A bridge concrete pouring system and its control method

Abstract

This application relates to the field of bridge manufacturing technology, specifically to a bridge concrete pouring system and its control method. The pouring system of this application utilizes a cooling device for temperature control of the concrete, and a material distribution device comprising multiple pouring pipes for simultaneous pouring. Furthermore, a twin control platform precisely adjusts the flow rate at each pouring point of the material distribution pipe. This ensures both the temperature and uniformity of the poured concrete, while also guaranteeing the smoothness of the poured surface. From the mixing plant to the pouring point, the cooling device continuously envelops the concrete, minimizing heat loss and the influence of ambient temperature during transportation and waiting. By "temporarily storing" and controlling the temperature through the cooling device, the temperature upon entering the formwork can be effectively controlled, greatly reducing the risks of high-temperature exposure or low-temperature freezing. It also effectively avoids problems such as shortened initial setting time and decreased fluidity due to temperature, preventing temperature cracks in large-volume concrete.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge manufacturing, in particular to a bridge concrete pouring system and a control method thereof. BACKGROUND

[0002] As an important transportation infrastructure, bridges need to withstand vehicle, pedestrian and other loads for a long time, as well as various natural influences, so the requirements for concrete pouring are quite high, especially the pouring of concrete in key parts such as cable towers, beam bodies and piers. The pouring temperature and the pouring flatness will directly affect the service life and performance of the bridge.

[0003] Traditional concrete pouring methods (such as pump truck pouring, fixed device single-point pouring, and ordinary device pouring without temperature control) lack temperature control measures, and high temperature or long-distance transportation can easily cause concrete to initial set and loss of slump, while low temperature can affect the hydration reaction due to too low temperature. And in the traditional pouring process, most of them rely on manual operation, lack of automatic flatness control, resulting in low efficiency and poor flatness guarantee.

[0004] The prior art (CN119758941B) discloses a concrete pouring intelligent monitoring scheme based on a pump truck distribution arm, which adjusts the pouring through a diffusion prediction model and multiple pump trucks. However, the adjustment process of multiple pump trucks is affected by the performance of different pump trucks and the extension length of the distribution arm, and it is difficult to synchronize the adjustment process and control. In addition, the scheme needs to switch the dominant pump truck to adjust the flow in the overlapping area, and the coordination process is complex and easy to produce local accumulation. It also needs to rely on manual control, and the pouring flatness is not easy to control. In addition, the pump truck distribution has a time difference and is easy to produce cold joints. In addition, the scheme is also greatly affected by the environment temperature, and it is also difficult to guarantee the pouring temperature of the concrete. SUMMARY

[0005] Therefore, the present application proposes a bridge concrete pouring system and a control method thereof to efficiently and accurately control the pouring temperature, prevent the pouring of mass concrete from being affected by temperature, and ensure the flatness of the bridge pouring concrete surface.

[0006] In one aspect, the present application provides a bridge concrete pouring system, which comprises:

[0007] The distribution device comprises a feeding port and a plurality of discharge pipes, an electric switch is arranged at the upper end of the discharge pipe, and a distance measuring device is arranged at the discharge pipe opening position;

[0008] The cold preservation device comprises a cold preservation bin for concrete cold preservation and cooling and a discharge port, and the cold preservation device is arranged above the distribution device and aligns the discharge port with the feeding port of the distribution device;

[0009] The twin control platform is used to construct a casting twin model, control the distance measuring devices at each discharge pipe outlet to collect the casting liquid level height data at the corresponding point at a preset frequency, and adjust the flow rate of the corresponding discharge pipe according to the casting liquid level height at each point, thereby controlling the multiple discharge pipes of the material distribution device to cast synchronously and uniformly.

[0010] Furthermore, the system also includes:

[0011] The fabric feeding device and the cold insulation device are each equipped with a temperature sensor. The control device adjusts the temperature of the cold insulation device and the unloading speed based on the collected temperature data.

[0012] Furthermore, the material tank of the material distribution device is conical or cylindrical, and the multiple discharge pipes are evenly arranged with the same slope.

[0013] Preferably, the discharge pipe is connected to the variable diameter port inside the material tank via a flange.

[0014] Furthermore, the outer layer of the cold insulation device is provided with a heat insulation layer, and a cavity is formed between the heat insulation layer and the silo. The cavity is filled with phase change material or injected with cold water to keep the concrete in the silo cold and cool it down.

