A method for intelligent displacement and deviation control of a building

Abstract

This invention provides an intelligent building relocation and deviation control method. It adopts two sets of lifting and displacement mechanisms that move alternately. The real-time position of the lifting and displacement mechanisms is located by a laser emitter, and the deviation of the lifting and displacement mechanisms is monitored in real time by a vision sensor. The real-time correction parameters are calculated online, and the computer controls the lifting and displacement mechanisms to correct deviations before each half-step. The method is simple, reliable and effective, realizing intelligent and automated building movement, and can eliminate errors generated during the movement process in real time, thus improving work efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of building relocation construction, and specifically to an intelligent building relocation and deviation control method. Background Technology

[0002] With the rapid development of urbanization in my country, urban planning is changing rapidly. In order to adapt to the new urban planning, it is necessary to relocate existing buildings to suitable locations for reuse. Therefore, building relocation technology has very positive social and economic significance.

[0003] The basic principles and technical processes for relocating existing buildings are as follows: The building is cut along a plane at its lower part, separating it from the foundation to form a movable "object." Support beams or other structures are installed at the cut point to provide reliable support during relocation. Simultaneously, a new foundation is installed at the target location. A walking track and mechanism are set between the old and new foundations, and power is applied to move the building along the pre-set walking track to the new foundation. The old and new structures are then connected, and the walking mechanism and track are dismantled, completing the relocation. Due to the large size and poor deformation resistance of existing buildings, the coordination of existing building relocation construction is often poor. The technical measures for handling walking routes and tracks are demanding, difficult to implement, have low precision, and poor results.

[0004] To address these issues, experts and engineers have proposed a walking device and a method for the walking translation of buildings based on this device. The walking device mainly consists of a base, friction pairs, sliding seats, jacking devices, pushing devices, and suspension wheels. During operation, the jacking devices lift the building. Because the coefficient of friction between the friction pairs on the base and the sliding seats is much smaller than the coefficient of friction between the base and the road surface, the pushing devices can push the sliding seats and the jacking devices on them to slide on the base, thereby achieving the displacement of the lifted building. This walking device has a certain degree of adaptability to the flatness of the road surface. By controlling the working state of two sets of collinear, alternately arranged walking devices, the building is given "legs" to walk, allowing it to translate or rotate according to computer instructions, achieving walking displacement. This eliminates the need for dedicated tracks used in traditional jacking or traction-sliding construction methods; only sufficient load-bearing capacity and a basically flat road surface are required. This effectively adapts to uneven road surface settlement during the movement, cleverly realizing the long-distance relocation and reconstruction of existing buildings.

[0005] For example, Chinese patent application CN109339465A discloses a walking device, which includes a base, a sliding seat, a sliding pair, a suspension wheel, a push cylinder, a lift cylinder, a clamp, a top connecting plate, a hook plate, a guide plate, and a vertical guide plate. During operation, the lift cylinder vertically lifts the component, and the push cylinder horizontally pushes it. The pushing force of the cylinder acts between the base and the sliding seat. Since the friction coefficient of the base on the track is much greater than the friction coefficient of the friction pair between the base and the sliding seat, the base will sit on the track and will not move. The sliding seat moves horizontally along with the lift cylinder, thereby driving the component to move together.

[0006] In addition, Chinese patent application CN110158990A discloses a method for alternating step-like translation of a building. In this method, the stepping devices are divided into two groups, A and B. Under the operation of a computer synchronous control system, the vertical cylinders of group A are lifted to a suspended height; the pushing cylinders of group A push forward one stroke; the vertical cylinders of group B lift and replace; the vertical cylinders and pushing cylinders of group A retract; the pushing cylinders of group B lift forward one stroke; the vertical cylinders of group A lift and replace; the pushing cylinders of group A push forward one stroke, and so on, until the building is moved to the designated position.

[0007] However, the existing walking device and alternating step-by-step translation method for buildings still have the following technical limitations: First, the direction of travel must be manually adjusted before each step in the building relocation process; second, for the rotation and translation of the building, the direction of travel of the walking device must be manually adjusted in real time according to the travel route; third, relying on manual control to achieve lateral displacement deviation in building relocation generally requires the setting of lateral displacement limiting measures. Therefore, deviations occurring during building relocation construction need to be adjusted promptly to avoid the accumulation of errors.

[0008] Chinese patent application CN110067404A discloses a correction system and method for building relocation construction, designed to address lateral displacement deviations during building relocation. It primarily utilizes displacement sensors to collect real-time lateral displacement data of the support beam. A hydraulic control system is connected to the displacement sensors and correction jacks to receive the data and control the correction jacks. However, this method requires additional correction jacks, making the entire device more complex. Furthermore, the displacement sensors have limited functionality and are susceptible to interference from external contamination or other factors, affecting measurement accuracy. In complex or changing environments, the displacement sensors may also require additional calibration or adjustment. Therefore, the correction method disclosed in CN110067404A also has certain limitations. In conclusion, although the aforementioned walking device, building relocation method, and correction method represent significant progress compared to traditional technologies, there is still considerable room for improvement in terms of intelligence, automation, efficiency, and quality control. Summary of the Invention

[0009] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of this invention is to provide a method for intelligent displacement and deviation control of buildings, so as to improve work efficiency and realize the intelligent movement and precise control of displacement deviation of buildings.

