Concrete supporting beam dismantling device and control method thereof

Abstract

The invention belongs to the technical field of building construction, and discloses a concrete supporting beam dismantling device and a control method thereof. The supporting track system coaxially sleeves the outer side of the to-be-dismounted supporting beam in a penetrating manner and can move in the axis direction of the to-be-dismounted supporting beam; the breaking system is rotatably arranged at the rear end of the supporting track system and used for breaking and dismantling the supporting beam to be dismantled according to a predetermined breaking instruction; the laser scanner is installed on the breaking system and used for conducting three-dimensional laser scanning on the to-be-dismantled supporting beam to obtain surface point cloud data and laser reflection intensity data of the to-be-dismantled supporting beam; the central control system is used for generating a predetermined breaking instruction according to the surface point cloud data and the laser reflection intensity data of the to-be-dismantled supporting beam; according to the method, the pre-determined breaking instruction containing the breaking path coordinate points and the breaking energy parameters is generated, so that the breaking system works accurately according to the breaking instruction, and efficient and accurate dismantling of the concrete supporting beam is achieved.

Description

Technical Field

[0001] This invention belongs to the field of building construction technology, and relates to concrete structure demolition technology, and in particular to a concrete support beam demolition device and its control method. Background Technology

[0002] In construction engineering, the removal of concrete support beams is a crucial step in foundation pit support engineering, and its construction quality directly affects the project progress and structural safety. Currently, the removal of concrete support beams is generally done manually. This manual removal method requires workers to operate with manpower and simple tools, resulting in extremely high labor intensity and low construction efficiency. During the manual removal process, workers often need to be in a dangerous high-altitude environment for extended periods, facing serious safety hazards such as falls from heights and being struck by objects. Once an accident occurs, the consequences would be unimaginable.

[0003] In response to the problems associated with manual demolition, some construction companies have begun to utilize mechanical demolition equipment. While existing mechanical demolition equipment has improved demolition efficiency to some extent, the equipment requires frequent repositioning during operation, leading to a significant increase in auxiliary work time and extending the overall construction time. Furthermore, existing mechanical demolition equipment lacks intelligent control systems, making it difficult to achieve precise demolition and ensuring demolition quality. This can easily result in incomplete or excessive demolition, thereby affecting the structural safety of the project. Summary of the Invention

[0004] To address the technical problems existing in the prior art, the present invention provides a concrete support beam demolition device and its control method, so as to solve the technical problems that existing mechanical demolition equipment is unable to achieve precise demolition and the demolition quality is difficult to guarantee.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: This invention provides a concrete support beam demolition device, including a support track system, a demolition system, a laser scanner, and a central control system; The support track system is coaxially fitted onto the outside of the support beam to be dismantled and can move along the axial direction of the support beam to be dismantled; the breaking system is rotatably disposed at the rear end of the support track system and is used to break and dismantle the support beam to be dismantled according to a predetermined breaking command. The laser scanner is installed on the demolition system and is used to perform three-dimensional laser scanning on the support beam to be demolished to obtain surface point cloud data and laser reflection intensity data of the support beam to be demolished. The central control system is used to generate predetermined demolition commands based on the surface point cloud data and laser reflection intensity data of the support beam to be demolished; wherein the predetermined demolition commands include demolition path coordinate points and demolition energy parameters at each demolition path coordinate point.

[0006] Furthermore, the process of generating predetermined demolition commands based on the surface point cloud data and laser reflection intensity data of the support beam to be demolished is as follows: A three-dimensional geometric model of the support beam to be dismantled is established based on the surface point cloud data of the support beam to be dismantled. Based on the laser reflection intensity data of the support beam to be demolished, the steel reinforcement area and concrete area in the three-dimensional geometric model of the support beam to be demolished are divided to obtain the partitioned three-dimensional geometric model. Based on the concrete rebound test data of the support beam to be demolished, an interpolation algorithm is used to generate a continuous concrete strength distribution field in the partitioned three-dimensional geometric model, thereby obtaining a spatial topological model that integrates geometric features and material properties. Based on a spatial topology model that integrates geometric features and material properties, a demolition path is generated according to a preset path planning strategy; wherein, the demolition path includes several demolition path coordinate points; Based on a spatial topology model that integrates geometric features and material properties, and combined with the breaking path, the breaking energy parameters at each breaking path coordinate point are obtained according to a preset breaking mode decision strategy. Output the breaking path and the breaking energy parameters at the coordinates of each breaking path point to obtain the predetermined breaking command.

