A long and large open cut lining formwork trolley multi-degree-of-freedom posture control system and method

Abstract

The application discloses a long and large open-cut lining formwork trolley multi-degree-of-freedom posture control system and method, which comprises a trolley frame body, two cross beams of the trolley frame body are respectively supported at two sides of the bottom of a main support, and any cross beam is supported on the ground through a walking mechanism; a jacking device is used for adjusting the height of the main support relative to the cross beam; a positioning device is used for acquiring real-time three-dimensional coordinates of the trolley frame body; a formwork comprises a top formwork, which is fixedly arranged on the top of the trolley frame body; two side formworks are separately arranged at two sides of the top formwork and are hingedly connected with the bottom ends of the top formwork; an adjusting device is used for adjusting the rotating angle of the side formwork relative to the top formwork; and two deviation rectifying mechanisms are arranged and used for adjusting the torsional deviation between the top formwork and the side formwork. Through cooperation of different executing mechanisms, each formwork can be adjusted in multiple directions, respectively; combined with a deviation rectifying prediction method, efficient and accurate control of the posture of the formwork is realized on the basis of trolley walking positioning, and the overall construction efficiency and quality of a tunnel are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel engineering. More specifically, this invention relates to a multi-degree-of-freedom attitude control system and method for a long open-cut lining formwork trolley. Background Technology

[0002] Open-cut tunnel construction has become one of the main construction methods for high-speed railway tunnels in my country. The main construction sequence is reinforcement binding, concrete pouring, and concrete curing. With the development of tunnel construction technology, the application and demand for tunnel trolleys related to tunnel construction are gradually increasing, and this is continuously driving the development of tunnel trolley equipment towards standardization, intelligence, and unmanned operation.

[0003] For lining formwork trolley construction, existing research focuses on the functional requirements and efficiency of the trolley, aiming to improve its functionality and efficiency through equipment upgrades and module additions. However, it neglects the control technology of the trolley, such as precise positioning and multi-degree-of-freedom attitude control. This results in traditional trolley movement and demolding control being entirely manual, lacking effective centralized control and safety monitoring measures. In actual construction, problems often arise, such as the trolley failing to move precisely along the designated trajectory, the formwork failing to open and close quickly to the designated outline, time-consuming and labor-intensive formwork attitude deviation adjustment, and poor correction effects. This significantly restricts the construction efficiency of "flow-line" open-cut tunnels and fails to guarantee the quality and safety of the finished tunnel. For example, uneven cracks between formwork sections can easily lead to tunnel crack expansion and joint leakage under the long-term air load generated by high-speed train operation in the tunnel, thus affecting tunnel operation safety.

[0004] To address the aforementioned issues, it is necessary to design a multi-degree-of-freedom attitude control system and method for long open-cut lining formwork trolleys, which can effectively improve construction quality while ensuring lining construction efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-degree-of-freedom attitude control system and method for a long open-cut lining formwork trolley. By cooperating with different actuators, each formwork can be adjusted in multiple directions. Combined with the correction prediction method, the formwork attitude is efficiently and accurately controlled based on the trolley's walking and positioning, reducing the time and error of each formwork's correction and positioning, and effectively improving the overall construction efficiency and quality of the tunnel.

[0006] To achieve these objectives and other advantages according to the present invention, a multi-degree-of-freedom attitude control system for a long open-cut lining formwork trolley is provided, comprising:

[0007] The trolley frame includes a main support, which is a three-dimensional frame structure; two crossbeams, which are respectively supported on the bottom sides of the main support. Each crossbeam is arranged along the length of the trolley frame and supported on the ground by a traveling mechanism. The traveling mechanism is configured to drive the trolley frame to travel along the ground.

[0008] A lifting device is disposed between the crossbeam and the main support and is used to adjust the height of the main support.

[0009] A positioning device is configured to acquire the real-time three-dimensional coordinates of each positioning reference point on the trolley frame.

[0010] The template includes a top mold, which is mounted on the top of the trolley frame via a fixed bracket; two side molds, which are respectively located on both sides of the top mold and hinged to its bottom end; an adjustment device is provided between each side mold and the side wall adjacent to the main bracket, which is configured to adjust the rotation angle of the side mold relative to the top mold.

[0011] Two correction mechanisms are respectively disposed between the top mold and the two side molds. Each correction mechanism is located at one end of the hinge shaft between the corresponding side mold and the top mold. The correction mechanism includes a telescopic device, which is fixed to the end face of the side mold and extends outward in a direction parallel to the hinge shaft; an L-shaped bracket, one of which is arranged parallel to the telescopic device and its outer end is fixedly connected to the end face of the top mold, and the outer end of the other bracket is fixedly connected to the telescopic end of the telescopic device.

[0012] The control console includes a controller that is electrically connected to the walking mechanism, the lifting device, the positioning device, the adjusting device, and the telescopic device.

[0013] Preferably, the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley includes a walking mechanism comprising:

[0014] The track is an I-shaped track set parallel to the corresponding crossbeam, and a track groove is provided in the middle of the top plate along the length direction;

[0015] Multiple support frames are spaced apart at their bottoms along the length of the crossbeam. Each support frame is rotatably connected to the crossbeam in the horizontal direction via a vertical rotation mechanism. The bottom of each support frame is provided with multiple traveling wheels and multiple sets of rail support wheels spaced apart along the length of the track. Each traveling wheel is rotatably connected to the support frame and moves along the track groove under the action of a first driving device. Each set of rail support wheels consists of two rail support wheels located on both sides of the track and connected to the support frame via side brackets. Each rail support wheel is located in the side opening groove of the I-shaped track and its wheel surface abuts against the bottom surface of the track top plate. The wheel axle of the rail support wheel is arranged along the width direction of the track and rotates under the action of a second driving device.

[0016] Multiple ground support devices are spaced apart along the length of the crossbeam. One end of each ground support device is fixed to the bottom of the crossbeam, and the other end is positioned facing the ground. The ground support device is configured to adjust the height of the crossbeam.

[0017] Preferably, in the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley, the support frame includes an upper support and a lower support. The upper support is supported on the top of the lower support and is slidably connected to the lower support along the width direction of the crossbeam via a transverse sliding pin. The upper support slides relative to the lower support under the action of the adjustment device.

[0018] The adjustment device includes multiple adjustment mechanisms, which are spaced apart along the length of the crossbeam. Each adjustment mechanism includes two first grounding screws, which are symmetrically arranged on the bottom inner side of the two side molds. One end of each first grounding screw is hinged to the bottom end of the corresponding side mold, and the other end is anchored to the ground. There are also two second grounding screws, which are symmetrically arranged on the bottom inner side of the two crossbeams. One end of each second grounding screw is hinged to the bottom end of the corresponding crossbeam, and the other end is anchored to the ground.

[0019] Preferably, the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley includes a walking mechanism that further includes multiple rail-supporting cylinders, which are spaced apart along the length of the crossbeam. One end of any rail-supporting cylinder is fixed to the bottom of the crossbeam, and the other end is positioned opposite the track. The bottom end of the rail-supporting cylinder engages with the track groove.

[0020] Preferably, the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley includes a positioning device comprising multiple laser sensors spaced apart on the crossbeam, wherein the laser emission directions of the multiple laser sensors include the length direction, width direction, and height direction of the crossbeam; and multiple laser receiving plates, which are correspondingly arranged on the ground to the multiple laser sensors.

