in addition, according to the scheme, the adjustment basis is quite scientific and effective, and the method does not depend on the professional level and adjustment experience of workers singly. The defect that in the prior art, the process for adjusting the position of a traditional hanging basket structure is complex and high in difficulty is effectively overcome.

Description

Technical Field

[0001] This invention relates to the field of hanging basket walking monitoring technology, and in particular to a walking hanging basket linear control method, system and application equipment based on visual feedback. Background Technology

[0002] As a core piece of equipment in bridge construction, the hanging basket's greatest value lies in solving the challenge of building large-span concrete bridges across obstacles without ground support. It offers significant advantages such as adaptability to scaffold-free construction, faster construction speed, and better structural integrity.

[0003] Currently, traditional hanging basket structures rely on the coordinated movement of various components to propel them forward. However, before each movement, the positions of the driving components must be manually adjusted. This adjustment method demands a high level of expertise and experience from the operator, making the process complex and difficult, which can negatively impact the efficiency of hanging basket construction. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies, such as the complexity and difficulty in adjusting the position of traditional hanging basket structures, and to propose a linear control method, system, and application device for walking hanging baskets based on visual feedback.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a linear control method for a walking hanging basket based on visual feedback, comprising:

[0007] Obtain the design information of the hanging basket structure, and at the same time obtain the design information of the construction bridge;

[0008] Based on the bridge construction design information, the travel route information of the hanging basket structure is pre-determined;

[0009] According to the design information of the construction bridge, at least one imaging area is set in the direction of the construction bridge. The imaging area is used to collect the connection status of the construction bridge and the hanging basket structure.

[0010] Based on the travel route information of the hanging basket structure, the connection status information of the construction bridge body and the hanging basket structure at least two different time sequences is collected in real time using the imaging area.

[0011] The deviation of the formwork structure is determined based on the connection status information of the construction bridge body and the formwork structure.

[0012] Based on the travel route information of the hanging basket structure and in combination with the deviation of the hanging basket structure, the deviation of the hanging basket structure is adjusted.

[0013] In one feasible solution, the imaging area includes:

[0014] Image areas taken parallel to the bridge construction direction and / or image areas taken perpendicular to the bridge construction direction.

[0015] In one feasible approach, the method for determining the deviation of the hanging basket structure includes:

[0016] Along the construction direction of the bridge, images of the connection status of the bridge body and the hanging basket structure at two different time sequences were collected to obtain real-time status images at two different time sequences.

[0017] Feature points were labeled in two real-time state images at two different time series to determine the image features in the two real-time state images at different time series.

[0018] The deviation of the hanging basket structure is determined based on the image features in two real-time state images at different time series.

[0019] One feasible approach involves determining image features in two real-time state images from different time series, including:

[0020] Image preprocessing is performed on any real-time state image, and a planar coordinate system is constructed; based on the design information of the hanging basket structure, the component structure contour is decomposed on any real-time state image to obtain the distribution map of multiple components in any real-time state image.

[0021] Based on the planar coordinate system, coordinate contours are extracted from multiple component distribution maps to determine the component contour distribution information in any time-series real-time status image.

[0022] Based on the component contour aggregation information in any time-series real-time state image, the component contour image features in any time-series real-time state image are determined respectively.

[0023] In one feasible approach, the method for determining image features in two real-time state images from different time series also includes:

[0024] Based on the hanging basket structure design information, determine the component distribution diagram of at least three reference components;

[0025] Based on the planar coordinate system, feature coordinate points are marked on the component distribution diagram of at least three reference components to obtain the feature coordinate points of at least three reference components;

[0026] Connect the feature coordinate points of at least three reference components in any time-series real-time state image to determine the contour image features of the reference components in any time-series real-time state image.

[0027] In one feasible solution, the method for determining the deviation of the hanging basket structure further includes:

[0028] Suppose there are two different time-series real-time state images, namely the first time-series real-time state image and the second time-series real-time state image.

[0029] Among them, there are three points A(x) in the first time-series real-time state image. a ,y a B(x) b ,y b ) and C(x c ,y c The second time-series real-time state image contains three points A'(x'). a ,y' a ), B'(x' b ,y' b ) and C'(x' c ,y' c Then the shape variable at a certain point is:

[0030]

[0031] In Equation 1, r n,x Let r be the x-axis coordinate of the relative position vector between any point in the first time-series real-time state image and the centroids of points A, B, and C. n,y r' is the y-axis coordinate of the relative position vector between any point in the first time-series real-time state image and the centroids of points A, B, and C; n,x Let r' be the x-axis coordinate of the relative position vector between any point in the second time-series real-time state image and the centroids of points A', B', and C'. n,y The y-axis coordinate is the relative position vector of any point in the second time-series real-time state image to the centroids of points A', B', and C'.

[0032] According to Equation 1, the total deformation can be obtained as follows:

[0033]

[0034] In Equation 2, δ a Let δ be the deformation at point A. b Let δ be the deformation at point B. c Let C be the shape variable at point C.