[0010] The technical solution adopted by this invention to solve its technical problem is:

[0011] A method for intelligent displacement and deviation control of buildings, comprising the following steps:

[0012] S1. A displacement assist device is provided, which includes a displacement monitoring system and a lifting displacement mechanism, wherein the displacement monitoring system includes a computer, a laser emitter and a vision sensor; the lifting displacement mechanism includes a base, a sliding seat slidably connected to the base, a lifter disposed on the sliding seat, a pusher connecting the base and the sliding seat, a top connecting plate connected to the lifter and a steering unit disposed on the lifter;

[0013] S2. Determine the walking route of the building to be moved from its initial position to its target position, and set walking marker lines;

[0014] S3. Determine the number and arrangement of the lifting and displacement mechanisms based on the building's self-weight and structural layout; divide the lifting and displacement mechanisms into a first group of lifting and displacement mechanisms and a second group of lifting and displacement mechanisms. Both the first and second groups of lifting and displacement mechanisms are arranged symmetrically around the building's columns along the travel route.

[0015] S4. Deploy a displacement monitoring system; the laser emitter is installed on the base of the lifting displacement mechanism, and the laser emitter projects a laser beam vertically downward to form a light spot on the road surface; visual sensors are deployed at appropriate positions at the bottom of the building to be moved to monitor the relative positional relationship between the light spot and the walking marking line;

[0016] S5. The computer controls the first set of lifting and displacement mechanisms to lift the building being supported. The second set of lifting and displacement mechanisms is then lifted and suspended in the air. Then, the computer controls the pusher of the first set of lifting and displacement mechanisms to push the sliding seat on the base to move one push stroke, thereby driving the lifter on the sliding seat and the building being supported to move one push stroke together, thus completing the first half-step of the building.

[0017] S6. After the first set of lifting and displacement mechanisms completes the jacking stroke, the position deviation of the second set of lifting and displacement mechanisms suspended on the building is identified; the laser emitter of the base of the second set of lifting and displacement mechanisms is controlled to project a light spot downwards, and the relative positional relationship between the light spot and the walking mark line is measured by the vision sensor, and the deviation error between the second set of lifting and displacement mechanisms and the walking mark line is calculated.

[0018] S7. Correct the position of the building; the computer controls the steering unit of the second set of lifting and displacement mechanisms to rotate a certain angle to eliminate the deviation error;

[0019] S8. After the second set of lifting and displacement mechanisms rotates into position, the computer controls the lifting device of the second set of lifting and displacement mechanisms to lift and support the building upwards. The lifting device and pusher of the first set of lifting and displacement mechanisms retract to their initial state, thereby suspending the first set of lifting and displacement mechanisms on the building. Then, the computer controls the pusher of the second set of lifting and displacement mechanisms to push forward, pushing the sliding seat to move one push stroke on the base, thereby driving the lifting device on the sliding seat and the supported building to move one push stroke together, thus completing the second half-step of the building's movement; at this point, one step of the building's movement is completed.

[0020] S9. After the second set of lifting and displacement mechanisms completes the pushing stroke, the position deviation of the first set of lifting and displacement mechanisms is identified according to steps S6 to S7. Based on the deviation identification, the first set of lifting and displacement mechanisms is corrected by controlling the steering unit of the first set of lifting and displacement mechanisms to rotate a certain angle to eliminate the deviation error.

[0021] S10. After the first set of lifting and displacement mechanisms has rotated into place, repeat steps S5 to S9 until the building moves from the initial position to the target position.

[0022] Preferably, in step S1, the lifting device is a lifting cylinder arranged in the vertical direction, and the pushing device is a pushing cylinder arranged in the horizontal direction.

[0023] Preferably, in step S1, the steering unit of the lifting displacement mechanism includes a motor, a rotating gear, a driven wheel, a follower guide rod, and a follower collar; the driven wheel is fixedly sleeved on the circumference of the top body of the lifting device, the follower collar is supported on the driven wheel, and the follower collar can rotate freely relative to the top body of the lifting device; the follower guide rod is formed by connecting an upper small tube and a lower large tube, and its length can extend and retract with the movement of the telescopic cylinder of the lifting device; the upper end of the upper small tube of the follower guide rod is connected to the top connecting plate, and the lower large tube is connected to the follower collar; the lower end of the follower guide rod is provided with a motor and a rotating gear, and the rotating gear and the driven wheel mesh with each other; when the lifting displacement mechanism is suspended on the building, the rotating gear is driven to rotate by the motor, thereby driving the driven wheel, so that the lifting displacement mechanism rotates relative to the building.

[0024] Preferably, in step S1, the lifting and displacement mechanism further includes suspension wheels, which are arranged around the base. When the lifting and displacement mechanism supports the upper building, the position of the suspension wheels is not lower than the bottom surface of the base. When the lifting device is in the retracted cylinder state, so that the lifting and displacement mechanism is suspended on the building, the suspension wheels extend downward beyond the bottom surface of the base and are supported on the road surface, which facilitates the retraction and reset of the lifting and displacement mechanism's pusher.

[0025] Preferably, in step S2, the planning of the walking route follows the principles of shortest distance and obstacle avoidance, and the displacement of the building may include translation, rotation, or a combination of both.