[0021] Preferably, the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley includes a fixed support comprising multiple fixed beams, which are fixed at intervals to the top of the trolley frame; a horizontal support, which is a planar frame structure fixedly mounted on the multiple fixed beams; and multiple vertical supports, which are spaced apart along the length of the trolley frame. Each vertical support includes multiple uprights, which are spaced apart along the width of the trolley frame. The height of each upright is set according to the inner contour line of the top formwork. One end of each upright is fixed to the top of the horizontal support, and the other end is fixedly connected to the inner sidewall of the top formwork.

[0022] Preferably, the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley is provided with a torsional deviation measuring device between any side formwork and the top formwork, which is set in correspondence with the correction mechanism. The torsional deviation measuring device includes two sets of deviation sensing devices, which are respectively set on both sides of the correction mechanism. Each set of deviation sensing devices includes a laser emitter and a laser receiver, which are set opposite to each other on the end faces of the top formwork and the side formwork. The two laser emitters of the two sets of deviation sensing devices are respectively located on the end faces of the top formwork and the side formwork.

[0023] Where there is no torsional deviation between the side mold and the top mold, the laser emitting end of the laser emitter and the laser receiving end of the laser receiver in the same group are positioned facing each other.

[0024] This invention also provides a control method for a multi-degree-of-freedom attitude control system for a long open-cut lining formwork trolley, comprising:

[0025] S1. Based on design parameters and GNSS technology, construct a three-dimensional model of the tunnel to be constructed, determine the three-dimensional spatial position and coordinate points of the tunnel lining structure on different construction sections, form the design outline and set the design trajectory line of the template trolley, and divide the construction area into multiple construction sections along the tunnel length.

[0026] S2. Establish a correction prediction model based on the historical construction data of the template trolley;

[0027] S3. The control vehicle frame of the traveling mechanism travels along the designed trajectory line to the mileage corresponding to the first construction section.

[0028] S4. Use the positioning data from the positioning device to control the alignment of the trolley frame with the design coordinates of its positioning reference point;

[0029] S5. Based on the correction prediction model, predict the control parameters in the current construction section to adjust the formwork posture to coincide with the design outline, and dynamically control the posture of the top formwork and the two side forms through the lifting device and the adjustment device respectively.

[0030] S6. The torsional deviation between the top formwork and each side formwork is corrected by the telescopic device, and then the steel reinforcement binding and concrete pouring operations of the current construction section are completed. The trolley frame is controlled to travel along the design trajectory to the mileage corresponding to the next construction section.

[0031] S7. Repeat steps S4-S6 until the tunnel lining construction of all construction areas is completed.

[0032] Preferably, in the control method S2 of the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley, the method for establishing the correction prediction model includes:

[0033] S21. The displacement of the top mold and each side mold is acquired in real time through monitoring equipment, and the monitoring data is transmitted to the controller;

[0034] S22. The working data and monitoring data of the template trolley are analyzed using the Pearson correlation coefficient method to establish the relationship between the trolley operation parameters and the template posture parameters. The trolley operation parameters include the control parameters of the lifting device and the adjusting device, and the template posture parameters include the displacement parameters of the top mold and each side mold.

[0035] S23. Using the GRU algorithm, the input and output data are processed into time series. Based on the design data, monitoring data and working data of the formwork trolley in N consecutive construction sections, the formwork attitude parameters of the N+1th construction section are predicted. Combined with the analysis conclusion of S22, the trolley operation parameters of the N+1th construction section are further predicted. The prediction results are integrated to form a composite correction prediction model.

[0036] S23. The prediction effect of the composite error correction prediction model is comprehensively evaluated by the root mean square error, mean absolute error, and coefficient of determination, and the composite error correction prediction model is trained and optimized by machine learning algorithm.

[0037] Preferably, in the control method of the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley, in S2, the working data of the formwork trolley includes the working parameters of each actuator of the lifting device and the adjusting device in multiple consecutive construction sections. The working parameters need to be preprocessed before use, including: using a big data automatic segmentation algorithm to segment the data; using the 3δ criterion to identify and process discrete values; using Python's Time module to identify missing values; and using high-pass and low-pass filtering methods to filter and reduce noise in the data.

[0038] The present invention has at least the following beneficial effects:

[0039] 1. This invention uses the positioning data of the positioning device to align the control trolley frame with the design coordinates of its positioning reference point. Through the cooperation of the lifting device, adjusting device and telescopic device, it achieves dynamic control of various parameters such as the vertical posture, horizontal posture and torsional deviation of each template. This allows the template posture to be flexibly and accurately adjusted according to design requirements and actual working conditions, ensuring that the template trolley can accurately run along the design trajectory to the designated construction section and coincide with the lining construction surface in three-dimensional space. This effectively improves the lining construction quality and avoids the impact of repeated adjustments to the trolley position or template posture and subsequent rework operations on the overall construction efficiency.

[0040] 2. This invention adds an intelligent sensing system. Based on the three-dimensional coordinates of each positioning reference point on the trolley frame obtained through the positioning device, the control parameters of each actuator used for template posture adjustment are obtained by combining the correction prediction method. This realizes template posture self-correction, reduces the time and error of each template in the correction and positioning, greatly improves the adjustment efficiency and autonomy of template posture, improves the intelligence and automation level of the template trolley, and further improves the overall construction efficiency and quality of the tunnel.

[0041] 3. This invention establishes a correction prediction model for the template trolley based on the GRU algorithm and machine learning technology, and realizes the continuous prediction effect of using N-segment correction experience to guide N+1-segment attitude correction, thus ensuring the accuracy, authenticity and reliability of the prediction results.

[0042] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0043] Figure 1 This is a front elevation structural diagram of a multi-degree-of-freedom attitude control system for a long open-cut lining formwork trolley according to an embodiment of the present invention.

[0044] Figure 2 This is a side elevation view of the connection between the walking mechanism and the crossbeam in the above embodiment;

[0045] Figure 3 This is a schematic diagram of the front elevation structure of the connection between the top mold and the trolley frame in the above embodiment;

[0046] Figure 4 This is a schematic diagram of the front elevation structure of the connection between the side mold and the trolley frame in the above embodiment;

[0047] Figure 5 This is a schematic diagram of the front elevation structure of the connection between the top mold and the side mold in the above embodiment;

[0048] Figure 6This is a schematic diagram of the arrangement structure of the correction mechanism described in the above embodiments;

[0049] Figure 7 This is a schematic diagram of the arrangement structure of the torsional deviation measuring device described in the above embodiments;

[0050] Figure 8 This is a control flowchart of the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley described in the above embodiments;

[0051] Figure 9 This is a schematic diagram of the template outline and the design outline before correction by S5 in the above embodiment;

[0052] Figure 10 This is a schematic diagram of the template outline and the design outline after correction by S5 in the above embodiment.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1. Template; 2. Horizontal beam; 3. Connecting screw; 4. Construction platform; 5. Main support; 6. Adjustment device; 7. Lifting device; 8. Traveling mechanism; 9. First grounding screw; 10. Second grounding screw; 11. Anchoring device; 12. Template partition line; 101. Top formwork; 102. Vertical support; 103. Horizontal support; 104. Fixed beam; 110. Side formwork; 111. Hinge shaft; 121. Base; 122. L-shaped support; 123. Telescopic device; 124. Torsion correction front side formwork end face; 125. Twisted and corrected side mold end face; 201. First laser emitter; 202. First laser receiver; 211. Second laser emitter; 212. Second laser receiver; 501. Template outline; 502. Design outline; 801. Rail support wheel; 802. Lower bracket; 803. Traveling wheel; 804. Rail support cylinder; 805. Ground support device; 806. Positioning device installation point; 807. Rail; 808. Upper bracket; 809. First drive device; 810. Transverse movement pin. Detailed Implementation

[0055] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0056] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified. In the description of this invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] like Figure 1-10 As shown, this invention provides a multi-degree-of-freedom attitude control system for a long open-cut lining formwork trolley, taking a steel reinforcement formwork construction trolley as an example, including:

[0058] The trolley frame includes a main support 5, which is a three-dimensional frame structure; two crossbeams 2, which are respectively supported on the bottom sides of the main support 5. Each crossbeam 2 is arranged along the length of the trolley frame and supported on the ground by a traveling mechanism 8. The traveling mechanism 8 is configured to drive the trolley frame to travel along the ground.