[0007] Furthermore, the preset path planning strategy is as follows: A path is generated synchronously from the beam end of the support beam to be demolished to the middle region of the beam body according to a bidirectional search strategy; wherein, in the middle region of the support beam to be demolished, a pre-constructed spatial obstacle avoidance cost function and a pre-constructed energy optimization cost function are used for cost balance optimization. A pre-built spatial obstacle avoidance cost function is used to dynamically increase the path weight near the rebar cluster by calculating the Euclidean distance between the path node and the rebar cluster; A pre-constructed energy optimization cost function is used to convert the concrete strength parameters of each demolition path coordinate point into a demolition energy consumption coefficient, and based on the demolition energy consumption coefficient, guides the priority selection of a preset strength region as the main path.

[0008] Furthermore, the pre-defined decision-making strategies for breaking the pattern are as follows: The concrete strength parameters at each demolition path coordinate point are compared with the preset concrete strength threshold to obtain the strength comparison results for each demolition path coordinate point. Based on the intensity comparison results of each fracture path coordinate point, a preset fracture mode is selected; Based on the selected preset breaking mode, the breaking energy parameters at each breaking path coordinate point are determined.

[0009] Furthermore, the support track system includes a ring support, a ring track, a hydraulic support structure, and an electric tracked walking mechanism; The annular support is sleeved on the outside of the support beam to be demolished, and the axis of the annular support coincides with the axis of the support beam to be demolished; the annular track is set at the rear end of the annular support, and the demolition system is slidably set on the annular track. One end of the hydraulic support structure is connected to the inner wall of the front end of the annular support, and the other end of the hydraulic support structure extends along the diameter of the annular support and toward the center of the annular support; the electric tracked walking mechanism is installed at the extended end of the hydraulic support structure, and the electric tracked walking mechanism is in close contact with the surface of the support beam to be removed.

[0010] Furthermore, the support track system also includes a pressure sensor; The pressure sensor is used to collect and transmit the clamping force between the electric tracked walking mechanism and the support beam to be removed to the central control system. The central control system is also used to generate and send a clamping force adjustment command to the hydraulic support structure based on the collected clamping force between the electric tracked walking mechanism and the support beam to be dismantled.

[0011] Furthermore, the support track system also includes hydraulic outriggers and tilt sensors; The hydraulic outrigger is mounted on the demolition system, with one end of the hydraulic outrigger connected to the demolition system and the other end of the hydraulic outrigger in contact with the surface of the support beam to be demolished. The tilt sensor is located on the outside of the hydraulic outrigger, and the tilt sensor is used to collect and send the tilt angle of the circular track to the central control system. The central control system is also used to generate and send height compensation commands to the hydraulic outriggers based on the collected tilt angle of the annular track.

[0012] Furthermore, the breaking system includes a track holder, a hydraulic breaker, and a traveling mechanism; One end of the track holder is fitted onto the annular track and can move along the circumference of the annular track; the other end of the track holder extends along the axial direction of the support beam to be removed and away from the annular support; wherein, the mounting end of the track holder is provided with a track groove, and the annular track is fitted into the track groove. The hydraulic breaker is installed at the extended end of the track clamp and is positioned close to the surface of the support beam to be removed; The traveling mechanism is disposed within the track holder and is located near the end face of the track slot; wherein, the traveling mechanism is in contact with the end face of the annular track, and is used to drive the track holder to slide along the circumference of the annular track through the interaction between the traveling mechanism and the annular track.

[0013] Furthermore, the breaking system also includes a parking lock pin; The annular support has several parking lock holes on its rear circumference, and the parking lock pin is retractably mounted on the inner wall of the track slot. The parking lock pin is used to cooperate with the parking lock hole to fix the breaking system at a predetermined position on the annular support.

[0014] The present invention also provides a control method for a concrete support beam removal device, comprising: A laser scanner was used to perform a three-dimensional laser scan of the support beam to be removed, obtaining surface point cloud data and laser reflection intensity data of the support beam to be removed; Using the central control system, a predetermined demolition command is generated based on the surface point cloud data and laser reflection intensity data of the support beam to be demolished; The demolition system receives and responds to a predetermined demolition command to break and demolish the support beam to be removed.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The concrete support beam demolition device provided by this invention provides stable support for the overall movement of the device by setting up a support track system that can move along the axis of the support beam to be demolished. The demolition system is rotatably set at the rear end of the support track system, which can flexibly adjust the working angle. The surface point cloud data and laser reflection intensity data of the support beam to be demolished are acquired by a laser scanner. The central control system generates a predetermined demolition command containing the demolition path coordinates and demolition energy parameters based on the surface point cloud data and laser reflection intensity data of the support beam to be demolished. This enables the demolition system to operate precisely according to the demolition command, realizing efficient and precise demolition of concrete support beams. It is particularly suitable for large-scale support beam demolition operations in deep foundation pit support projects. It effectively solves the problems of existing mechanical demolition equipment being unable to demolish accurately and ensuring demolition quality, avoiding incomplete or excessive demolition, and ensuring the safety of the engineering structure. At the same time, compared with manual demolition, it reduces labor intensity, improves construction efficiency, and reduces safety hazards.