[0026] Preferably, in step S2, the roadbed and pavement of the travel route are pre-treated to make the pavement basically flat and ensure that the bearing capacity and deformation of the roadbed meet the requirements of supporting the lifting and displacement mechanism and the building it supports.

[0027] Preferably, in step S3, the first set of lifting displacement mechanisms and the second set of lifting displacement mechanisms can have the same specifications, and the first and second sets of lifting displacement mechanisms can independently meet the requirements for supporting and horizontally displacing the building.

[0028] Preferably, in step S4, the laser emitter is set at both ends of the base of the lifting displacement mechanism along the direction of the walking route. The laser emitter projects a laser beam vertically downward to form a first light spot and a second light spot on the road surface. The vision sensor is used to monitor the relative positional relationship between the line connecting the first light spot and the second light spot and the walking mark line.

[0029] Preferably, in steps S6 to S7, the deviation error between the line connecting the first light spot and the second light spot and the walking mark line includes the turning angle of the line relative to the walking mark line and the offset distance of the line relative to the walking mark line. No correction processing is performed when the turning angle is less than a certain angle, and no correction processing is performed when the offset distance is less than a certain value.

[0030] Preferably, in steps S6 to S7, the deviation of the first light spot relative to the travel marker line is denoted as Δ1, the deviation of the second light spot relative to the travel marker line is denoted as Δ2, the distance between the first light spot and the second light spot is denoted as L, one push stroke is l, the turning angle of the connecting line relative to the travel marker line is denoted as α, and the offset distance of the connecting line relative to the travel marker line is denoted as d. Then, the turning angle α and the offset distance d satisfy the following formula:

[0031]

[0032] To eliminate steering angle error, the computer should control the steering unit to rotate in the opposite direction by an angle α, i.e., rotate by -α angle; to eliminate offset error, the computer should control the steering unit to rotate by an angle β, where β satisfies the following formula:

[0033]

[0034] Right now

[0035]

[0036] Therefore, to eliminate the misalignment error, the computer should control the entire steering unit to rotate by an angle θ, where

[0037]

[0038] The deviation of the light spot relative to the walking marker line is negative if it is to the left of the walking marker line and positive if it is to the right. The angle of the connecting line relative to the walking marker line is negative if it is counterclockwise and positive if it is clockwise.

[0039] Preferably, in step S7, no correction process is performed when the rotation angle α is less than 0.3°, and no correction process is performed when the offset distance d is less than 2mm.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] This invention employs a method of alternating movement of two sets of lifting and displacement mechanisms. The real-time position of the lifting and displacement mechanisms is located by a laser emitter, and the deviation of the lifting and displacement mechanisms is monitored in real time by a vision sensor. Parallel computer corrects the deviation parameters in real time, and the computer controls the lifting and displacement mechanisms to correct deviations before each half-step movement. The method is simple, reliable and effective, realizing intelligent and automated movement of buildings, and can eliminate errors generated during the movement process in real time, improving work efficiency and work quality. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a perspective view of a displacement auxiliary device in a building intelligent displacement and deviation control method according to an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of building walking route planning according to an embodiment of the present invention;

[0045] Figure 3 This is a partial elevation layout diagram of a building relocation according to an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of a building movement and relocation process according to an embodiment of the present invention. Figure 1 ;

[0047] Figure 5 This is a schematic diagram of a building movement and relocation process according to an embodiment of the present invention. Figure 2 ;

[0048] Figure 6 This is a schematic diagram of a building movement and relocation process according to an embodiment of the present invention. Figure 3 ;

[0049] Figure 7 This is a schematic diagram of a building movement and relocation process according to an embodiment of the present invention. Figure 4 ;

[0050] Figure 8 This is an analysis diagram of the rotation angle and offset error of the lifting displacement mechanism according to an embodiment of the present invention;

[0051] Figure 9 This is a schematic diagram illustrating the relationship between pre-offset rotation and offset error according to an embodiment of the present invention;

[0052] Figure 10 This is a schematic diagram of intelligent shift deviation control of the corner pre-offset curve according to an embodiment of the present invention.

[0053] Reference number

[0054] 1-Lifting and displacement mechanism; 11-Base; 12-Sliding seat; 13-Lifter; 14-Pusher; 15-Top connecting plate; 16-Suspension wheel; 17-Rotating gear; 18-Driven wheel; 19-Follower guide rod; 20-Follower collar; 21-Initial position of the building to be moved; 22-Target position of the building to be moved; 23-Travel route; 24-Travel marker line; 31-Column; 32-Group A lifting and displacement mechanism; 33-Group B lifting and displacement mechanism; 42-Laser emitter; 43-Laser beam; 44-Light spot; 131-Travel path of the lifting and displacement mechanism. Detailed Implementation

[0055] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Many specific details are set forth in the following description to provide a thorough understanding of the present invention; the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0057] To enable readers to better understand the technical solution of the method of the present invention, the intelligent displacement assist device involved in the present invention will be disclosed before introducing the method of the present invention.