[0035] In one feasible solution, the method for adjusting the deviation of the hanging basket structure includes:

[0036] Based on the bridge construction design information and the hanging basket structure design information, deformation threshold information is determined;

[0037] Based on the deformation threshold information, it is matched with the deformation at a certain point and / or the total deformation to obtain linear adjustment information;

[0038] Based on the linear adjustment information, the hanging basket structure is linearly adjusted.

[0039] In a second aspect, the present invention provides a visual feedback-based linear control system for a walking hanging basket, employing the visual feedback-based linear control method for a walking hanging basket as described in any one of the first aspects, the control system further comprising:

[0040] An image acquisition module is provided in the image acquisition area. The image acquisition module is used to acquire images parallel to and / or perpendicular to the bridge construction direction to obtain images of the connection status of the construction bridge and the hanging basket structure.

[0041] The image processing module is used to annotate feature points and extract contour coordinates from the connection status images of the construction bridge body and the hanging basket structure.

[0042] The image analysis module is used to perform deformation analysis on the connection status images of the construction bridge body and the hanging basket structure.

[0043] In a third aspect, the present invention also provides a visual feedback-based linear control application device for a walking hanging basket, employing a visual feedback-based linear control method for a walking hanging basket as described in any one of the first aspects or a visual feedback-based linear control system for a walking hanging basket as described in the second aspect. The application device further includes:

[0044] A hanging basket structure, which is used for formwork support during bridge construction;

[0045] The self-propelled structure is used to allow the hanging basket structure to move along the bridge body according to the bridge design information.

[0046] In one feasible solution, the self-propelled structure includes:

[0047] At least two first moving components are provided, which are arranged along the construction direction of the bridge body and are used to drive the hanging basket structure to move along the construction direction of the bridge body.

[0048] Multiple second moving components are arranged along the bridge construction direction and parallel to the first moving component. The second moving components work in conjunction with the first moving component to drive the hanging basket structure to move along the bridge construction direction.

[0049] A lifting component is connected to the hanging basket structure. The lifting component is used to lift the hanging basket structure according to the construction orientation of the bridge body, thereby reducing the impact of the bridge body structure itself on the movement of the hanging basket structure.

[0050] The beneficial effects of this invention are as follows:

[0051] This invention can determine the adjustment amount between the hanging basket structure and the bridge body based on the real-time connection status during construction, without requiring excessive manual intervention. Furthermore, the adjustment method is based on a highly scientific and effective approach, not solely relying on manual expertise and experience. This effectively addresses the shortcomings of existing technologies where adjusting the position of traditional hanging basket structures is complex and difficult. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the overall process of a linear control method for a walking hanging basket based on visual feedback provided in an embodiment of the present invention;

[0053] Figure 2 This is a schematic diagram of the overall structure of a walking basket linear control application device based on visual feedback provided in an embodiment of the present invention;

[0054] Figure 3 This is a schematic plan view of the overall structure of a visual feedback-based linear control application device for a walking hanging basket provided in an embodiment of the present invention;

[0055] Figure 4 This is a schematic diagram showing three points in a real-time state image of a walking basket linear control application device based on visual feedback, as provided in an embodiment of the present invention.

[0056] Figure 5 This is a schematic diagram of the first moving component of a visual feedback-based linear control application device for a walking hanging basket, provided in an embodiment of the present invention.

[0057] Figure 6 This is a schematic diagram of the second moving component of a visual feedback-based linear control application device for a walking hanging basket, provided in an embodiment of the present invention.

[0058] Figure 7 This is a schematic diagram of the structure of the second moving component of a walking basket linear control application device based on visual feedback provided in an embodiment of the present invention;

[0059] Figure 8 This is an exploded view of the structure of the second moving component of a walking basket linear control application device based on visual feedback provided in an embodiment of the present invention.

[0060] The markings in the diagram are as follows:

[0061] 1. Bridge structure;

[0062] 2. Load-bearing components; 21. Reinforcing frame; 22. Reinforcing rod; 23. Load-bearing beam; 231. Push-in hole; 24. Connecting crossbar;

[0063] 3. First moving component; 31. Traveling track; 311. Traveling hole; 32. First traveling support; 33. First traveling power component; 34. First traveling support plate;

[0064] 4. Walking frame; 41. Bottom formwork support structure;

[0065] 5. Second moving component; 51. Second traveling support; 52. Connecting slide plate; 53. First pulley; 54. Second traveling power component; 55. Second traveling support plate; 551. Traveling clamp; 552. Second pulley;

[0066] 6. Bottom support frame;

[0067] 7. Improve components. Detailed Implementation

[0068] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0069] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0070] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0071] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0072] Reference Figures 1 to 8 This invention addresses the shortcomings of existing technologies, such as the complexity and difficulty of adjusting the position of traditional hanging basket structures. It provides a visual feedback-based linear control method for a walking hanging basket. This method acquires construction images of the hanging basket structure and the bridge body through a viewing area, then determines the connection state between them based on these images. The deviation is then determined based on this connection state, providing a valid reference for subsequent adjustments to the connection between the hanging basket structure and the bridge body. In other words, this application can determine the adjustment amount of the hanging basket structure and the bridge body based on their real-time connection state, requiring minimal manual intervention. Furthermore, this method's adjustment basis is highly scientific and effective, not solely reliant on human expertise and experience. Therefore, it effectively solves the problem of the complexity and difficulty of adjusting the position of traditional hanging basket structures in existing technologies.