[0059] A lifting device 7 is disposed between the crossbeam 2 and the main support 5 and is used to adjust the height of the main support 5.

[0060] A positioning device is configured to acquire the real-time three-dimensional coordinates of each positioning reference point on the trolley frame.

[0061] Template 1 includes a top mold 101, which is mounted on the top of the trolley frame via a fixed bracket; two side molds 110, which are respectively disposed on both sides of the top mold 101 and hinged to its bottom end; an adjustment device 6 is provided between each side mold 110 and the side wall adjacent to the main bracket 5, which is configured to adjust the rotation angle of the side mold 110 relative to the top mold 101.

[0062] Two correction mechanisms are respectively disposed between the top mold 101 and the two side molds 110. Each correction mechanism is located at one end of the hinge shaft 111 between the corresponding side mold and the top mold. The correction mechanism includes a telescopic device 123, which is fixed on the end face of the side mold 110 and extends outward in a direction parallel to the hinge shaft 111. An L-shaped bracket 122 has one support rod arranged parallel to the telescopic device 123 and its outer end fixedly connected to the end face of the top mold 101 through a base 121. The outer end of the other support rod is fixedly connected to the telescopic end of the telescopic device 123. The two support rods of the L-shaped bracket 122 are arranged vertically and their inner ends are hinged to each other to accommodate the hinged rotation between the side mold 110 and the top mold 101.

[0063] The control console includes a controller that is electrically connected to the walking mechanism 8, the lifting device 7, the positioning device, the adjusting device 6, and the telescopic device 123.

[0064] In the above technical solution, the top formwork 101 and the two side forms 110 together constitute a continuous and complete tunnel lining template. Its structural dimensions are adapted to the designed tunnel inner lining surface. The hinge shaft 111 between the top formwork and the side forms is set along the length direction of the trolley frame. The template is installed by fixing the top formwork 101 (to the main support 5) and hinged the side forms 110 (to the top formwork 101). Thus, on any construction section, the height position of the overall template 1 (i.e., the vertical opening position) can be adjusted by the lifting device 7, and the deflection angle of the side forms 110 relative to the top formwork 101 (i.e., the lateral opening position) can be adjusted by the adjusting device 6. At the same time, considering the size and weight of the template, the hinge structure between the side forms and the top formwork may experience torsional deviation during rotation, that is, the side forms deviate from the front / back direction of the current construction section. Therefore, an additional correction mechanism is added between the top formwork and the side forms to adjust the possible torsional deviation between the side forms and the top formwork. The lifting device can be a lifting cylinder, with its fixed end fixed to the crossbeam and its pushing end extending vertically upward and fixedly connected to the main support. The adjustment device can be a horizontal cylinder, with its two ends hinged to the inner wall of the side mold and the outer wall of the main support, respectively. Specifically, in this embodiment, both the lifting cylinder and the horizontal cylinder are high-precision pressure and displacement dual-control cylinders, which can effectively improve the template control accuracy, control the opening and closing positioning error to within 1mm, and ensure that the template adjustment operation is completed within 10 minutes. In addition, multiple connecting screws 3 are provided between the template 1 and the trolley frame (main support 5). The two ends of any connecting screw 3 are hinged to the template 1 and the main support 5 respectively. The connecting screw 3 between the top mold 101 and the main support 5 is supported on both sides of the bottom of the top mold to ensure the stability of the trolley frame's support for the top mold. The connecting screws 3 between the side mold 110 and the main support 5 are spaced along the arc-shaped contour line of the side mold, used to further fix the side mold after the side mold posture adjustment is completed, i.e., to lock the current opening state of the side mold. This effectively ensures the stability of the overall template structure during subsequent lining construction while reducing equipment costs. The telescopic device can be a telescopic hydraulic cylinder. The telescopic hydraulic cylinder is controlled to push / retract according to the direction of the side mold's torsion relative to the top mold during actual construction. When the template's opening posture is adjusted, i.e., after the lifting device and the adjusting device's actuators (cylinders) have both acted, such as... Figure 6As shown, on the longitudinal section (side elevation) of the tunnel, the side formwork is twisted relative to the top formwork. Before the twisting correction, the end face 124 of the side formwork is deflected outward relative to the end face of the top formwork. At this time, it is necessary to control the telescopic cylinder to push the end face of the side formwork inward so that the end face 125 of the side formwork and the end face of the top formwork are on the same plane after the twisting correction. This effectively reduces the risk of torsional deviation in the hinge area between the side formwork and the top formwork during lining construction, which may lead to poor lining quality and ensures the construction quality between adjacent formworks.

[0065] The controller is configured to align the trolley frame with its design coordinates based on the positioning data from the positioning device, and to dynamically adjust the posture of the template. Controlling the alignment of the trolley frame with its design coordinates includes controlling the displacement direction and displacement coordinates. Specifically, multiple positioning reference points can be set on the trolley frame, and the design coordinates of each reference point on different construction sections are calibrated using GNSS equipment. The positioning device can be a matching reflecting prism and total station, or laser positioning equipment, etc., and its installation position can be selected according to measurement requirements. By measuring the coordinates or distances of each positioning device installation point, the real-time three-dimensional coordinates of each positioning reference point on the trolley frame can be directly obtained or calculated. During the movement of the template trolley, the controller compares the real-time coordinates of the positioning reference points fed back by the positioning device with the design coordinates of each positioning reference point at the same mileage in the tunnel in the database. Based on the difference, the controller adjusts the working state of the walking mechanism so that when the trolley frame moves to the designed construction position, the real-time three-dimensional coordinates of each positioning reference point coincide with the design coordinates, thus ensuring that the trolley frame can accurately move to the designed construction point. On the other hand, when the controller adjusts the working state of the traveling mechanism, it also needs to adjust the traveling direction of the trolley frame according to the difference between the travel trajectory line formed by the real-time coordinates of the positioning reference point and the travel trajectory line formed by the design coordinates. This ensures that when the trolley frame moves into place, its real-time moving direction (trolley frame orientation) is the same as the design moving direction. At this time, the template posture (orientation) on the trolley frame is exactly in line with the design state. Thus, the initial posture of the template after moving into place is close to the preset construction state, reducing the amount of subsequent adjustment work.