[0058] Reference Figure 1As shown, an intelligent displacement assist device according to an embodiment of the present invention includes a displacement monitoring system and a lifting displacement mechanism 1. The displacement monitoring system includes a computer (not shown), a laser emitter 42, and a vision sensor (not shown). The lifting displacement mechanism 1 includes a base 11, a sliding seat 12 slidably connected to the base 11, a lifter 13 disposed on the sliding seat 12, a pusher 14 connecting the base 11 and the sliding seat 12, a top connecting plate 15 connected to the lifter 13, a suspension wheel 16 fixed to the base 11, and a steering unit disposed on the lifter 13. The laser emitter 42 is disposed at both ends of the base 11, preferably at the middle position of both ends of the base 11. The laser emitter 42 can project a laser beam 43 vertically downward to form a light spot 44 on the road surface. The laser emitter 42 can be attached and fixed to the corresponding positions at both ends of the base 11 of the lifting displacement mechanism 1, or mounting holes can be opened at the corresponding positions at both ends of the base 11 of the lifting displacement mechanism 1 for mounting the laser emitter 42. A visual sensor is placed at an appropriate location at the bottom of the building to be moved to monitor the relative position of the light spot 44 projected by the laser emitter 42 and the walking marker line 24.

[0059] In the lifting and displacement mechanism 1, the lifting device 13 is connected to the top connecting plate 15 via a ball joint, and the top connecting plate 15 is fixedly connected to the building to be moved. A friction pair with a low coefficient of friction is provided between the base 11 and the sliding seat 12. Since the coefficient of friction between the base 11 and the sliding seat 12 is much smaller than the coefficient of friction between the base 11 and the road surface, the pusher 14 can push the sliding seat 12 and the lifting device 13 on it to slide on the base 11, thereby realizing the horizontal displacement of the building it supports. In this embodiment, the lifting device 13 is a lifting cylinder arranged in the vertical direction, and the pusher 14 is a pushing cylinder arranged in the horizontal direction.

[0060] Suspension wheels 16 are arranged around the base 11 to serve as leveling and assistance when the lifting and displacement mechanism 1 is installed on the building. When the lifting and displacement mechanism 1 supports the upper building, the position of the suspension wheels 16 is not lower than the bottom surface of the base 11; when the jacking device 13 is in the retracted cylinder state and the lifting and displacement mechanism 1 is suspended on the building, the suspension wheels 16 extend downward beyond the bottom surface of the base 11 and are supported on the road surface, which facilitates the retraction and reset of the jacking device 14 of the lifting and displacement mechanism 1.

[0061] The steering unit of the lifting displacement mechanism 1 includes a motor, a rotating gear 17, a driven wheel 18, a follower guide rod 19, and a follower collar 20. The driven wheel 18 is fixedly sleeved on the circumference of the top body of the lifting device 13, and the follower collar 20 is supported on the driven wheel 18 and can rotate freely relative to the top body of the lifting device 13. The follower guide rod 19 is formed by connecting an upper small tube and a lower large tube, and its length can freely extend and retract within a certain range, thus extending and retracting with the action of the telescopic cylinder of the lifting device 13. The upper end of the upper small tube of the follower guide rod 19 is connected to the top connecting plate 15, and the lower large tube is connected to the follower collar 20. The lower end of the follower guide rod 19 is equipped with a motor and a rotating gear 17, and the rotating gear 17 and the driven wheel 18 mesh with each other. When the lifting and displacement mechanism is suspended on the building, the rotating gear 17 is driven by the motor to rotate, which in turn drives the driven wheel 18 to rotate, thereby causing the lifting and displacement mechanism to rotate relative to the building, thus adjusting the building's walking direction.

[0062] Figure 2 A schematic diagram of a building movement route planning according to an embodiment of the present invention is shown. Depending on the building's movement from initial position 21 to target position 22, the movement can be translation, rotation, or a combination of both. Generally, the movement route 23 is planned based on principles such as shortest walking distance and obstacle avoidance. After the movement route 23 is determined, the roadbed and pavement should be pre-treated along the movement route 23 to ensure the pavement remains basically flat. Simultaneously, the bearing capacity and deformation of the roadbed should meet the requirements of supporting the lifting and displacement mechanism and the building being lifted. Reference markers for the movement of each set of lifting and displacement mechanisms are set along the building's movement route 23 on the pavement and other locations. For example, the reference markers can be movement marking lines 24 painted on the pavement.

[0063] Figure 3 A partial elevation view of a building relocation according to an embodiment of the present invention is shown. The lifting and displacement mechanism 1 is generally arranged at the building's columns 31. The i-th column 31 of the building serves as the i-th support point for arranging the lifting and displacement mechanism 1. At least A sets of lifting and displacement mechanisms 32 and B sets of lifting and displacement mechanisms 33 should be arranged at the support point. Both sets of lifting and displacement mechanisms 32 and 33 are arranged axially symmetrically around the column 31 along the travel path. During the building relocation process, lifting and displacement mechanisms of the same specification should be used. The horizontal jacking displacement direction is consistent with the building's travel path, and each set of lifting and displacement mechanisms 32 and 33 should independently meet the support and horizontal displacement capacity requirements of the lifted building.