[0073] The present invention provides a linear control method for a walking formwork based on visual feedback in its first aspect, comprising: acquiring the design information of the formwork structure in advance, and simultaneously acquiring the design information of the construction bridge body; providing an effective reference for judging the connection status of the formwork structure and the bridge body, thereby enabling the pre-determining of the walking route information of the formwork structure based on the design information of the construction bridge body; then, based on the design information of the construction bridge body, setting at least one imaging area in the direction of the construction bridge body, the imaging area being used to collect the connection status of the construction bridge body and the formwork structure; when it is necessary to determine whether the connection status of the formwork structure on the bridge body needs to be adjusted (such as before the formwork structure prepares to walk on its own, during the process of the formwork structure walking on its own, and when the formwork structure supports the bridge body with formwork after the end of the self-walking), then, based on the walking route information of the formwork structure, using the imaging area to collect at least two different time-series connection status information of the construction bridge body and the formwork structure in real time; that is, collecting multiple installation connection images between the bridge body and the formwork structure at different times in the imaging area, thereby enabling the determination of the connection status information between the construction bridge body and the formwork structure. Then, by performing image analysis on the connection status information of the construction bridge body and the hanging basket structure, the deviation of the connection status of the hanging basket structure on the bridge body is determined (such as whether the hanging basket structure deviates laterally on the bridge body before and after self-movement, and whether the formwork support on the bridge body by the hanging basket structure is inadequate due to deflection after self-movement). When a deviation is determined between the hanging basket structure and the bridge body, the deviation of the hanging basket structure can be adjusted according to the walking route information of the hanging basket structure and the deviation amount. It should be noted that in this embodiment, the imaging area includes: an imaging area parallel to the bridge body construction direction (that is, an industrial view camera is set up at the construction start or end point of the bridge body, and the industrial view camera is used to capture parallel images parallel to the hanging basket structure and the bridge body) and / or an imaging area perpendicular to the bridge body construction direction (that is, a drone is used to capture images perpendicular to the bridge body along the construction direction of the bridge body, either downward or upward).

[0074] In this embodiment, to facilitate understanding of how to determine the deviation of the hanging basket structure based on the connection status images of the construction bridge body and the hanging basket structure collected from the viewing area, the method for determining the deviation of the hanging basket structure includes:

[0075] Along the construction direction of the bridge, images of the connection status of the bridge body and the hanging basket structure at two different time sequences were collected to obtain real-time status images at two different time sequences.

[0076] Feature points are labeled in two real-time images at different time series (e.g., based on the components of the hanging basket structure, stress and load-bearing analysis, etc.) to determine the image features in the two real-time images at different time series. Then, based on the image features in the two real-time images at different time series, the deviation of the hanging basket structure is determined. That is, based on the performance of the hanging basket structure and the bridge body in different connection states (e.g., images of the hanging basket structure moving on the bridge body at different times or in different states), stress analysis feature points and / or contour feature points of each component of the hanging basket structure in the hanging basket structure and the bridge body can be extracted to determine the connection and orientation of the hanging basket structure on the bridge body. This allows for comparison with the pre-defined walking route information of the hanging basket structure to determine whether there is a deviation between the stress analysis feature points of the hanging basket structure and / or the individual components of the hanging basket structure and the bridge body.

[0077] Specifically, in this embodiment, to facilitate understanding of how image features are extracted from real-time state images of different time series, the following explanation is provided: The method for determining image features in two different real-time state images of different time series includes: performing image preprocessing on any real-time state image of different time series and constructing a planar coordinate system; that is, acquiring images in the image acquisition area parallel to and / or perpendicular to the bridge construction direction, performing image preprocessing (such as noise reduction) on the acquired images, and then attaching a planar coordinate system to the image information to facilitate the subsequent extraction of the coordinates of the contours of each component and the stress-bearing points in the hanging basket structure. Based on the design information of the hanging basket structure, the component structure contours of any real-time state image can be disassembled to obtain multiple component distribution maps in any real-time state image (such as the contours of traveling components in the hanging basket structure, template components in various directions, and the contour coordinates of load-bearing components on the bridge). Then, according to the planar coordinate system, the coordinate contours of multiple component distribution maps are extracted separately to determine the component contour distribution information in any real-time state image. When it is necessary to compare the deviation, the component contour image features in any real-time state image can be determined based on the component contour distribution information in any real-time state image. That is, in this embodiment, by extracting the coordinate contours of the components of the hanging basket structure in different time-series images, and / or extracting the stress-bearing points in the hanging basket structure, the distribution of feature points in different time-series images can be determined, thereby determining the offset in different time-series images.