[0066] After the formwork frame is moved into place, the posture of the top and side forms can be dynamically adjusted according to the design (lining) outline of the construction section. Since the position of the formwork frame in the tunnel has been precisely positioned, the outline of the formwork on the current construction section can be obtained according to the design structure of the formwork trolley, and then the adjustment parameters to make the formwork outline coincide with the design outline can be calculated. The posture adjustment of the formwork includes opening and closing adjustment and torsional deviation adjustment. Opening and closing adjustment includes adjusting the overall height of the formwork and adjusting the opening angle of the side formwork relative to the top formwork. Specifically, the lifting device 7 adjusts the height of the main support 5 relative to the crossbeam 2 through the action of the hydraulic cylinder, thereby realizing the height position adjustment of the overall formwork in the tunnel. The adjusting device 6 adjusts the lateral distance of the side formwork 110 relative to the main support 5 through the action of the hydraulic cylinder, so that the side formwork 110 rotates relative to the top formwork 101 to realize opening and closing. The torsional deviation can be visually confirmed by the construction personnel or identified with the help of conventional vision equipment, and then corrected by the corresponding correction mechanism.

[0067] The control console also includes a control panel, which is equipped with buttons for switching between various working modes of the template trolley. The working modes of the template trolley include start mode, travel mode, mold opening mode, mold closing mode, and stop mode. Construction personnel need to judge the current construction status (progress) according to the actual construction situation and then select the appropriate trolley construction mode. After receiving the corresponding mode switching command, the controller can automatically execute the corresponding control process. In addition, the control panel is also equipped with manual adjustment buttons for each actuator of the traveling mechanism, lifting device, adjustment device, and telescopic device. That is, in addition to automatic control, construction personnel can also manually adjust the status of each actuator according to the actual working conditions. For example, if the mold opening and closing or traveling is not in place under automatic control, manual adjustment can be performed through the above-mentioned manual adjustment buttons to ensure that the template trolley is accurately positioned and the template posture meets the design requirements.

[0068] Furthermore, the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley also includes multiple construction platforms 4, which are spaced apart along the height direction on both sides of the trolley frame. One end of any construction platform 4 is fixed to the outer wall of the trolley frame, and the other end extends along the width direction of the trolley frame towards the inner wall of the side formwork 110. In this embodiment, the construction platform 4 includes a fixed plate and a sliding plate, which are continuously arranged along the width direction of the trolley frame. The fixed plate is horizontally fixed to the outer wall of the trolley frame; the sliding plate is disposed at the outer end of the fixed plate and slidably sleeved with it. A driving mechanism is provided between the sliding plate and the fixed plate, which is configured to control the relative displacement between the sliding plate and the fixed plate. The driving mechanism is electrically connected to the controller. Thus, the extension length of the sliding plate of each construction platform can be adaptively adjusted according to the opening condition of the side formwork, which facilitates the disassembly and adjustment of each connecting screw 3 by construction personnel, and assists in the smooth and stable construction of the formwork.

[0069] In another technical solution, the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley includes a walking mechanism 8 comprising:

[0070] Track 807 is an I-shaped track that is parallel to the corresponding crossbeam 2 and has a track groove in the middle of its top plate along the length direction.

[0071] Multiple support frames are spaced apart at their bottoms along the length of the crossbeam 2. Each support frame is rotatably connected to the crossbeam 2 in the horizontal direction via a vertical rotation mechanism. Multiple traveling wheels 803 and multiple sets of rail support wheels 801 are spaced apart at the bottom of the support frame along the length of the track. Each traveling wheel 803 is rotatably connected to the support frame and moves along the track groove under the action of the first driving device 809. Each set of rail support wheels consists of two rail support wheels 801, which are located on both sides of the track 807 and connected to the support frame via side brackets. Each rail support wheel 801 is located in the side opening groove of the I-shaped track and its wheel surface abuts against the bottom surface of the track top plate. The wheel axle of the rail support wheel is arranged along the width direction of the track and rotates under the action of the second driving device.

[0072] Multiple ground support devices 805 are spaced apart along the length of the crossbeam 2. One end of any ground support device 805 is fixed to the bottom of the crossbeam 2, and the other end is set facing the ground. The ground support device is configured to adjust the height of the crossbeam 2 relative to the ground.

[0073] In the above technical solution, based on the tunnel design parameters and the structure of the template trolley, the controller also presets the movement trajectory points of the walking mechanism 8 at different mileages in the tunnel, and its coordinates are also calibrated by GNSS equipment; during construction, the walking mechanism 8 moves along the preset movement trajectory under control. Each support frame and ground support device 805 is staggered in the length direction of the track, and each walking wheel 803 and each pair of rail support wheels 801 are staggered in the length direction of the track 807 (support frame). In this embodiment, the ground support device 805 has a portal-shaped structure, with its top beam horizontally fixed at its bottom along the width direction of the crossbeam, and two vertical beams fixed at both ends of the top beam. Each vertical beam is set in the vertical direction and has a ground support cylinder at its bottom. Thus, the position of the ground support cylinder can be staggered from the middle of the track, so that the jacking end is set directly opposite the ground on both sides of the track.

[0074] The traveling mechanism has two working states, corresponding to the two working modes of the template trolley: traveling mode and rail feeding mode. This is achieved by adding corresponding control modes to the controller and corresponding switching buttons to the control panel. Specifically, in traveling mode, the rail 807 is supported on the ground, and the trolley frame is supported on the rail 807 by traveling wheels 803 at the bottom of the support frame. The first drive device 809 drives the traveling wheels 803 to rotate, causing the trolley frame to travel along a set position and direction under the constraint of the rail groove. This method effectively limits the movement trajectory of the template trolley, which helps ensure the accuracy of its movement points. In the rail-feeding mode, the traveling wheel 803 stops moving. The jacking end of the ground-supporting cylinder is controlled to move until it touches the ground and then continues to push downwards, causing a change in the force support system of the formwork trolley. The traveling wheel 803 is lifted off the ground along with the support frame and crossbeam 2. At the same time, the force support system of the track 807 also changes. The rail support wheel 801 is supported at the bottom of the track top plate when it is lifted along with the support frame and crossbeam 2, and it drives the track 807 to be lifted off the ground as well. At this time, although the traveling wheel is still in the track groove, the track no longer bears the weight of the trolley. The second drive device drives the rail support wheel 801 to rotate, which drives the track 807 to move forward a set distance. Finally, the jacking end of the ground-supporting cylinder is controlled to slowly reset, placing the track back on the ground, thus completing the switch from the rail-feeding mode to the traveling mode. By repeating the above traveling and rail-feeding steps, the formwork trolley can switch between traveling and rail-feeding modes and perform corresponding actions repeatedly, thereby realizing the movement of the track in the tunnel. Furthermore, in the rail-feeding mode, since the support frame and the track below it are both suspended, when the preset movement trajectory in the controller at the corresponding mileage changes direction or the coordinates of the trolley frame positioning reference point measured in real time deviate from the design coordinates, the vertical rotation mechanism can be driven to control the support frame to rotate horizontally relative to the crossbeam. The track also rotates synchronously under the limiting action of the traveling wheels and the rail support wheels, thus adjusting the rail-feeding direction. At this time, driving the rail support wheels to rotate will cause the track to move forward along the adjusted direction. After the ground-supporting cylinder resets and the track is supported on the ground again, the vertical rotation mechanism is controlled to continue operating, so that the trolley frame above (relative to the new track setting direction) returns to the correct position, thus completing the adjustment of the template trolley's traveling direction. The first and second drive devices can both be variable frequency drive motors, which are mounted on the support frame. The vertical rotation mechanism can be a rotary motor. All the above-mentioned actuators (motors) are electrically connected to the controller.

[0075] In another technical solution, the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley includes an upper support 808 and a lower support 802. The upper support 808 is supported on the top of the lower support 802 and is slidably connected to the lower support 802 along the width direction of the crossbeam 2 via a transverse sliding pin 810. The upper support 808 slides relative to the lower support 802 under the action of the adjustment device.