[0064] Figures 4 to 7 This is a schematic diagram of a building movement and relocation process according to an embodiment of the present invention. Figures 1 to 4This illustrates the specific steps for achieving building mobility. Specifically, intelligent building mobility and relocation are achieved through computer-controlled operation of two sets of lifting and displacement mechanisms 32 and 33, A and B, which are symmetrically arranged coaxially around the column 31 and supported at the base of the building. First, as... Figure 4 As shown, the lifting mechanism 32 of group A lifts the supported building upwards with its lifting device 13. At this time, group A lifts the building, while the lifting device of group B lifts the building in a retracted state. Thus, group B lifts the building and lifts it into the air. Subsequently, as... Figure 5 As shown, the pusher 14 of the A-group lifting and displacement mechanism 32 extends its cylinder, pushing the sliding seat 12 to move the lifting device 13 on it along with the building on the base 11 by one jacking stroke, completing the first "half-step" movement of the building. Then, the lifting device 13 of the B-group lifting and displacement mechanism 33 is controlled to perform the lifting operation, gradually transferring the building load from the A-group lifting and displacement mechanism 32 to the B-group lifting and displacement mechanism 33. After the building load has been completely transferred from the A-group lifting and displacement mechanism 32 to the B-group lifting and displacement mechanism 33, the cylinders of the A-group lifting and displacement mechanism 32 and the pusher 14 are retracted, so that the A-group lifting and displacement mechanism is suspended on the building, as shown. Figure 6 As shown. Finally, as Figure 7 As shown, the pusher 14 of the lifting and displacement mechanism 33 in group B extends its cylinder, pushing the sliding seat 12 to move the lifting device 13 on it along with the building on the base 11 by one pushing stroke, realizing the "step change" of walking and completing the second "half step" of the building's movement. Thus, with the help of the lifting and displacement mechanisms in groups A and B, the building completes one walking step.

[0065] repeat Figures 4 to 7 By alternating computer control of the working states of the two sets of lifting and displacement mechanisms 32 and 33 at the bottom of the building, the building can walk as if it has "two legs".

[0066] Figure 8An analysis diagram of the rotation angle and offset error of the lifting displacement mechanism according to an embodiment of the present invention is shown. After the lifting displacement mechanism 32 of group A completes the extension stroke of the pusher 14, before the lifting device 13 of the lifting displacement mechanism 33 of group B begins the lifting operation, the laser emitters 42 at both ends of the base 11 of the lifting displacement mechanism 33 of group B project light spots 44 downwards, and the positional relationship of the light spots 44 relative to the travel marker line 24 is measured by a visual sensor to determine the offset of the displacement auxiliary device relative to the travel marker line 24. Assuming that the lifting displacement mechanism 33 of group B has a first lifting displacement mechanism iB1 and a second lifting displacement mechanism iB2 arranged sequentially at the i-th support point, the laser emitter 42 arranged on the first lifting displacement mechanism iB1 projects a first light spot 3311 and a second light spot 3312 downwards, and the deviations of the first light spot 3311 and the second light spot 3312 relative to the travel marker line 24 are denoted as Δ. iB11 Δ iB12 The laser emitter 42 arranged on the second lifting and displacement mechanism iB2 projects a third and a fourth light spot downwards. The deviations of the third and fourth light spots relative to the travel marker line 24 are denoted as Δ. iB21 Δ iB22 And so on. Assume that the distance between the two light spots 44 projected by the laser emitter 42 of each lifting displacement mechanism is L, and the pushing stroke of the pusher 14 is l. At the same time, assume that the deviation of the light spot 44 relative to the travel mark line 24 is negative on the left side and positive on the right side along the travel mark line, and that the rotation angle of the axis of the lifting displacement mechanism 1 (i.e., the line connecting the two light spots) relative to the travel mark line is negative counterclockwise and positive clockwise.

[0067] At the i-th support point, the positional relationship of the first lifting displacement mechanism iB1 in group B relative to the travel marker line 24 can be determined as follows. The planar position of the first lifting displacement mechanism iB1 can be characterized by the line segment connecting the first light spot 3311 and the second light spot 3312 projected onto the road surface by the laser emitters 42 at both ends of its base 11. Its deviation relative to the travel marker line 24 consists of the turning angle and the offset distance, which can be derived from mathematical geometry.

[0068] The rotation angle α is:

[0069]

[0070] The offset distance d is:

[0071]

[0072] Similarly, the deviation of all lifting and displacement mechanisms relative to the travel marker line 24 can be considered as consisting of a rotation angle α and an offset distance d. Therefore, the deviation of the second lifting and displacement mechanism iB2 relative to the travel marker line 24 can be considered as:

[0073] The rotation angle α is:

[0074]

[0075] The offset distance d is:

[0076]

[0077] Before each change of movement, that is, after one set of lifting and displacement mechanisms 1 has completed the extension stroke of the cylinder of the pusher 14 and before the lifting device 13 of another set of lifting and displacement mechanisms 1 begins the lifting operation, the deviation of the set of lifting and displacement mechanisms suspended on the building at each support point is monitored, identified and analyzed, and then the deviation of the lifting and displacement mechanism 1 is corrected.

[0078] Taking the B-group lifting displacement mechanism at the i-th support point as an example, we can see its movement.

[0079] Regarding the angle error, when the angle α is less than a certain value, it is generally acceptable to leave it uncorrected if the angle α is less than 0.3°; when the angle α is greater than 0.3°, the steering unit is instructed by computer to rotate the lifting displacement mechanism 1 in the opposite direction to eliminate the angle error, i.e., the rotation angle α' of the lifting displacement mechanism 1 is controlled.