[0078] In this embodiment, to facilitate understanding of how to extract the coordinate contours of the components of the hanging basket structure, the method for determining image features in two different time-series real-time state images further includes: determining the component distribution diagram of at least three reference components based on the hanging basket structure design information; then, according to the planar coordinate system, marking the feature coordinate points of the component distribution diagram of at least three reference components to obtain the feature coordinate points of at least three reference components; and connecting the feature coordinate points of at least three reference components in any time-series real-time state image to determine the contour image features of the reference components in any time-series real-time state image. That is, in this embodiment, the layout state of the hanging basket structure on the construction bridge is determined by the contour distribution of at least three reference components (such as load-bearing components and the relative contour coordinates between the two side templates) in the hanging basket structure.

[0079] In this embodiment, in order to extract features of different time series images by annotating the feature distribution points of the hanging basket structure under load, the method for determining the deviation of the hanging basket structure further includes:

[0080] Suppose there are two different time-series real-time state images, namely the first time-series real-time state image and the second time-series real-time state image.

[0081] Among them, there are three points A(x) in the first time-series real-time state image. a ,y a B(x) b ,y b ) and C(x c ,y c The second time-series real-time state image contains three points A'(x'). a ,y' a ), B'(x' b ,y' b ) and C'(x' c ,y' c At this point, the centroid G in the first time-series real-time state image and the centroid G′ in the second time-series real-time state image are respectively:

[0082]

[0083] Then the relative position vector of any point among the three points in the first time-series real-time state image with respect to the centroid G. for:

[0084]

[0085] In the formula, P n Let be the coordinate vector of any one of the three points in the first time-series real-time state image;

[0086] Similarly, the relative position vectors of the three points and the centroid G′ in the second time-series real-time state image for:

[0087]

[0088] In the formula, P n The coordinate vector of any one of the three points in the second time-series real-time state image;

[0089] Then the deformation at a certain point is:

[0090]

[0091] In Equation 1, r n,x Let r be the x-axis coordinate of the relative position vector between any point in the first time-series real-time state image and the centroids of points A, B, and C. n,y Let r be the y-axis coordinate of the relative position vector between any point in the first time-series real-time state image and the centroids of points A, B, and C; n,x r n,y pass We can obtain r' n,x Let r' be the x-axis coordinate of the relative position vector between any point in the second time-series real-time state image and the centroids of points A', B', and C'. n,y r' is the y-axis coordinate of the relative position vector between any point in the second time-series real-time state image and the centroids of points A', B', and C'; n,x 、r' n,y pass It can be obtained.

[0092] According to Equation 1, the total deformation can be obtained as follows:

[0093]

[0094] In Equation 2, δ a Let δ be the deformation at point A. b Let δ be the deformation at point B. c Let C be the shape variable at point C.

[0095] In the above, to facilitate rapid early warning of excessive deviations in the formwork structure, the method for adjusting the deviation of the formwork structure includes: establishing deformation threshold information based on the construction bridge design information and the formwork structure design information; that is, pre-setting corresponding early warning thresholds based on the design of the formwork structure and the bridge body, and issuing an alarm when the deviation is too large, and determining the amount of deviation to be adjusted; that is, matching the deformation threshold information with the deformation at a certain point and / or the total deformation to obtain linear adjustment information; and then linearly adjusting the formwork structure based on the linear adjustment information.

[0096] In its second aspect, this invention provides a visual feedback-based linear control system for a traveling formwork, employing the visual feedback-based linear control method for a traveling formwork as described in any one of the first aspects. The control system further includes: an image acquisition module, an image processing module, and an image analysis module. The image acquisition module is located in the image acquisition area and is used to acquire images parallel to and / or perpendicular to the bridge construction direction to obtain connection status images of the construction bridge body and the formwork structure. The image processing module is used to annotate feature points and extract contour coordinates from the connection status images of the construction bridge body and the formwork structure. The image analysis module is used to perform deformation analysis on the connection status images of the construction bridge body and the formwork structure. In other words, the control system acquires the real-time connection status of the formwork structure and the bridge body through the image acquisition module, and determines the adjustment amount of the formwork structure and the bridge body using the image processing and image analysis modules. This eliminates the need for excessive manual intervention, and the adjustment basis of this solution is highly scientific and effective, not solely reliant on human expertise and adjustment experience. This effectively solves the shortcomings of existing technologies where adjusting the position of traditional formwork structures is complex and difficult.

[0097] In some implementations, the control system can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed networks. The functionality described above herein can be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chips (SOCs), complex programmable logic devices (CPLDs), etc.

[0098] Reference Figures 2 to 7As shown, in a third aspect, the present invention also provides a visual feedback-based linear control application device for a walking formwork, employing a visual feedback-based linear control method for a walking formwork as described in any one of the first aspects or a visual feedback-based linear control system for a walking formwork as described in the second aspect. The application device further includes: a formwork structure and a self-propelled structure. The formwork structure is used for formwork support during the construction of the bridge body 1 (including but not limited to: supporting the bottom formwork and side formwork, outer formwork and inner formwork of the bridge body 1, and other load-bearing support formwork structures; the outer formwork and inner formwork support structures and other load-bearing support formwork structures are not shown in the figure); the self-propelled structure (i.e., the two first moving components 3 and multiple second moving components 5 in the figure) is used to allow the formwork structure to move along the bridge body 1 according to the design information of the construction bridge body 1.