[0015] Preferably, the cold-keeping device has multiple discharge ports, and each discharge port corresponds to a material distribution device.

[0016] A second aspect of this application provides a method for controlling bridge concrete pouring, the method being applied to the aforementioned bridge concrete pouring system, the method comprising:

[0017] The cold insulation device is installed above the fabric feeding device, and the unloading port of the cold insulation device is aligned with the inlet of the fabric feeding device.

[0018] Control the distance measuring devices at each discharge pipe outlet to collect the pouring liquid level height data at the corresponding point at a preset frequency;

[0019] Calculate the current height deviation of all points. If the deviation is greater than the preset threshold, add the corresponding discharge port i to the candidate set C to be adjusted.

[0020] Priority sorting is performed on each discharge port in the candidate set C to be adjusted;

[0021] An optimization objective function is constructed based on the height deviation of each discharge port in the candidate set C to be adjusted, and the objective function is optimized by sequential iteration.

[0022] Find the optimal adjustment amount Δq for each discharge port i under the optimal solution of the objective function. i ;

[0023] The final calculated adjustment amounts Δq iThe signal is sent to the actuator to control and adjust the flow rate of the corresponding discharge pipe, thus entering the next control cycle.

[0024] Further, the construction and optimization of the objective function, and the sequential iterative optimization of the objective function, include:

[0025] Initialize the adjustment amount Δq for all discharge ports in the candidate set. i =0;

[0026] By setting constraints and iterating based on the discharge port priority, the solution aims to minimize the total cost of the objective function, which satisfies Q:

[0027] ,

[0028] Among them, h i Let α be the pouring height at point i, h' be the current preset target height or average height, and α be the pouring height at point i. i Let η be the height variation coefficient corresponding to the pouring increment at point i, and let η and λ be the corresponding adjustment coefficients.

[0029] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the steps of any of the methods described above.

[0030] A fourth aspect of this application provides a computer terminal device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of any of the methods described above.

[0031] The bridge casting system provided in this application utilizes a cooling device to control the temperature of the concrete, and a concrete placing device that simultaneously pours concrete through multiple pouring pipes. Furthermore, a twin control platform precisely adjusts the flow rate at each pouring point. This ensures both the temperature and uniformity of the poured concrete, while also guaranteeing the smoothness of the poured surface. From the mixing plant to the pouring point, the cooling device continuously envelops the concrete, minimizing heat loss and the influence of ambient temperature during transportation and waiting. By "temporarily storing" and controlling the temperature through the cooling device, the temperature upon entering the formwork can be effectively controlled, significantly reducing the risks of high-temperature exposure or low-temperature freezing. It also effectively avoids problems such as shortened initial setting time and decreased fluidity due to temperature, preventing temperature cracks in large-volume concrete.

[0032] Meanwhile, the multiple discharge ports of the concrete placing device of this application can operate simultaneously, realizing rapid and uniform coverage of large area and large volume concrete. This avoids the cold joints and construction discontinuity problems that may occur in traditional single-point pouring. It can achieve a more uniform concrete distribution in the target area and reduce the problems of aggregate segregation and uneven distribution caused by traditional single-point unloading. It is particularly suitable for projects such as bridges, large abutments, and dams that require strict temperature control and leveling during pouring.

[0033] Furthermore, this application also uses a twin control platform to intelligently and coordinately control the flow rate of the corresponding concrete placing device based on the height data of each area being poured. The system can quickly respond to and correct uneven pouring, achieving automated control of the pouring process while effectively ensuring smooth pouring and minimizing the number of adjustments. Under the premise of ensuring quality, it can moderately speed up the concrete placing speed and improve construction efficiency, making it suitable for intelligent control of concrete pouring for large structures such as bridges. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] in:

[0036] Figure 1 This is a schematic diagram of a bridge concrete pouring system architecture in one embodiment;

[0037] Figure 2 This is a full-scale schematic diagram of a bridge concrete pouring system in one embodiment;

[0038] Figure 3 This is a schematic diagram of the material distribution device in a pouring system according to one embodiment;

[0039] Figure 4 This is a schematic diagram of a cold insulation device in a pouring system in one embodiment;

[0040] Figure 5 This is a schematic diagram of the interface of the twin control platform system for the pouring system in one embodiment;