[0080]

[0081]

[0082] For offset errors, no correction is performed when the offset distance d is less than a certain value, generally less than 2mm. When the offset distance d is greater than 2mm, correction is performed as follows. Figure 9 As shown, the offset error calculated by the identification is eliminated by the reverse rotation of the lifting displacement mechanism 1 and the subsequent pushing stroke of the lifting displacement mechanism 1. Based on mathematical geometry, it can be deduced that the required rotation angle β to eliminate the offset error within one pushing stroke l by rotating the travel direction is:

[0083]

[0084] After the offset error is eliminated, the offset error correction angle is restored before the next pushing stroke of the lifting displacement mechanism 1.

[0085] According to the above formula, the rotation angle for correcting the offset errors of the lifting displacement mechanisms iB1 and iB2 is:

[0086]

[0087] Therefore, before the lifting and displacement mechanism 33 of group B is about to change its movement, the first lifting and displacement mechanism iB1 and the second lifting and displacement mechanism iB2 are rotated respectively via computer commands.

[0088]

[0089] The lifting and displacement mechanism 1 is rotated into position using the steering unit, and then the movement begins. The lifting device 13 of the lifting and displacement mechanism 33 in group B is lifted and the pushing device 14 is pushed by the computer. The lifting device 13 and the pushing device 14 of the lifting and displacement mechanism 32 in group A are retracted to their initial state.

[0090] Similarly, when the B-group lifting and displacement mechanism 33 completes one jacking stroke and moves one and a half steps, before starting the next step, the deviation of the A-group lifting and displacement mechanism 32 relative to the walking marker line 24 is monitored, identified, and analyzed, and then the mechanism changes direction after correction. This completes the deviation control process for the intelligent walking and moving of the building.

[0091] When the offset error is large, it can be eliminated gradually by dividing the push stroke into multiple push strokes. For example, if it needs to be eliminated gradually by dividing it into n push strokes, before the B-group lifting displacement mechanism 33 is about to change its stroke, the first lifting displacement mechanism iB1 and the second lifting displacement mechanism iB2 are controlled to rotate respectively by computer commands:

[0092]

[0093] Similarly, the offset error of the remaining part The elimination of this problem is gradually achieved during the subsequent pushing strokes of the lifting displacement mechanisms 32 and 33 in Group A and Group B.

[0094] In particular, when the building rotates or moves along a curve, the deviation of the travel path can be more accurately controlled by the pre-offset of the rotation angle of the lifting displacement mechanism 1, as follows:

[0095] See Figure 10 The travel path 131 of each lifting displacement mechanism 1 can be regarded as a function of the cumulative pushing stroke of the lifting displacement mechanism 1, and the cumulative pushing stroke of the lifting displacement mechanism 1 can be regarded as a function of the time history. Therefore, the function of the travel path 131 of the lifting displacement mechanism 1 can be written as:

[0096] y = f(t)

[0097] Then, when the lifting and displacement mechanism 32 of group A completes one pushing stroke and is ready to switch to the lifting and displacement mechanism 33 of group B, the time is t1. When the lifting and displacement mechanism 33 of group B completes its second half-step, the time is t2. Then, the rotation angle of the first lifting and displacement mechanism iB1 in the lifting and displacement mechanism 33 of group B from time t1 to t2 is:

[0098]

[0099] When changing steps, that is, just before the B-group lifting displacement mechanism 33 is about to move, the first lifting displacement mechanism iB1 and the second lifting displacement mechanism iB2 in the B-group lifting displacement mechanism 33 are pre-offset by turning angle according to the above formula. This allows for better and more precise control of the movement of the lifting displacement mechanism, so that the actual movement route matches the ideal route or movement marker line 24 better.

[0100] Based on the above-disclosed technical content, a building intelligent displacement and deviation control method according to an embodiment of the present invention includes the following steps:

[0101] S1. A displacement assist device is provided, which includes a displacement monitoring system and a lifting displacement mechanism 1, wherein the displacement monitoring system includes a computer, a laser emitter 42 and a vision sensor; the lifting displacement mechanism 1 includes a base 11, a sliding seat 12 slidably connected to the base 11, a lifter 13 disposed on the sliding seat 12, a pusher 14 connecting the base 11 and the sliding seat 12, a top connecting plate 15 connected to the lifter 13, and a steering unit disposed on the lifter 13.

[0102] S2. Determine the walking route 23 of the building to be moved from the initial position 21 to the target position 22, preprocess the walking route 23, and set walking reference marks, such as walking mark lines 24.

[0103] S3. Determine the number and arrangement of the lifting and displacement mechanism 1 based on the building's self-weight, structural layout, and other factors. The lifting and displacement mechanism 1 is generally arranged at the building's columns 31. At least two sets of lifting and displacement mechanisms 32 and 33, A and B, are arranged at the columns. Both sets of lifting and displacement mechanisms 32 and 33 are symmetrically arranged around the column 31 along the travel route 23. The pushing direction of the pusher 14 is consistent with the building's travel direction, and both sets of lifting and displacement mechanisms 32 and 33 independently meet the requirements for supporting and horizontally displacing the building being lifted.