[0099] Reference Figures 2 to 4In this embodiment, the hanging basket structure includes: a load-bearing component 2, a bottom formwork support structure 41, two traveling frames 4, and a bottom support frame 6. The load-bearing component 2 is mounted on the completed bridge body 1 and connected to it, serving to create a stable and load-bearing construction environment. The bottom formwork support structure 41 is located at the bottom of the other end of the load-bearing component 2, providing bottom formwork support for the bridge body 1 under construction at the other end of the load-bearing component 2. The two traveling frames 4 are symmetrically arranged on both sides of the completed bridge body 1, with one end connected to the completed bridge body 1 and the other end connected to the bottom formwork support structure 41, reinforcing the overall connection between the bottom formwork support structure 41 and the completed bridge body 1. In this embodiment, to facilitate understanding of how the self-propelled structure is used for linear control of the hanging basket structure, the self-propelled structure specifically includes: at least two first moving components 3 and multiple second moving components 5. The first moving components 3 are arranged along the construction direction of the bridge body 1, and are used to drive the traveling frame 4 in the hanging basket structure to move along the construction direction of the bridge body 1. The second moving components 5 are arranged along the construction direction of the bridge body 1, and multiple second moving components 5 are arranged parallel to the first moving components 3. The second moving components 5 are used to drive the load-bearing component 2 to move along the bridge body 1, so as to cooperate with the first moving components 3 to drive the hanging basket structure to move along the construction direction of the bridge body 1. In this embodiment, by setting the second moving components 5 at the bottom of the load-bearing component 2, and setting the first moving components 3 on both sides of the bridge body 1, and setting the traveling frame 4 at the other end of the load-bearing component 2, the first moving components 3 drive the traveling frame 4 to move, and at the same time, the second moving components 5 drive the load-bearing component 2 to move, so that the hanging basket structure can follow the self-propelled structure to perform self-propelled pouring construction on the bridge body 1. In this embodiment, multiple second moving components 5 are installed on the bridge body 1 after the concrete pouring has been completed. Each of the second moving components 5 is connected to the bottom end of the load-bearing component 2. The second moving components 5 are used to drive the load-bearing component 2 to adjust its construction position. The first moving components 3 are installed on both sides of one end of the load-bearing component 2. The first moving components 3 are used to drive the traveling frames 4 on both sides of the bridge body 1 to move independently and adjust their construction position.

[0100] Reference Figure 2 , Figure 3 , Figure 4As shown, the load-bearing component 2 includes: multiple load-bearing beams 23, reinforcing frames 21, reinforcing rods 22, and connecting crossbars 24. The multiple load-bearing beams 23 are arranged parallel to each other on the completed bridge body 1, with one end of each beam extending outside the completed bridge body 1 to facilitate subsequent formwork support for the bridge body 1 to be poured. Multiple second moving components 5 are located at the bottom ends of the multiple load-bearing beams 23, allowing the load-bearing beams 23 to move and adjust their position on the completed bridge body 1 via the second moving components 5. Multiple reinforcing frames 21 are arranged between pairs of adjacent load-bearing beams 23, connecting them as a whole to ensure the stable support of the load-bearing component 2. Multiple reinforcing rods 22 are symmetrically arranged on both sides of each load-bearing beam 23, strengthening the overall support strength of the load-bearing beams 23 and the reinforcing frames 21. Multiple connecting crossbars 24 are respectively disposed between adjacent load-bearing beams 23, and the connecting crossbars 24 are used to connect adjacent load-bearing beams 23 together as a whole.