[0041] Figure 6 This is a flowchart of an intelligent control method for bridge concrete pouring in one embodiment;

[0042] Figure 7 This is a structural block diagram of a computer device in one embodiment. Detailed Implementation

[0043] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] The terms "comprising," "including," and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus. Terms such as "first" and "second," and other relational terms, in the claims, specification, and accompanying drawings of this application, are used merely to distinguish one entity / operation / object from another, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0045] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase at various points in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0046] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0047] In one implementation, such as Figures 1-2 The diagram shown is a schematic diagram of the architecture and a full-scale physical diagram of a bridge concrete pouring system according to this application. The system includes:

[0048] The concrete placing device includes an inlet and multiple outlet pipes. An electric switch is installed at the upper end of each outlet pipe, and a distance measuring device is installed at the outlet of each outlet pipe. Preferably, a laser rangefinder is installed at each outlet pipe of the concrete placing device. These laser rangefinders can measure the distance between the concrete placing device and the concrete surface in real time and transmit the data to the twin intelligent monitoring and control platform subsystem.

[0049] The cold insulation device includes a cold insulation silo for keeping concrete cold and cooling, and a discharge port. The cold insulation device is mounted above the concrete placing device, and the discharge port is aligned with the inlet of the concrete placing device.

[0050] The twin control platform is used to construct a casting twin model, control the distance measuring devices at each discharge pipe outlet to collect the casting liquid level height data at the corresponding point at a preset frequency, and adjust the flow rate of the corresponding discharge pipe according to the casting liquid level height at each point, thereby controlling the multiple discharge pipes of the material distribution device to cast synchronously and uniformly.

[0051] The laser rangefinder, electric switch, and twin control platform are connected via wired or wireless means. During system operation, the twin control platform first establishes the current pouring model and controls multiple discharge pipes of the concrete placing device to pour synchronously and uniformly. It then sends commands to control the rangefinders at each discharge pipe outlet to collect data on the pouring liquid level at a preset frequency. When the distance between a concrete placing point and the target concrete surface exceeds a threshold, based on data collected by the laser rangefinder, the twin control platform automatically adjusts the corresponding distributor valve to control the concrete flow rate. This linkage mechanism not only improves the efficiency of concrete pouring but also avoids quality problems caused by improper human operation.

[0052] Preferably, in one embodiment, see Figure 3 The schematic diagram of the concrete placing device shows that the material tank of the device is conical or cylindrical. Multiple discharge pipes are evenly arranged as 6-8 steel pipes of the same diameter (e.g., φ300-500mm), with the same slope, connected to a reducing port for easy pouring or hose extension. A gate-type electric switch is installed at the upper end of each pipe, allowing independent control of opening and closing to ensure consistent unloading speed for each pipe. Rain protection measures are added to the top, and an openable top plate is installed. Two channel steel limiters are installed at the top of the placing device to prevent displacement of the cooling device during hoisting and material release. Furthermore, considering the cleaning of residual concrete inside the pipes, the discharge pipes and the reducing port inside the material tank are connected by flanges, allowing for disassembly and cleaning after use. The material tank and each discharge pipe are fixedly connected to the base.

[0053] More preferably, in one embodiment, see [reference needed] Figure 4The diagram shows a schematic of a cold-insulating device, which is designed in a cuboid shape. Preferably, in one embodiment, the cold-insulating device is hoisted above the concrete placing device. After receiving material at the mixing plant's receiving port, the cold-insulating device is transported to the pouring site. Multiple lifting points are provided on the cold-insulating device to facilitate coordinated hoisting and placement above the concrete placing device. Further, the cold-insulating device includes multiple independent compartments, each with the same or different capacities, allowing for separate material loading and unloading. Simultaneously, to maintain the performance of the concrete after it exits the mixer, the cold-insulating device is wrapped with a layer of thermal insulation and cold-insulating cotton on its outermost side. A surrounding cavity is provided between the thermal insulation and cold-insulating cotton and the hopper, allowing for the injection of cold water or the placement of phase change materials to cool and insulate the concrete within the hopper, achieving a cooling and cold-insulating function.