[0104] S4. Deploy a displacement monitoring system. Laser emitters 42 are set at both ends of the base 11 of the lifting displacement mechanism 1 along the direction of the walking route 23, projecting laser beams 43 vertically downward to form light spots 44 on the road surface; visual sensors are deployed at appropriate positions at the bottom of the building to be moved to monitor the relative positional relationship between the projected light spots 44 and the walking marker lines 24.

[0105] S5. The computer controls the lifting device 13 of the lifting and displacement mechanism 32 of group A to lift the building being supported. The lifting and displacement mechanism 33 of group B is then lifted and suspended in the air. Then, the pusher 14 of the lifting and displacement mechanism 32 of group A is controlled to push the sliding seat 12 to move one push stroke on the base 11, thereby driving the lifting device 13 on the sliding seat 12 and the building being supported to move one push stroke together, thus completing the first half-step of the building.

[0106] After the S6.A group lifting and displacement mechanism 32 completes its jacking stroke, the position deviation of the B group lifting and displacement mechanism 33 suspended on the building is identified. The laser emitters 42 at both ends of the base 11 of the B group lifting and displacement mechanism 33 are controlled to project light spots 44 downwards. The relative position of the light spots 44 with respect to the walking marker line 24 is measured by a vision sensor, and the rotation angle α and offset distance d are calculated.

[0107] S7. Correct the building's position. For angular deviation, if the angular deviation α is less than a certain value, generally less than 0.3°, no correction is performed; if the angular deviation α is greater than this value, the computer controls the steering unit of the lifting displacement mechanism 1 to rotate in the opposite direction by the corresponding degree to eliminate the angular error. For offset error, if the offset distance d is less than a certain value, generally less than 2mm, no correction is performed; if the offset distance d is greater than this value, given that one pushing stroke of the jacking pusher 14 of the lifting displacement mechanism 1 is l, the angle β required to eliminate the offset error within n (n is a non-zero positive integer) pushing strokes l can be calculated, and the computer controls the steering unit to rotate β. In summary, by controlling the rotation of the steering unit of the lifting displacement mechanism 1 by the computer, angular error and offset error can be eliminated.

[0108] After the S8.B group lifting and displacement mechanism 33 rotates into position, the computer controls the lifting device 13 of the B group lifting and displacement mechanism 33 to lift and support the building upwards. The lifting device 13 and the pusher 14 of the A group lifting and displacement mechanism 32 retract to their initial state. Thus, the A group lifting and displacement mechanism 32 is suspended on the building. Then, the computer controls the pusher 14 of the B group lifting and displacement mechanism 33 to push forward, pushing the sliding seat 12 to move one push stroke on the base 11. This causes the lifting device 13 on the sliding seat 12 and the supported building to move together for one push stroke, thus completing the second half-step of the building's movement. At this point, one step of the building's movement is completed.

[0109] After the lifting displacement mechanism 33 of group S9.B completes the jacking stroke, the deviation of the lifting displacement mechanism of group A is identified according to the steps of S6 to S7. Based on the deviation identification, the deviation of the lifting displacement mechanism 32 of group A is corrected, and the steering unit of the lifting displacement mechanism 32 of group A is controlled to rotate at a certain angle.

[0110] After the lifting and displacement mechanism 32 of group S10.A rotates into place, repeat steps S5 to S9 until the building moves from the initial position 21 to the target position 22.

[0111] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for intelligent displacement and deviation control of buildings, comprising the following steps: S1. A displacement assist device is provided, comprising a displacement monitoring system and a lifting displacement mechanism, wherein the displacement monitoring system includes a computer, a laser emitter and a vision sensor; the lifting displacement mechanism includes a base, a sliding seat slidably connected to the base, a lifter disposed on the sliding seat, a pusher connecting the base and the sliding seat, a top connecting plate connected to the lifter, and a steering unit disposed on the lifter; S2. Determine the walking route of the building to be moved from its initial position to its target position, and set walking marker lines; S3. Determine the number and arrangement of the lifting and displacement mechanisms based on the building's self-weight and structural layout; divide the lifting and displacement mechanisms into a first group of lifting and displacement mechanisms and a second group of lifting and displacement mechanisms, with both the first and second groups of lifting and displacement mechanisms arranged symmetrically around the building's columns along the travel route; S4. Deploy a displacement monitoring system; the laser emitter is installed on the base of the lifting displacement mechanism, and the laser emitter projects a laser beam vertically downward to form a light spot on the road surface; visual sensors are deployed at appropriate positions at the bottom of the building to be moved to monitor the relative positional relationship between the light spot and the walking marking line; S5. The computer controls the first set of lifting and displacement mechanisms to lift the building being supported. The second set of lifting and displacement mechanisms is then lifted and suspended in the air. Then, the computer controls the pusher of the first set of lifting and displacement mechanisms to push the sliding seat on the base to move one push stroke, thereby driving the lifter on the sliding seat and the building being supported to move one push stroke together, thus completing the first half-step of the building. S6. After the first set of lifting and displacement mechanisms completes the jacking stroke, the position deviation of the second set of lifting and displacement mechanisms suspended on the building is identified; the laser emitter of the base of the second set of lifting and displacement mechanisms is controlled to project a light spot downwards, and the relative positional relationship between the light spot and the walking mark line is measured by the vision sensor, and the deviation error between the second set of lifting and displacement mechanisms and the walking mark line is calculated. S7. Correct the position of the building; the computer controls the steering unit of the second set of lifting and displacement mechanisms to rotate a certain angle to eliminate the deviation error; S8. After the second set of lifting and displacement mechanisms rotates into position, the computer controls the lifting device of the second set of lifting and displacement mechanisms to lift and support the building upwards. The lifting device and pusher of the first set of lifting and displacement mechanisms retract to their initial state, thereby suspending the first set of lifting and displacement mechanisms on the building. Then, the computer controls the pusher of the second set of lifting and displacement mechanisms to push forward, pushing the sliding seat to move one push stroke on the base, thereby driving the lifting device on the sliding seat and the supported building to move one push stroke together, thus completing the second half-step of the building's movement; at this point, one step of the building's movement is completed. S9. After the second set of lifting and displacement mechanisms completes the pushing stroke, the position deviation of the first set of lifting and displacement mechanisms is identified according to steps S6 to S7. Based on the deviation identification, the first set of lifting and displacement mechanisms is corrected by controlling the steering unit of the first set of lifting and displacement mechanisms to rotate a certain angle to eliminate the deviation error. S10. After the first set of lifting and displacement mechanisms has rotated into place, repeat steps S5 to S9 until the building moves from the initial position to the target position.