[0101] Reference Figure 4 , Figure 6 , Figure 7 and Figure 8 In this embodiment, to facilitate understanding of how the second moving component 5 adjusts the position of the load-bearing beam 23 using the deformation at a certain point and the total deformation obtained in the above control method, the following is used: Figure 4 Points A, B, and C are explained as follows: First, the control method described above is used to obtain... Figure 4The offset of the three points in different states is determined according to a preset threshold, and the deviation of each of the three points is then manually adjusted to enable the second moving component 5 to move and adjust the position of the load-bearing beam 23. Specifically, to facilitate understanding of how the second moving component 5 moves the load-bearing beam 23, the following explanation is provided. The load-bearing beam 23 is provided with multiple propulsion holes 231, and the second moving component 5 moves the load-bearing beam 23 through these propulsion holes 231. To facilitate the description of the structure of the second moving component 5, an example of one second moving component 5 is used. Specifically, the second moving component 5 includes: a second traveling support 51, a connecting slide plate 52, a second traveling power component 54, a second traveling support plate 55, and a traveling clamp 551. The second traveling support 51 is set on the bridge body 1 that has been poured, and the second traveling support 51 is fixedly connected to the bridge body 1 (its position can be adjusted according to the offset and then fixed to the bridge body 1 by anchoring). The connecting slide plate 52 is disposed on the second traveling support 51, and the load-bearing beam 23 slides on the connecting slide plate 52. The second traveling support plate 55 is disposed on one side of the second traveling support 51, and the second traveling support plate 55 is slidably connected to the load-bearing beam 23. The second traveling power component 54 is disposed between the second traveling support plate 55 and the second traveling support 51, one end of the second traveling power component 54 is connected to the second traveling support 51, and the other end of the second traveling power component 54 is connected to the second traveling support plate 55. The second traveling power component 54 adjusts the distance between the second traveling support 51 and the second traveling support plate 55 by continuously extending and retracting. The traveling bracket 551 is spindle-shaped with the middle gradually narrowing at both ends. The traveling bracket 551 is vertically hinged to the second traveling support plate 55. One end of the traveling bracket 551 passes through the second traveling support plate 55 and is engaged with the push hole 231. A stop (not shown in the figure) is provided at the other end of the traveling bracket 551. The stop is located away from the second traveling power component 54. The stop is used to cooperate with the traveling bracket 551 to insert into the push hole 231 so that the load-bearing beam 23 can slide on the second traveling support plate 55 and the connecting slide plate 52.In this embodiment, the second traveling support 51 provides overall support for the connecting slide plate 52. When the load-bearing beam 23 needs to be moved, the second traveling power component 54 extends, causing the second traveling support plate 55 to slide on the load-bearing beam 23. At the same time, one end of the traveling clamp 551 on the second traveling support plate 55 is inserted into the push hole 231. At this time, the stop component allows the traveling clamp 551 to engage with the load-bearing beam 23 through the push hole 231, and then pushes the load-bearing beam 23 to slide on the connecting slide plate 52 along with the second traveling power component 54. When the second traveling power component 54 retracts and resets, the traveling clamp 551 disengages from the push hole 231, and the second traveling support plate 55 slides back on the load-bearing beam 23, so that the second traveling power component 54 repeatedly pushes the load-bearing beam 23 through the traveling clamp 551 and multiple push holes 231 to complete the traveling operation of the load-bearing beam 23.

[0102] In this embodiment, to facilitate smoother movement of the load-bearing beam 23 via the second moving component 5, the second moving component 5 further includes: a plurality of first pulleys 53 and second pulleys 552. The plurality of first pulleys 53 are symmetrically arranged on both sides of the inner interior of the connecting slide plate 52, and the plurality of first pulleys 53 are symmetrically arranged in pairs on both sides of the load-bearing beam 23. The load-bearing beam 23 slides on the connecting slide plate 52 via the first pulleys 53. The plurality of second pulleys 552 are symmetrically arranged on both sides of the inner interior of the second traveling support plate 55, and the plurality of second pulleys 552 are symmetrically arranged in pairs on both sides of the load-bearing beam 23. The load-bearing beam 23 slides on the second traveling support plate 55 via the second pulleys 552.

[0103] Reference Figure 3 and Figure 4 In this embodiment, to facilitate understanding of how the first moving component 3 adjusts the position of the traveling frame 4 using the deformation at a certain point and the total deformation obtained through the control method described above, it is possible to... Figure 4Points B and C are set at two locations on the two traveling frames 4, while point A remains unchanged. Then, using the aforementioned control method, the offset of the traveling frame 4 or the offset of the load-bearing beam 23 is calculated based on point A and the locations of points B and C on the traveling frame 4. Based on a preset threshold, it is determined whether to adjust the first moving component 3 or the second moving component 5. To facilitate understanding of how the traveling frame 4 is adjusted based on the first moving component 3, the following explanation is provided: Two first moving components 3 are set on both sides of the completed bridge body 1. The two first moving components 3 are connected to the two traveling frames 4 respectively (it should be noted that the two traveling frames 4 are only connected to the two first moving components 3 when they are lowered onto the bridge surface of bridge body 1 via the lifting component 7). The first moving components 3 are used to cooperate with the traveling frame 4 to move the bottom support frame 6 and the bottom formwork support structure 41. Specifically, the walking frame 4 is C-shaped. The bottom inner side of the walking frame 4 is connected to the bottom support frame 6, and the top inner side of the walking frame 4 is located on both sides of the bridge body 1 that has been poured. The walking frame 4 is slidably connected to the first moving component 3. The walking frame 4 slides on both sides of the bridge body 1 that has been poured through the first moving component 3, so that the first moving component 3, in conjunction with the second moving component 5, drives the bottom support frame 6 and the load-bearing beam 23 to move.