[0054] The above-described implementation scheme of this application effectively controls the temperature of the concrete entering the formwork by using a cold-insulating device for "temporary storage" and temperature control. This greatly reduces the risks of high-temperature exposure or low-temperature freezing, and also effectively avoids problems such as shortened initial setting time and decreased fluidity caused by temperature, thus preventing temperature cracks in large-volume concrete. Furthermore, by combining the multiple discharge ports of the concrete placing device, simultaneous operation can be achieved, enabling rapid and uniform coverage of large areas and volumes of concrete. This avoids the cold joints and construction discontinuities that may occur with traditional single-point pouring, and allows for a more uniform concrete distribution within the target area.

[0055] Further, see Figure 5 The diagram shown is a partial interface of a twin control platform system in one embodiment. The control platform constructs a basic model framework based on the physical structure of the pouring system engineering, and builds a virtual liquid level twin model on the platform based on the corresponding structure and the location of each concrete placing device. Simultaneously, considering the specific structure of the concrete placing device, parameters such as the number, diameter, installation position, and angle of the discharge pipes are further correlated and improved by accessing a large amount of sensor data. With the input of real-time data, the platform continuously updates key information such as the height of the concrete liquid level and the filling status of each area in the model, ensuring that the virtual model remains highly consistent with the actual pouring site at all times. For example, the pouring liquid level height data collected in real time by a ranging device placed at the discharge pipe outlet is used to fill the corresponding position in the model, thereby dynamically displaying the actual filling status of the concrete in different areas at different times.

[0056] Simultaneously, for situations where multiple concrete placing devices operate concurrently, the twin control platform intelligently coordinates parameters such as the opening sequence and flow rate of the discharge pipes of each device based on the location of their respective discharge pipes, the characteristics of their corresponding pouring areas, and real-time collected data. This allows them to work together seamlessly to achieve synchronized and uniform pouring. The twin control platform uses intelligent algorithms to collaboratively control the flow rate of multiple discharge pipes based on the pouring liquid level height reflected in the pouring twin model. In one embodiment, the intelligent algorithm flow of this application is as follows: Figure 6 As shown. If the liquid level in a certain monitoring point area is relatively low or high, the required increase in the flow rate of the corresponding discharge pipe is analyzed and calculated. Then, an instruction is sent to the flow control device of that discharge pipe to increase or decrease the flow rate. Through the above dynamic flow adjustment, it is ensured that the concrete in the pouring area under the responsibility of each discharge pipe can rise evenly, achieving synchronous and uniform pouring. This avoids problems such as uneven flow and inconsistent pouring progress at the junction of discharge pipes of adjacent placing devices. Through the unified scheduling of the platform, the continuity and uniformity of the overall pouring are guaranteed.

[0057] Furthermore, the aforementioned twin control platform of this application also feeds back concrete level monitoring data to the dashboard area in real time, allowing engineers and construction personnel to view the discharge status of each placing device and the condition of the concrete surface at any time. Simultaneously, the dashboard area can also display real-time alarm information, reminding relevant personnel to address potential problems promptly, in order to accurately understand the discharge status of each placing device and the smoothness of the concrete surface.

[0058] During concrete pouring, especially when multiple concrete placing devices are operating simultaneously for bridge towers and foundation bases, the aforementioned twin control platform integrates data from various monitoring devices such as laser rangefinders to form a complete, real-time dynamic picture reflecting the changes in the concrete surface throughout the pouring process. This allows construction personnel to clearly understand the situation at every point for precise control. As real-time data is continuously fed back to the platform, the twin platform can quickly detect deviations between the actual pouring and the ideal state. Based on the real-time data, it immediately re-optimizes the flow distribution scheme of each discharge pipe through control algorithms to achieve synchronous and uniform pouring. This ensures that the entire pouring process remains close to the optimal state, avoiding uneven flow and inconsistent pouring progress at the junctions of adjacent concrete placing device discharge pipes, and guaranteeing the continuity, uniformity, and smoothness of the overall pouring.

[0059] Furthermore, in one embodiment, the discharge port of the cold-insulating device described in this application can be an electrically operated or hydraulically operated device, located on both sides of the material distribution device, and the cold-insulating device has multiple discharge ports, each corresponding to one material distribution device. Material can be discharged simultaneously from both sides of the cold-insulating device, and by controlling the corresponding discharge speed or opening time, it can meet the requirements of rapid discharge or corresponding pouring projects, thereby improving safety. To improve pouring efficiency and safety, during the pouring process, the cold-insulating device is limited by a limiting device on the material distribution device.