[0076] The adjustment device includes multiple adjustment mechanisms, which are spaced apart along the length of the crossbeam 2. Each adjustment mechanism includes two first grounding screws 9, which are symmetrically arranged on the bottom inner side of the two side molds. One end of each first grounding screw 9 is hinged to the bottom end of the corresponding side mold 110, and the other end is anchored to the ground. Two second grounding screws 10 are symmetrically arranged on the bottom inner side of the two crossbeams 2. One end of each second grounding screw 10 is hinged to the bottom end of the corresponding crossbeam, and the other end is anchored to the ground.

[0077] During the positioning of the formwork trolley, its longitudinal travel can be precisely aligned by controlling the position of the traveling wheels on the track. However, it is also limited by the track layout and setting direction. When the trolley travels to the designated construction position (tunnel mileage), the lateral position of the trolley may deviate from the design coordinates. That is, the centerline of the trolley frame in the current construction section deviates from the tunnel centerline. At this time, the lateral position of the trolley frame can be adjusted by the adjustment device to achieve centering. The above adjustment process belongs to the centering working mode of the formwork trolley. Correspondingly, a corresponding centering control mode is added to the controller, and a corresponding switching button is added to the control panel.

[0078] Specifically, the upper support 808 is rotatably connected to the crossbeam 2 via a vertical rotation mechanism. The traveling wheel 803 and the rail support wheel 801 are located at the bottom of the lower support 802, and the transverse movement pin 810 is arranged along the width direction of the crossbeam 2. One end of each grounding screw is hinged to the bottom of the side formwork / crossbeam, and the other end is inclined downwards towards the tunnel centerline and fixed to the ground by the anchoring device 11 (anchor bar). Once the trolley has reached its designated position, the first and second grounding screws are installed, forming stable auxiliary support structures at the bottom of the trolley frame and the bottom of the formwork. These structures distribute the pressure of the trolley frame and formwork's weight on the traveling mechanism and prevent the trolley from moving further. Then, based on the real-time coordinate data of each positioning reference point on the trolley frame fed back by the positioning device, it is determined whether there is any lateral deviation in the trolley frame. If so, the second grounding screw 10 is controlled to move, finely adjusting the trolley frame (crossbeam) in the set adjustment (correction) direction. If the trolley frame has a leftward offset, the second grounding screw on the left is controlled to retract, and the second grounding screw on the right is controlled to extend, causing the crossbeam to move to the right until the real-time coordinates of the positioning reference points completely coincide with the design coordinates. At this point, the centerline of the trolley frame also coincides with the centerline of the tunnel, thus completing the centering adjustment of the trolley frame. This further improves the positioning accuracy of the trolley frame and helps ensure the quality of subsequent construction. Here, the first grounding screw mainly serves to support the formwork and accommodate the slight displacement of the formwork with the trolley frame.

[0079] During subsequent top mold and side mold posture adjustment, the connection between the first grounding screw 9 and the connecting screw 3 and the side mold 110 can be temporarily disconnected. After the mold posture adjustment is completed, the first grounding screw 9 and each connecting screw 3 are then tightened to ensure the stability of the side mold posture. The first and second grounding screws and each connecting screw can be electric screws or hydraulic screws, which can be extended and retracted under the control of the controller.

[0080] In another technical solution, the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley includes a walking mechanism further comprising multiple rail-supporting cylinders 804, which are spaced apart along the length of the crossbeam 2. One end of each rail-supporting cylinder 804 is fixed to the bottom of the crossbeam 2, and the other end is positioned opposite the track 807. The bottom end of the rail-supporting cylinder 804 engages with the track groove. When the walking mechanism travels along the track, the bottom end of the rail-supporting cylinder moves synchronously along the track groove, thereby assisting in limiting the walking direction of the trolley frame. After the formwork trolley reaches its designated position, the rail-supporting cylinders can apply downward pressure to the track base plate, preventing track deviation on the ground during subsequent formwork adjustment and lining construction, and also locking the position of the crossbeam relative to the track, preventing longitudinal deviation of the trolley frame relative to the track.

[0081] In another technical solution, the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley includes a positioning device comprising multiple laser sensors spaced apart on the crossbeam, wherein the laser emission directions of the multiple laser sensors include the length direction, width direction, and height direction of the crossbeam; and multiple laser receiving plates, which are correspondingly arranged on the ground to the multiple laser sensors.

[0082] In the above technical solution, multiple laser sensors of the positioning device are symmetrically arranged on two crossbeams. The inner side of each crossbeam has a corresponding positioning device mounting point 806. Laser sensors with different laser emission directions can be spatially staggered to avoid interference between laser signals. In this embodiment, a laser sensor with its laser emission direction along the length of the crossbeam towards the front of the trolley's travel direction is designated as the first laser sensor; a laser sensor with its laser emission direction along the width of the crossbeam towards the inner side is designated as the second laser sensor; and a laser sensor with its laser emission direction vertically downwards along the height of the crossbeam is designated as the third laser sensor. The multiple laser receiving plates include two first laser receiving plates, symmetrically arranged on both (inner) sides of the trajectory line of the traveling mechanism set in the next construction section. Each laser receiving plate is directly opposite the first laser sensor located on the same side of the crossbeam and is used to reflect the laser signal emitted by the first laser sensor. Two second laser receiving plates are also symmetrically arranged on both (inner) sides of the trajectory line of the traveling mechanism set in the next construction section. Each second laser receiving plate is directly opposite the second laser sensor located on the same side of the crossbeam and is used to reflect the laser signal emitted by the second laser sensor. Multiple sets (not limited to two) of the second laser receiving plate can be spaced apart along the trajectory line. The installation position of each laser receiving plate is calibrated using GNSS equipment. Therefore, during the movement of the template trolley, by reading the measurement data from each laser sensor, the distances between the first laser sensor and its corresponding laser receiving plate, the distances between the second laser sensor and its corresponding laser receiving plate, and the distance of the third laser sensor from the ground can be obtained. Given the three-dimensional coordinates of each laser receiving plate and the coordinates of each laser sensor relative to the crossbeam, the real-time three-dimensional coordinates of each positioning reference point on the trolley frame can be calculated (by calculating the horizontal longitudinal coordinates, horizontal transverse coordinates, and vertical height coordinates of the positioning device installation point using the distance measurement data of each laser sensor, and then converting the coordinates of the positioning reference point using the trolley frame design data). The installation position of the laser receiving plate needs to be adjusted promptly according to the construction progress.

[0083] In another technical solution, the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley includes a fixed support comprising multiple fixed beams 104, which are fixed at intervals to the top of the trolley frame; a horizontal support 103, which is a planar frame structure fixedly mounted on the multiple fixed beams; and multiple vertical supports 102, which are spaced apart along the length of the trolley frame. Each vertical support 102 includes multiple uprights, which are spaced apart along the width of the trolley frame. The height of each upright is set according to the inner contour line of the top formwork. One end of each upright is fixed to the top of the horizontal support 103, and the other end is fixedly connected to the inner sidewall of the top formwork 101. The fixed support is used to stably fix the top formwork to the top of the main support. The height of each upright is set according to the inner contour line of the top formwork, enabling the top formwork to be fixedly supported and kept upright on the main support of the trolley frame. Both the horizontal and vertical supports are made of steel frames.