2. The method according to claim 1, characterized in that, In step S1, the steering unit of the lifting displacement mechanism includes a motor, a rotating gear, a driven wheel, a follower guide rod, and a follower collar. The driven wheel is fixedly sleeved on the circumference of the top body of the lifting device, and the follower collar is supported on the driven wheel and can rotate freely relative to the top body of the lifting device. The follower guide rod is formed by connecting an upper small tube and a lower large tube, and its length extends and retracts with the movement of the telescopic cylinder of the lifting device. The upper end of the upper small tube of the follower guide rod is connected to the top connecting plate, and the lower large tube is connected to the follower collar. The lower end of the follower guide rod is equipped with a motor and a rotating gear. The rotating gear and the driven wheel mesh with each other. When the lifting displacement mechanism is suspended on the building, the rotating gear is driven to rotate by the motor, thereby driving the driven wheel to rotate, thus causing the lifting displacement mechanism to rotate relative to the building.

3. The method according to claim 1, characterized in that, In step S1, the lifting and displacement mechanism further includes suspension wheels, which are arranged around the base. When the lifting and displacement mechanism supports the upper building, the position of the suspension wheels is not lower than the bottom surface of the base. When the lifting device is in the retracted cylinder state, so that the lifting and displacement mechanism is suspended on the building, the suspension wheels extend downward beyond the bottom surface of the base and are supported on the road surface, which facilitates the retraction and reset of the lifting and displacement mechanism's pusher.

4. The method according to claim 1, characterized in that, In step S2, the planning of the walking route follows the principles of shortest distance and obstacle avoidance, and the displacement of the building includes translation, rotation, or a combination of both.

5. The method according to claim 1, characterized in that, In step S2, the roadbed and pavement of the travel route are pre-treated to make the pavement basically flat and ensure that the bearing capacity and deformation of the roadbed meet the requirements of supporting the lifting and displacement mechanism and the building it supports.

6. The method according to claim 1, characterized in that, In step S3, the first set of lifting displacement mechanisms and the second set of lifting displacement mechanisms have the same specifications, and the first and second sets of lifting displacement mechanisms independently meet the requirements for supporting and horizontally displacing the building.

7. The method according to claim 1, characterized in that, In step S4, the laser emitter is set at both ends of the base of the lifting displacement mechanism along the direction of the walking route. The laser emitter projects a laser beam vertically downward to form a first light spot and a second light spot on the road surface. The vision sensor is used to monitor the relative positional relationship between the line connecting the first light spot and the second light spot and the walking mark line.

8. The method according to claim 7, characterized in that, In steps S6 to S7, the deviation error between the line connecting the first light spot and the second light spot and the walking mark line includes the angle of rotation of the line relative to the walking mark line and the offset distance of the line relative to the walking mark line. No correction processing is performed when the angle is less than a certain angle, and no correction processing is performed when the offset distance is less than a certain value.

9. The method according to claim 8, characterized in that, In steps S6 to S7, the deviation of the first light spot relative to the travel marker line is denoted as Δ1, the deviation of the second light spot relative to the travel marker line is denoted as Δ2, the distance between the first and second light spots is denoted as L, one push stroke is l, the turning angle of the connecting line relative to the travel marker line is denoted as α, and the offset distance of the connecting line relative to the travel marker line is denoted as d. Then, the turning angle α and the offset distance d satisfy the following formula: To eliminate steering angle error, the computer controls the steering unit to rotate in the opposite direction by an angle α, i.e., rotate by -α angle; to eliminate offset error, the computer controls the steering unit to rotate by an angle β, where β satisfies the following formula: Right now Therefore, to eliminate the misalignment error, the computer controls the entire steering unit to rotate by an angle θ, where... The deviation of the light spot relative to the walking marker line is negative if it is to the left of the walking marker line and positive if it is to the right. The angle of the connecting line relative to the walking marker line is negative if it is counterclockwise and positive if it is clockwise.

10. The method according to claim 8, characterized in that, In step S7, no correction process is performed when the rotation angle is less than 0.3° and no correction process is performed when the offset distance is less than 2mm.

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