[0060] Furthermore, the fabric feeding device and the cold insulation device are each equipped with a temperature sensor, and the control device adjusts the temperature of the cold insulation device and the unloading speed based on the collected temperature data.

[0061] Specifically, when adjusting the unloading speed, the control device comprehensively considers the temperature within the cold insulation device and the current pouring progress requirements. When the concrete temperature within the cold insulation device approaches the upper limit of the target range, and the temperature at the discharge port of the placing device also tends to be high, the control device will appropriately slow down the unloading speed to prevent the high-temperature concrete from entering the formwork too quickly, and to give the cold insulation device more time to regulate the concrete temperature. Furthermore, the flow rate of the circulating water can be adjusted to accelerate heat exchange and cool the concrete, or the inlet temperature of the circulating water can be lowered to enhance the cooling effect, allowing the concrete temperature to drop back to a reasonable range as quickly as possible. This extends the time the concrete remains within the cold insulation device, utilizing its temperature regulation function to further cool it and ensure that the temperature upon entering the formwork meets the requirements.

[0062] If, during the unloading process, the temperature of the discharge pipe of the concrete placing device is relatively stable and the temperature of the concrete entering the formwork is within the target range, the control platform will adjust the unloading speed and the overall pouring flow of the concrete placing device accordingly. This ensures that the temperature of the concrete is relatively stable during the unloading and placing process, while also achieving uniformity of the discharge from each outlet. This allows the concrete to be poured more evenly to all parts of the bridge, improving the quality and efficiency of the pouring process.

[0063] Preferably, in one embodiment, such as Figure 6 As shown, this application also provides an intelligent control method for bridge concrete pouring, which is applied to the aforementioned bridge concrete pouring system. The method includes:

[0064] S100. Hoist the cold insulation device above the fabric laying device and align the unloading port of the cold insulation device with the inlet of the fabric laying device.

[0065] S101. Control the distance measuring devices at each discharge pipe outlet to collect the pouring liquid level height data at the corresponding point according to the preset frequency.

[0066] Specifically, the system controls the laser rangefinder at each discharge port to measure and collect the distance between each corresponding point and the concrete surface in real time at a preset frequency. Then, through a corresponding conversion algorithm, such as conversion based on the absolute position of the material distribution pipe, the absolute height h of the concrete surface at each monitoring point is calculated. i , where i = 1, 2, ..., n, and n is the number of discharge ports.

[0067] S102. Calculate the current height deviation of all points. If the deviation is greater than the preset threshold, add the corresponding discharge port i to the candidate set C to be adjusted.

[0068] Specifically, calculate the current height deviation of all points: e i =h i -h', where h' is the average height data collected at each point or the target height to be poured. A starting threshold ε_start is set; if the height difference |e i When |>ε_start, the discharge port i is included in the candidate set C to be adjusted in this round. In this way, those points whose current pouring height is basically qualified and do not need adjustment are filtered out, directly reducing the subsequent decision variables.

[0069] S103. Prioritize each discharge port in the candidate set C to be adjusted.

[0070] Furthermore, this application also sets adjustment priorities for each object in the candidate set C, so that subsequent iterative optimizations can be performed with priority under constraints. Specifically, this includes: sorting the discharge port objects that need to be adjusted by priority. The discharge ports in the candidate set C are sorted from largest to smallest according to |ei|. The point with the largest height deviation causes the greatest damage to the flatness, so it has the highest adjustment priority and is then used for priority iterative calculations in the future.

[0071] S104. Based on the height deviation of each discharge port in the candidate set C to be adjusted, construct an optimization objective function, and perform sequential iterative optimization on the objective function.

[0072] Specifically, during concrete pouring, the change in pouring height is mainly affected by the discharge flow rate, the height difference in the vicinity, and the flowability of the concrete. However, the natural flow of concrete caused by the height difference in the vicinity is a relatively slow process, with a time scale of tens of seconds to several minutes. Compared with system control decisions, changing the height by adjusting the discharge flow rate is a relatively fast process (with a time scale of seconds). Therefore, within a single control cycle (e.g., 1-2 seconds), the height change driven by the height difference in the vicinity and the concrete flow parameters is much smaller than the height change directly caused by the flow rate change. Based on this, this application mainly focuses on adjusting the control optimization based on the discharge flow rate during the control optimization process.