[0084] In another technical solution, the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley is provided with a torsional deviation measuring device between any side formwork 110 and the top formwork 101, which is correspondingly set with the correction mechanism. The torsional deviation measuring device includes two sets of deviation sensing devices, which are respectively set on both sides of the correction mechanism. Each set of deviation sensing devices includes a laser emitter and a laser receiver, which are opposite to each other on the end faces of the top formwork and the side formwork. The two laser emitters of the two sets of deviation sensing devices are respectively located on the end faces of the top formwork and the side formwork.

[0085] Where there is no torsional deviation between the side mold and the top mold, the laser emitting end of the laser emitter and the laser receiving end of the laser receiver in the same group are positioned facing each other.

[0086] In the above technical solution, to address the difficulties in monitoring torsional deviation between the top mold and the side mold, and the inconvenience and inaccuracy of conventional visual monitoring methods, a torsional deviation measurement device was designed. This device determines whether a torsional offset has occurred between the top mold and the side mold by measuring the magnitude of the current generated after the laser emitted by the corresponding laser emitter is received by a laser receiver. Specifically, the laser emitter located on the side mold is designated as the first laser emitter 201, the laser receiver located on the top mold is designated as the first laser receiver 202, the laser emitter located on the top mold is designated as the second laser emitter 211, and the laser receiver located on the side mold is designated as the second laser receiver 212. Each laser receiver is electrically connected to the controller. When the external angle (normally 180°) between the side mold and top mold end faces at the end where the correction mechanism is located increases, the laser emitted by the laser emitter scatters outward; when the external angle decreases, the laser emitted by the laser emitter deflects inward, and although the laser deviates from the position of the laser receiver, it still illuminates the end face of the template. The intensity of the electrical signal generated by the laser receiver varies depending on the two different directions of torsion. Based on this, the adjustment direction of the correction mechanism can be determined and its operation controlled. When the laser receiver signals of both sets of deviation sensing devices return to their initial (maximum value) state, it indicates that the torsion correction of the current side mold is complete. The staggered setting of the two sets of deviation sensing devices avoids random errors that occur in single-set measurements. Furthermore, because the actual installation distance between the laser emitter and the mechanism receiver in the deviation sensing device is relatively close, and the receiving plate of the laser receiver has a certain width, the deviation in the laser emission direction that occurs during the normal hinged rotation of the side mold and top mold will not affect the reception of the laser signal.

[0087] The present invention also provides a control method for the above-mentioned multi-degree-of-freedom attitude control system of the formwork trolley for long open-cut lining, which specifically includes the following in this embodiment:

[0088] S1. Collect the route planning map of the open-cut tunnel project to be built, and construct a three-dimensional model of the overall route and elevation space of the tunnel to be built based on the design parameters and GNSS technology. Determine the three-dimensional spatial position and coordinate points of the tunnel lining structure on different construction sections, form the design outline 502 (lining outline), and set the design trajectory line of the template trolley. At the same time, according to the length of the template trolley (template structure length), divide the construction area into multiple construction sections along the tunnel length direction.

[0089] S2. Establish a correction prediction model based on the historical construction data of the template trolley; wherein, the historical construction data used includes the construction data of the test section, which is a construction section in which a certain area is selected in the tunnel for trial construction before formal construction.

[0090] S3. The control vehicle frame moves along the designed trajectory line to the mileage corresponding to the first construction section via the walking mechanism 8, including:

[0091] S31. Based on the engineering design parameters, and with the help of GNSS positioning and total station measurement technology, measure and calibrate the coordinates of the positioning reference point of the trolley frame in each construction section at the set construction position, the position of the laser receiving plate (positioning device) to be deployed on the ground, and the trajectory position of the walking mechanism 8, and install the laser receiving plate in the current construction section.

[0092] S32. Install track 807 at the starting point of the current construction section according to the trajectory of the walking mechanism 8. Switch the controller to walking mode and control the walking mechanism 8 to drive the trolley frame to walk along the track 807.

[0093] S33. Based on the coordinate data fed back by the positioning device, determine the real-time mileage of the trolley frame moving in the tunnel. If the trolley frame has not reached the set construction position (mileage) of the current construction section when it has traveled to the distance where it is about to derail, the controller switches to the rail delivery mode. The ground support device 805 is used to lift the rail 807 off the ground (rail lifting), and the second drive device is used as the power source and the rail support wheel 801 is used as the support to move the rail 807 forward along the set trajectory direction (rail delivery). The direction of movement of the rail can be adjusted by the vertical rotation mechanism (rail correction).

[0094] In addition, by using the positioning data fed back in real time by the positioning device, when it is found that the coordinates of the positioning reference point on the trolley frame deviate from the design coordinates of the current tunnel section, the movement of the trolley frame can be stopped, and then the same method can be used to carry out the lifting, straightening and sending of the rails to ensure that the trolley frame moves strictly along the set trajectory.

[0095] S34. After the track moves forward a set distance, retract the ground support device 805, place the track 807 back on the ground, and then switch to the walking mode. The first drive device 809 continues to drive the trolley frame to move along the track.

[0096] S35. Repeat steps S33-S34 until the trolley frame reaches the set construction position (mileage) of the current construction section, stop moving, and use multiple sets of adjustment mechanisms (first grounding screw 9, second grounding screw 10) to fix and support the template 1 and the trolley frame on the ground.

[0097] S4. Using the positioning data from the positioning device to control the alignment of the trolley frame with its design coordinates relative to the positioning reference point, which includes:

[0098] The controller switches to centering mode, uses a total station to determine the center of the tunnel and the center of the formwork trolley, and uses multi-directional (length, width and height) laser sensors installed on the crossbeam 2 to measure and calculate the three-dimensional coordinates of each positioning reference point on the trolley frame, and compares them with the design coordinates at the current construction section. Based on the above positioning data (the difference between the actual coordinates and the design coordinates of the positioning reference points) and the monitoring results of the total station, the controller controls the action of each adjustment mechanism to fine-tune the lateral position of the trolley frame until the trolley frame is completely aligned with the current construction section, thus achieving precise positioning control of the formwork trolley in three dimensions.

[0099] S5. Based on the correction prediction model, predict the control parameters within the current construction section to adjust the formwork posture to coincide with the design outline, and dynamically adjust the posture of the top formwork 101 and the two side forms 110 through the lifting device 7 and the adjusting device 6 respectively. That is, the controller switches to the formwork opening mode, and corrects the actual formwork outline 501 according to the design outline 502 of the current construction section, including:

[0100] S51. Based on the prediction data of the correction prediction model, the stroke of the lifting device 7 is automatically fine-tuned (or manually controlled by the manual adjustment button). By controlling the stroke and pressure of the lifting cylinder, the top mold is ensured to rise and fall with the main support to the specified outline. For example, when the actual top mold trajectory line is higher than the design trajectory line, the cylinder is retracted to reduce the overall vertical height of the template; otherwise, the cylinder is extended to raise the overall vertical height of the template.

[0101] S52. Based on the prediction data of the correction prediction model, the stroke of the adjustment device 6 is automatically fine-tuned (or manually controlled by the manual adjustment button). The stroke and pressure of the horizontal cylinder are controlled to ensure that the side mold opens and closes to the specified contour line. After the automatic adjustment is completed, the side mold is fixed by adjusting the multiple connecting screws 3 between the side mold 110 and the main support 5 (the connection between the connecting screws and the side mold needs to be temporarily disconnected during the adjustment of the top mold and the side mold) to facilitate the subsequent lining pouring construction.