[0104] Reference Figure 2 , Figure 3 , Figure 4 and Figure 5In this embodiment, to facilitate understanding of how the first moving component 3 drives the traveling frame 4 to move, the first moving component 3 is disposed on both sides of the bridge body 1 after the completion of the pouring construction, and the first moving component 3 is symmetrically arranged. Here, for the sake of describing the structure of the first moving component 3, it is described as a single first moving component 3. Specifically, the first moving component 3 includes: a traveling track 31, a first traveling support 32, a first traveling power component 33, and a first traveling support plate 34. The traveling track 31 is disposed on both sides of the bridge body 1 after the completion of the pouring construction, and the traveling track 31 is set along the construction direction of the bridge body 1 (therefore, the offset of the traveling frame 4 or the offset of the load-bearing beam 23 can be calculated based on the above control method according to the point A and the points B and C set at the traveling frame 4, and the installation and adjustment position of the traveling track 31 on the bridge deck can be determined to achieve linear adjustment of the hanging basket structure). The traveling track 31 is provided with multiple traveling holes 311, and the traveling track 31 is used to support the first moving component 3 to move. The first traveling support 32 is disposed on the traveling track 31 and is slidably connected to the traveling track 31. The first traveling support 32 is dynamically engaged with multiple traveling holes 311 on the traveling track 31. The first traveling support plate 34 is slidably connected to the traveling track 31 and is located on one side of the first traveling support 32. The first traveling support plate 34 is connected to the traveling frame 4. The first traveling power component 33 is disposed between the first traveling support 32 and the first traveling support plate 34. One end of the first traveling power component 33 is connected to the first traveling support 32, and the other end of the first traveling power component 33 is connected to the first traveling support plate 34. That is, in this embodiment, when walking is required, the first traveling power component 33 pushes the traveling frame 4 on the first traveling support plate 34 to move, so as to realize the overall walking of the construction device in conjunction with the second moving component 5.

[0105] In this embodiment, the first walking power component 33 and the second walking power component 54 adopt the same movement mode, such as hydraulic, electric, or pneumatic methods for synchronous movement. Furthermore, it should be noted that when the first walking support 32 is pushed by the first walking support plate 34 by the first walking power component 33, the first walking support 32 can engage with the walking track 31 through the walking hole 311. When the first walking support plate 34 moves to a certain position, the first walking support 32 separates from the walking track 31 through the walking hole 311. Then, the first walking power component 33 retracts with the first walking support plate 34 as a fulcrum, allowing the first walking support 32 to move to one side of the first walking support plate 34, thereby enabling it to move in conjunction with the second moving component 5. In a feasible embodiment, an electrical locking component can be provided at the bottom of the first walking support 32. This electrical locking component is energized and connected to the walking hole 311 of the walking track 31, allowing the first walking support 32 to engage with the walking track 31 through the walking hole 311. Preferably, the electrical card can be an electromagnet.

[0106] Reference Figures 2 to 4 In this embodiment, to avoid the bridge body 1's transverse diaphragms affecting the self-moving structure's ability to drive the hanging basket structure, the hanging basket structure further includes a lifting component 7. The lifting component 7 is connected to the hanging basket structure and is used to lift the hanging basket structure according to the construction orientation of the bridge body 1, reducing the impact of the bridge body 1's structure on the movement of the hanging basket structure. Specifically, the lifting component 7 can employ multiple anchoring rods, which are connected to the bottom support frame 6 on the bottom formwork support structure 41. One end of each anchoring rod is connected to the inner formwork structure, and the other end passes through the bridge body 1 and is anchored to the bridge deck. When it is necessary to prevent the transverse diaphragms of the bridge body 1 from affecting the self-moving of the hanging basket structure, the height of the anchoring rods on the bridge deck is adjusted to allow the traveling frame 4, bottom formwork support structure 41, inner formwork support structure, and bottom support frame 6 to be lowered as a whole. This allows the traveling frame 4 to engage with the first moving component 3, while the inner formwork support structure is lowered and disengaged from the adjacent transverse diaphragms. At this point, the hanging basket structure enters the walking state, and the hanging basket structure can move along the bridge surface of the bridge body 1 by being driven by the first moving component 3 and the second moving component 5.

[0107] Reference Figure 2 , Figure 3 , Figure 4As shown, in one feasible embodiment, to facilitate the adjustment of the anchoring and movement states of the load-bearing component 2 according to the construction status of the bridge body 1, the anchoring and movement structure is configured according to the number of load-bearing beams 23, and the anchoring and movement structure can be adjusted according to the working state of the load-bearing beams 23. That is, when the load-bearing beams 23 need to move, the anchoring and movement structure releases the bridge body 1 from the load-bearing beams 23; when anchoring is required, the anchoring and movement structure locks the load-bearing beams 23 to the bridge body 1.

[0108] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0109] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A linear control method for a walking hanging basket based on visual feedback, characterized in that, include: Obtain the design information of the hanging basket structure, and at the same time obtain the design information of the construction bridge; Based on the bridge construction design information, the travel route information of the hanging basket structure is pre-determined; According to the design information of the construction bridge, at least one imaging area is set in the direction of the construction bridge. The imaging area is used to collect the connection status of the construction bridge and the hanging basket structure. Based on the travel route information of the hanging basket structure, the connection status information of the construction bridge body and the hanging basket structure at least two different time sequences is collected in real time using the imaging area. The deviation of the formwork structure is determined based on the connection status information of the construction bridge body and the formwork structure. Based on the travel route information of the hanging basket structure and in combination with the deviation of the hanging basket structure, the deviation of the hanging basket structure is adjusted.

2. The linear control method for a walking hanging basket based on visual feedback according to claim 1, characterized in that, The imaging area includes: Image areas taken parallel to the bridge construction direction and / or image areas taken perpendicular to the bridge construction direction.