[0073] Furthermore, during the operation of the control system, flow rate adjustments are typically made within a small range around an operating point. Within this small range, the flow rate adjustment amount Δq... i It is not a maximum (a maximum could lead to nonlinear phenomena such as splashing and accumulation), and its height change can be expressed by the relationship Δh. i ≈α i Δq i Approximation and representation, where the coefficient α i The data is obtained by fitting the changes in pouring height and flow rate of the discharge pipe i in the previous one or several data collection cycles, so as to approximate the current pouring progress or the change of each discharge flow rate with the current height under the current conditions.

[0074] Therefore, this application can construct an optimization objective function based on the current height and flow rate changes, combined with the height deviations of each outlet in the candidate set C to be adjusted. The optimization objective function uses the minimum overall height deviation, the number of adjustments, and the adjustment amount as the cost optimization. In one embodiment, the objective function constructed by this application satisfies:

[0075] ,

[0076] Among them, h i Let α be the pouring height at point i, h' be the current preset target height or average height, and α be the pouring height at point i. i Let be the height variation coefficient corresponding to the pouring increment at point i, and η and λ be the corresponding adjustment coefficients. This function weighs "whether the surface will be smoother after adjustment" and "whether the adjustment amount or adjustment action is too large" as optimization objectives.

[0077] Furthermore, this application performs sequential iterative optimization on the objective function, including:

[0078] Initialize the adjustment amount Δq of all discharge ports in candidate set C. i =0;

[0079] By setting constraints and iterating according to the priority of the discharge port, the solution is to minimize the total cost of the objective function.

[0080] Specifically, the constraints include adjustment flow increment constraints and corresponding inlet flow constraints: Δq i ϵ(Δq min ,Δq max ), Δq i ϵ[q min -q i ,q max -q i ].

[0081] S105. Solve for the optimal adjustment amount Δq of each discharge port i under the optimal solution of the objective function. i .

[0082] Specifically, during the solution process, the adjustment amount Δq is solved sequentially according to priority. i And in calculating the current adjustment amount Δq i At this time, the adjustment amount Δq of all other discharge ports can be temporarily fixed. j (j≠i). Solve the iterative optimization objective function to minimize the total cost function, and obtain the optimal adjustment amount Δq at outlet i. i Preferably, in one embodiment, the solution process can progressively calculate partial derivatives of the objective function according to priority:

[0083]

[0084] Therefore, we can obtain:

[0085]

[0086] The obtained flow adjustment amount and the corresponding total flow at the pipe inlet are then constrained by the following conditions:

[0087] Δq i =max(Δq min , min(Δqmax,Δqi)), and Δq i ϵ[q min -qi,q max -q i ].

[0088] S106. The final calculated adjustment amounts Δq i The signal is sent to the actuator to control and adjust the flow rate of the corresponding discharge pipe, thus entering the next control cycle.

[0089] Specifically, all the Δq obtained in the final calculation i The corresponding electronic switch is sent to perform flow adjustment, and the next control cycle begins.

[0090] The intelligent control scheme for the pouring system described in this application can automatically and frequently collect and store all height data from laser rangefinders, all flow adjustment commands, and timestamps, forming a complete "perception-decision-execution" data closed loop. Simultaneously, the optimization process effectively reduces the frequent start-stop and operation of actuators such as valves and pumps, significantly reducing the number of adjustments and extending equipment lifespan. Furthermore, the automation response speed is fast, and the adjustment calculation process is shorter and more efficient.

[0091] In one embodiment, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the following steps:

[0092] The cold insulation device is hoisted and erected above the fabric laying device, and the unloading port of the cold insulation device is aligned with the inlet of the fabric laying device.

[0093] Control the distance measuring devices at each discharge pipe outlet to collect the pouring liquid level height data at the corresponding point at a preset frequency;

[0094] Calculate the current height deviation of all points. If the deviation is greater than the preset threshold, add the corresponding discharge port i to the candidate set C to be adjusted.

[0095] Priority sorting is performed on each discharge port in the candidate set C to be adjusted;

[0096] An optimization objective function is constructed based on the height deviation of each discharge port in the candidate set C to be adjusted, and the objective function is optimized by sequential iteration.