[0102] S6. Based on the torsional deviation data measured by the torsional deviation measuring device, the torsional deviation between the top mold 101 and each side mold 110 is corrected by the telescopic device 123. Then, the steel reinforcement binding and concrete pouring operations of the current construction section are completed, and the trolley frame is controlled to travel along the design trajectory to the mileage corresponding to the next construction section. Specifically, the trolley frame is driven to move along the track to the next construction section, and the traveling mechanism is controlled by the method of S33-S35 until the trolley frame reaches the set construction position (mileage) of the next construction section.

[0103] As this formwork trolley is a steel reinforcement formwork construction trolley, after the steel reinforcement binding operation of the current construction section is completed under its support, the steel reinforcement is suspended through the top lifting point, and the steel reinforcement formwork construction trolley can be moved forward to the next construction section, and the concrete pouring trolley can be moved to this construction section to carry out concrete pouring and curing operations.

[0104] S7. Repeat steps S4-S6 until the tunnel lining construction of all construction areas is completed.

[0105] In the above technical solution, by establishing and using a correction prediction model, the automatic adjustment of the formwork posture in each construction section is realized, which greatly improves the adjustment frequency and autonomy of each formwork on the formwork trolley, improves the intelligence and automation level of the formwork trolley, and further improves the overall construction efficiency and quality of the tunnel.

[0106] In this embodiment, the cut-and-cover tunnel project to be constructed is a 5km cut-and-cover tunnel project. The formwork structure of the formwork trolley is 9m long, and the entire line is divided into 9m segments for construction. When the trolley frame travels to the mileage corresponding to each construction segment, the formwork can just cover the entire construction area of ​​the corresponding construction segment. It is worth noting that during the correction process in S5, in conjunction with the formwork structure, the formwork zoning line 12 is used to divide the formwork 1 into four zones for attitude control, such as... Figure 9-10 As shown, the two side molds 110 correspond to the left mold area and the right mold area respectively, and the top mold 101 is divided into the left top mold area and the right top mold area along the tunnel centerline. Thus, during the template posture adjustment process, it is convenient to perform fine control on different actuators according to the partition template posture, which is beneficial to improve the accuracy of template posture control.

[0107] In another technical solution, the control method of the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley, in S2, includes the method of establishing a correction prediction model, which includes:

[0108] S21. The displacement of the top mold and each side mold is acquired in real time through monitoring equipment, and the monitoring data is transmitted to the controller;

[0109] The monitoring equipment can be a combination of linear displacement sensors and angular displacement sensors. Each displacement sensor is set on each template to obtain the lateral and vertical displacement of the feature points on each template on the current construction section.

[0110] S22. The working data and monitoring data of the template trolley are analyzed using the Pearson correlation coefficient method to establish the relationship between the trolley operation parameters and the template posture parameters. The trolley operation parameters include the control parameters of the lifting device and the adjusting device, and the template posture parameters include the displacement parameters of the top mold and each side mold in different directions. Variables that are not related to the target parameters are removed from the data during the analysis.

[0111] S23. Using the GRU algorithm, the input and output data are processed into time series. Based on the design data, monitoring data and working data of the formwork trolley in N consecutive construction sections, the formwork attitude parameters of the N+1th construction section are predicted. Combined with the analysis conclusion of S22, the trolley operation parameters of the N+1th construction section are further predicted. The prediction results are integrated to form a composite correction prediction model.

[0112] The design data includes the three-dimensional coordinates of each positioning reference point on the trolley frame in each construction section at the set construction position (mileage), and the design (lining) outline position at the corresponding construction section; the monitoring data includes the displacement of each template changing with time and mileage; the working data of the template trolley includes the working status of each actuator used for template posture adjustment in different construction sections, and the measurement data of the positioning device in each construction section.

[0113] The above data are analyzed and calculated, and the benchmark judgment parameters, template adjustment logic, and template correction amplitude are studied. The benchmark judgment parameters are the comparative analysis of the design parameters of the Nth construction section and the N+1th construction section. The template adjustment logic is the action pattern of each actuator used for template adjustment under different differences between the template outline and the design outline. For example, if the top formwork height has been adjusted to the calibrated position, but the left formwork outline is still lower than the design outline of that area (the difference is negative), it indicates that the left formwork has not been lifted into place, and the corresponding cylinder stroke needs to be increased; conversely, the cylinder stroke is decreased. The template correction amplitude is the specific stroke value of each actuator under different benchmark judgment conditions in the above analysis of the actuator action patterns. The position of the template outline 501 can be calculated by combining the monitoring data (temple displacement data) and the measurement data (trolley frame coordinates) of the positioning device in each construction section. Through learning, the changes in the formwork posture of the N+1th construction section and its corresponding operating parameters (control parameters) can be predicted based on the changes in the design parameters of the N+1th construction section and the posture of the trolley and formwork in the Nth construction section. As the formwork trolley moves to the N+1th construction section, the data sequence continuously scrolls, thereby achieving real-time continuous prediction.

[0114] The prediction parameters of the composite correction prediction model include the displacement change value required to adjust each partition template to the design outline, the adjustment stroke of the lifting device and the adjustment device, the deviation amount, the deviation trend, etc. Each parameter is trained independently, and the composite correction prediction model is a collection of multiple prediction parameters.

[0115] S23. The prediction effect of the composite correction prediction model is comprehensively evaluated by the root mean square error, mean absolute error, and coefficient of determination. The composite correction prediction model is trained and optimized using machine learning algorithms through the Keras neural network library and Scikit-learn machine learning library on the Tensorflow platform. As the formal construction progresses, the composite correction prediction model can be continuously trained and optimized using constantly updated construction data to improve the prediction accuracy.

[0116] In the above technical solution, the construction data can be classified according to the characteristics of different construction sections, and correction prediction models under different construction conditions can be established. For example, correction prediction models for the formwork trolley can be established for different situations such as the construction section being an uphill section, downhill section, or turning section. In actual construction, it is first determined which situation the current construction section belongs to, and then a suitable correction prediction model is selected to predict the control parameters used to adjust the posture of the formwork.

[0117] In another technical solution, the control method of the multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley, in step S2, includes the working data of the formwork trolley, which includes the working parameters of each actuator of the lifting device and the adjusting device in multiple consecutive construction sections. These working parameters require preprocessing before use, including: using a big data automatic segmentation algorithm to segment the data; using the 3δ criterion to identify and process discrete values; using Python's Time module to identify missing values; and using high-pass and low-pass filtering methods to filter and reduce noise in the data. The actuators here mainly include the cylinders of the lifting device and the adjusting device, and their working parameters include cylinder stroke, deviation, and other data. Preprocessing ensures the continuity and integrity of the construction data during subsequent data analysis, improving the accuracy and reliability of the correction prediction model.