3. The linear control method for a walking hanging basket based on visual feedback according to claim 2, characterized in that, The method for determining the deviation of the hanging basket structure includes: Along the construction direction of the bridge, images of the connection status of the bridge body and the hanging basket structure at two different time sequences were collected to obtain real-time status images at two different time sequences. Feature points were labeled in two real-time state images at two different time series to determine the image features in the two real-time state images at different time series. The deviation of the hanging basket structure is determined based on the image features in two real-time state images at different time series.

4. The linear control method for a walking hanging basket based on visual feedback according to claim 3, characterized in that, Methods for determining image features in two real-time state images from two different time series include: Perform image preprocessing on any real-time state image and construct a planar coordinate system; Based on the design information of the hanging basket structure, the component structure outline is decomposed for any real-time state image to obtain the distribution map of multiple components in any real-time state image. Based on the planar coordinate system, coordinate contours are extracted from multiple component distribution maps to determine the component contour distribution information in any time-series real-time status image. Based on the component contour aggregation information in any time-series real-time state image, the component contour image features in any time-series real-time state image are determined respectively.

5. The linear control method for a walking hanging basket based on visual feedback according to claim 4, characterized in that, Methods for determining image features in two real-time state images at different time series also include: Based on the hanging basket structure design information, determine the component distribution diagram of at least three reference components; Based on the planar coordinate system, feature coordinate points are marked on the component distribution diagram of at least three reference components to obtain the feature coordinate points of at least three reference components; Connect the feature coordinate points of at least three reference components in any time-series real-time state image to determine the contour image features of the reference components in any time-series real-time state image.

6. The linear control method for a walking hanging basket based on visual feedback according to claim 5, characterized in that, The method for determining the deviation of the hanging basket structure also includes: Suppose there are two different time-series real-time state images, namely the first time-series real-time state image and the second time-series real-time state image. Among them, there are three points A(x) in the first time-series real-time state image. a ,y a B(x) b ,y b ) and C(x c ,y c The second time-series real-time state image contains three points A'(x'). a ,y' a ), B'(x' b ,y' b ) and C'(x' c ,y' c Then the shape variable at a certain point is: In Equation 1, r n,x Let r be the x-axis coordinate of the relative position vector between any point in the first time-series real-time state image and the centroids of points A, B, and C. n,y r' is the y-axis coordinate of the relative position vector between any point in the first time-series real-time state image and the centroids of points A, B, and C; n,x Let r' be the x-axis coordinate of the relative position vector between any point in the second time-series real-time state image and the centroids of points A', B', and C'. n,y The y-axis coordinate is the relative position vector of any point in the second time-series real-time state image to the centroids of points A', B', and C'. According to Equation 1, the total deformation can be obtained as follows: In Equation 2, δ a Let δ be the deformation at point A. b Let δ be the deformation at point B. c Let C be the shape variable at point C.

7. The linear control method for a walking hanging basket based on visual feedback according to claim 6, characterized in that, The method for adjusting the deviation of the hanging basket structure includes: Based on the bridge construction design information and the hanging basket structure design information, deformation threshold information is determined; Based on the deformation threshold information, it is matched with the deformation at a certain point and / or the total deformation to obtain linear adjustment information; Based on the linear adjustment information, the hanging basket structure is linearly adjusted.

8. A linear control system for a walking hanging basket based on visual feedback, characterized in that, The system employs the visual feedback-based linear control method for walking hanging baskets as described in any one of claims 1 to 7, and the control system further includes: An image acquisition module is provided in the image acquisition area. The image acquisition module is used to acquire images parallel to and / or perpendicular to the bridge construction direction to obtain images of the connection status of the construction bridge and the hanging basket structure. The image processing module is used to annotate feature points and extract contour coordinates from the connection status images of the construction bridge body and the hanging basket structure. The image analysis module is used to perform deformation analysis on the connection status images of the construction bridge body and the hanging basket structure.

9. A linear control application device for a walking hanging basket based on visual feedback, characterized in that, The application device employs a visual feedback-based linear control method for a walking hanging basket as described in any one of claims 1 to 7, or a visual feedback-based linear control system for a walking hanging basket as described in claim 8, and further includes: A hanging basket structure, which is used for formwork support during bridge construction; The self-propelled structure is used to allow the hanging basket structure to move along the bridge body according to the bridge design information.

10. A linear control application device for a walking hanging basket based on visual feedback according to claim 9, characterized in that, The self-propelled structure includes: At least two first moving components are provided, the first moving components are arranged along the construction direction of the bridge body, and the first moving components are used to drive the hanging basket structure to move along the construction direction of the bridge body; Multiple second moving components are arranged along the bridge construction direction and parallel to the first moving component. The second moving components work in conjunction with the first moving component to drive the hanging basket structure to move along the bridge construction direction. A lifting component is connected to the hanging basket structure. The lifting component is used to lift the hanging basket structure according to the construction orientation of the bridge body, thereby reducing the impact of the bridge body structure itself on the movement of the hanging basket structure.

Images