[0097] Find the optimal adjustment amount Δq for each discharge port i under the optimal solution of the objective function. i ;

[0098] The final calculated adjustment amounts Δq i The control is sent to the actuator to control the flow rate of the corresponding discharge pipe, thus entering the next control cycle.

[0099] In one embodiment, such as Figure 7 This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0100] The cold insulation device is hoisted and erected above the fabric laying device, and the unloading port of the cold insulation device is aligned with the inlet of the fabric laying device.

[0101] Control the distance measuring devices at each discharge pipe outlet to collect the pouring liquid level height data at the corresponding point at a preset frequency;

[0102] Calculate the current height deviation of all points. If the deviation is greater than the preset threshold, add the corresponding discharge port i to the candidate set C to be adjusted.

[0103] Priority sorting is performed on each discharge port in the candidate set C to be adjusted;

[0104] An optimization objective function is constructed based on the height deviation of each discharge port in the candidate set C to be adjusted, and the objective function is optimized by sequential iteration.

[0105] Find the optimal adjustment amount Δq for each discharge port i under the optimal solution of the objective function. i ;

[0106] The final calculated adjustment amounts Δq iThe control is sent to the actuator to control the flow rate of the corresponding discharge pipe, thus entering the next control cycle.

[0107] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0108] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A bridge concrete placement system, characterized by, The system comprises: The material distribution device comprises a feeding port and a plurality of discharge pipes, the discharge pipes are provided with electric switches at the upper ends, and distance measuring devices are arranged at the discharge pipe openings; The cold preservation device comprises a cold preservation bin for cooling the concrete and a discharge port, and is arranged above the material distribution device and aligned with the feeding port of the material distribution device; The twin control platform is used to build a pouring twin model, control the distance measuring devices at the discharge pipe openings to collect the pouring liquid level data of the corresponding points at a preset frequency, adjust the flow of the corresponding discharge pipes according to the pouring liquid level of each point, and control the plurality of discharge pipes of the material distribution device to pour synchronously and uniformly; The system further comprises: The material distribution device and the cold preservation device are respectively provided with temperature sensors, the temperature sensors upload data to the twin control platform, and the twin control platform adjusts the temperature of the cold preservation device according to the collected temperature data.

2. The system of claim 1, wherein, The system further comprises: The twin control platform adjusts the discharge speed of the cold preservation device according to the collected temperature data.

3. The system of claim 1, wherein, The tank of the material distribution device is conical or cylindrical, and the plurality of discharge pipes are uniformly arranged and have the same slope.

4. The system of claim 3, wherein, The discharge pipes are connected with the variable-diameter openings in the tank through flanges.

5. The system of claim 1, wherein, The cold preservation device is provided with an insulation layer outside, a cavity is formed between the insulation layer and the bin, and phase change materials or cold water are arranged in the cavity to cool and lower the temperature of the concrete in the bin.

6. The system according to any one of claims 1-5, characterized in that, The discharge port of the cold preservation device is a plurality of discharge ports, and each discharge port corresponds to one material distribution device.

7. A method for controlling the placement of bridge concrete, the method being applied in a bridge concrete placement system according to any one of claims 1-6, characterized in that, The method comprises: controlling the distance measuring devices at the discharge pipe openings to collect the pouring liquid level data of the corresponding points at a preset frequency; calculating the height deviation of all points at present, if the deviation is greater than a preset threshold, adding the corresponding discharge port i to the candidate set C to be adjusted; prioritizing each discharge port in the candidate set C to be adjusted; constructing an optimization objective function based on the height deviation of each discharge port in the candidate set C to be adjusted, and performing sequence iteration optimization on the objective function; Solving the optimal adjustment amount Δq of each discharge port i under the optimal solution of the objective function i ; The final calculated adjustment amount Δq i is sent to the actuator to control the flow of the corresponding discharge pipe, and the next control cycle is entered.

8. The method of claim 7, wherein, The method further comprises: Setting iteration constraint condition, according to the discharge port priority to iterate, solve each adjustment amount Δq when the target function value is minimum i , the target function satisfies Q: ， wherein, h i is the pouring height of the i point, h’ is the current preset target height or average height, α i is the height change coefficient corresponding to the pouring increment of the i point, η, λ are the corresponding adjustment coefficients, respectively.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the method in any one of claims 7 to 8.

10. A computer device, comprising: The device comprises a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the method in any one of claims 7 to 8.

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