[0118] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A multi-degree-of-freedom attitude control system for a long open-cut lining formwork trolley, characterized in that, include: The trolley frame, including the main support, is a three-dimensional frame structure; Two crossbeams are respectively supported on both sides of the bottom of the main support. Each crossbeam is arranged along the length of the trolley frame and supported on the ground by a traveling mechanism. The traveling mechanism is configured to drive the trolley frame to travel along the ground. A lifting device is disposed between the crossbeam and the main support and is used to adjust the height of the main support. A positioning device is configured to acquire the real-time three-dimensional coordinates of each positioning reference point on the trolley frame. The template includes a top mold, which is mounted on the top of the trolley frame via a fixed bracket; two side molds, which are respectively located on both sides of the top mold and hinged to its bottom end; an adjustment device is provided between each side mold and the side wall adjacent to the main bracket, which is configured to adjust the rotation angle of the side mold relative to the top mold. Two correction mechanisms are respectively disposed between the top mold and the two side molds. Each correction mechanism is located at one end of the hinge shaft between the corresponding side mold and the top mold. The correction mechanism includes a telescopic device, which is fixed to the end face of the side mold and extends outward in a direction parallel to the hinge shaft; an L-shaped bracket, one of which is arranged parallel to the telescopic device and its outer end is fixedly connected to the end face of the top mold, and the outer end of the other bracket is fixedly connected to the telescopic end of the telescopic device. The control console includes a controller that is electrically connected to the walking mechanism, the lifting device, the positioning device, the adjusting device, and the telescopic device.

2. The multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley as described in claim 1, characterized in that, The walking mechanism includes: The track is an I-shaped track set parallel to the corresponding crossbeam, and a track groove is provided in the middle of the top plate along the length direction; Multiple support frames are spaced apart at their bottoms along the length of the crossbeam. Each support frame is rotatably connected to the crossbeam in the horizontal direction via a vertical rotation mechanism. The bottom of each support frame is provided with multiple traveling wheels and multiple sets of rail support wheels spaced apart along the length of the track. Each traveling wheel is rotatably connected to the support frame and moves along the track groove under the action of a first driving device. Each set of rail support wheels consists of two rail support wheels located on both sides of the track and connected to the support frame via side brackets. Each rail support wheel is located in the side opening groove of the I-shaped track and its wheel surface abuts against the bottom surface of the track top plate. The wheel axle of the rail support wheel is arranged along the width direction of the track and rotates under the action of a second driving device. Multiple ground support devices are spaced apart along the length of the crossbeam. One end of each ground support device is fixed to the bottom of the crossbeam, and the other end is positioned facing the ground. The ground support device is configured to adjust the height of the crossbeam.

3. The multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley as described in claim 2, characterized in that, The support frame includes an upper support and a lower support. The upper support is supported on the top of the lower support and is slidably connected to the lower support along the width direction of the crossbeam via a transverse sliding pin. The upper support slides relative to the lower support under the action of the adjustment device. The adjustment device includes multiple adjustment mechanisms, which are spaced apart along the length of the crossbeam. Each adjustment mechanism includes two first grounding screws, which are symmetrically arranged on the bottom inner side of the two side molds. One end of each first grounding screw is hinged to the bottom end of the corresponding side mold, and the other end is anchored to the ground. There are also two second grounding screws, which are symmetrically arranged on the bottom inner side of the two crossbeams. One end of each second grounding screw is hinged to the bottom end of the corresponding crossbeam, and the other end is anchored to the ground.

4. The multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley as described in claim 2, characterized in that, The traveling mechanism also includes multiple rail-supporting cylinders, which are spaced apart along the length of the crossbeam. One end of each rail-supporting cylinder is fixed to the bottom of the crossbeam, and the other end is positioned opposite the track. The bottom end of the rail-supporting cylinder engages with the track groove.

5. The multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley as described in claim 1, characterized in that, The positioning device includes multiple laser sensors spaced apart on the crossbeam, and the laser emission directions of the multiple laser sensors include the length direction, width direction and height direction of the crossbeam; multiple laser receiving plates are arranged on the ground corresponding to the multiple laser sensors.

6. The multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley as described in claim 1, characterized in that, The fixed support includes multiple fixed beams, which are fixed at intervals to the top of the trolley frame; a horizontal support, which is a planar frame structure fixedly mounted on the multiple fixed beams; and multiple vertical supports, which are spaced apart along the length of the trolley frame. Each vertical support includes multiple uprights, which are spaced apart along the width of the trolley frame. The height of each upright is set according to the inner contour line of the top mold. One end of each upright is fixed to the top of the horizontal support, and the other end is fixedly connected to the inner sidewall of the top mold.

7. The multi-degree-of-freedom attitude control system for the long open-cut lining formwork trolley as described in claim 1, characterized in that, A torsional deviation measuring device is also provided between any side mold and the top mold, which is correspondingly arranged with the correction mechanism. The torsional deviation measuring device includes two sets of deviation sensing devices, which are respectively arranged on both sides of the correction mechanism. Each set of deviation sensing devices includes a laser emitter and a laser receiver, which are arranged opposite to each other on the end faces of the top mold and the side mold. The two laser emitters of the two sets of deviation sensing devices are respectively located on the end faces of the top mold and the side mold. Where there is no torsional deviation between the side mold and the top mold, the laser emitting end of the laser emitter and the laser receiving end of the laser receiver in the same group are positioned facing each other.

8. The control method for the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley as described in claim 1, characterized in that, include: S1. Based on design parameters and GNSS technology, construct a three-dimensional model of the tunnel to be constructed, determine the three-dimensional spatial position and coordinate points of the tunnel lining structure on different construction sections, form the design outline and set the design trajectory line of the template trolley, and divide the construction area into multiple construction sections along the tunnel length. S2. Establish a correction prediction model based on the historical construction data of the template trolley; S3. The control vehicle frame of the traveling mechanism travels along the designed trajectory line to the mileage corresponding to the first construction section. S4. Use the positioning data from the positioning device to control the alignment of the trolley frame with the design coordinates of its positioning reference point; S5. Based on the correction prediction model, predict the control parameters in the current construction section to adjust the formwork posture to coincide with the design outline, and dynamically control the posture of the top formwork and the two side forms through the lifting device and the adjustment device respectively. S6. The torsional deviation between the top formwork and each side formwork is corrected by the telescopic device, and then the steel reinforcement binding and concrete pouring operations of the current construction section are completed. The trolley frame is controlled to travel along the design trajectory to the mileage corresponding to the next construction section. S7. Repeat steps S4-S6 until the tunnel lining construction of all construction areas is completed.

9. The control method for the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley as described in claim 8, characterized in that, In S2, the methods for establishing the correction prediction model include: S21. The displacement of the top mold and each side mold is acquired in real time through monitoring equipment, and the monitoring data is transmitted to the controller; S22. The working data and monitoring data of the template trolley are analyzed using the Pearson correlation coefficient method to establish the relationship between the trolley operation parameters and the template posture parameters. The trolley operation parameters include the control parameters of the lifting device and the adjusting device, and the template posture parameters include the displacement parameters of the top mold and each side mold. S23. Using the GRU algorithm, the input and output data are processed into time series. Based on the design data, monitoring data and working data of the formwork trolley in N consecutive construction sections, the formwork attitude parameters of the N+1th construction section are predicted. Combined with the analysis conclusion of S22, the trolley operation parameters of the N+1th construction section are further predicted. The prediction results are integrated to form a composite correction prediction model. S23. The prediction effect of the composite error correction prediction model is comprehensively evaluated by the root mean square error, mean absolute error, and coefficient of determination, and the composite error correction prediction model is trained and optimized by machine learning algorithm.

10. The control method for the multi-degree-of-freedom attitude control system of the long open-cut lining formwork trolley as described in claim 9, characterized in that, In S2, the working data of the template trolley includes the working parameters of each actuator of the lifting device and the adjusting device in multiple consecutive construction sections. The working parameters need to be preprocessed before use, including: using a big data automatic segmentation algorithm to segment the data; using the 3δ criterion to identify and process discrete values; using Python's Time module to identify missing values; and using high-pass and low-pass filtering methods to filter and reduce noise in the data.

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