[0016] The control method for the concrete support beam removal device provided by the present invention possesses all the advantages of the aforementioned concrete support beam removal device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the overall structure of the concrete support beam removal device provided in the embodiment; Figure 2 This is a schematic diagram of the structure supporting the track system in the embodiment; Figure 3 This is a schematic diagram of the dismantling system in the embodiment; Figure 4 This is a cross-sectional view of the dismantling system in the embodiment; Figure 5 A flowchart of the control method for the concrete support beam removal device provided in the embodiment.

[0019] Among them, 1 is the support track system, 2 is the demolition system, 3 is the laser scanner, 4 is the support beam to be demolished; 11 is the ring support, 12 is the ring track, 13 is the parking lock hole, 14 is the hydraulic support structure, 15 is the electric crawler walking mechanism, 16 is the hydraulic outrigger, 17 is the tilt sensor; 21 is the track holder, 22 is the hydraulic breaker, 23 is the parking lock pin, 24 is the traveling mechanism; 211 is the track slot. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] This invention provides a concrete support beam demolition device, comprising a support track system 1, a demolition system 2, a laser scanner 3, and a central control system. The support track system 1 is coaxially fitted onto the outside of the support beam 4 to be demolished and is movable along the axial direction of the support beam 4. The demolition system 2 is rotatably disposed at the rear end of the support track system 1 and is used to break and demolish the support beam 4 according to a predetermined demolition command. The laser scanner 3 is mounted on the demolition system 2 and is used to perform three-dimensional laser scanning on the support beam 4 to obtain surface point cloud data and laser reflection intensity data of the support beam 4. The central control system is used to generate a predetermined demolition command based on the surface point cloud data and laser reflection intensity data of the support beam 4. The predetermined demolition command includes demolition path coordinate points and demolition energy parameters at each demolition path coordinate point.

[0022] In the above embodiments, by setting up a laser scanner to perform three-dimensional laser scanning of the support beam to be demolished, its surface point cloud data and laser reflection intensity data can be accurately obtained. The central control system generates a predetermined demolition command containing the demolition path coordinates and demolition energy parameters at each coordinate point based on the obtained surface point cloud data and laser reflection intensity data. This allows the demolition system to operate according to precise commands, effectively avoiding the problems of incomplete or excessive demolition caused by the lack of intelligent control in existing mechanical demolition equipment. This greatly improves the accuracy of demolition, ensures the quality of demolition, and thus ensures the safety of the engineering structure. At the same time, the precise operation method reduces unnecessary repetitive operations and improves the overall demolition efficiency. In terms of construction safety, compared with manual demolition methods, this device uses mechanical operation, and workers do not need to be in danger for a long time. The high-altitude environment avoids serious safety hazards such as falls from heights and being struck by objects, providing safer working conditions for construction workers and reducing the risk of accidents. Regarding construction time control, the support track system is coaxially fitted onto the outside of the support beam to be demolished and can move along the axis. The demolition system is rotatably mounted at the rear of the support track system, reducing the need for frequent position adjustments during operation, effectively reducing auxiliary work time, and avoiding the problem of extended overall construction time due to frequent position adjustments, making the construction process more compact and efficient. Furthermore, the device has a reasonable overall design, with each system working collaboratively. From data acquisition and command generation to specific demolition operations, it not only improves the overall level of concrete support beam demolition work but also provides a higher quality and more reliable solution for key processes in foundation pit support engineering in building construction.

[0023] The following specific embodiments further explain the concrete support beam removal device provided by the present invention: Example As attached Figure 1-4As shown, this embodiment provides a concrete support beam demolition device, including a support track system 1, a demolition system 2, a laser scanner 3, and a central control system; the support track system 1 is coaxially fitted on the outside of the support beam 4 to be demolished and can move along the axial direction of the support beam 4 to be demolished; the demolition system 2 is rotatably disposed at the rear end of the support track system 1, and the demolition system 2 is used to break and demolish the support beam 4 to be demolished according to a predetermined demolition command.

[0024] In this embodiment, the supporting track system 1 includes an annular support 11, an annular track 12, a hydraulic support structure 14, an electric tracked walking mechanism 15, hydraulic outriggers 16, an angle sensor 17, and a pressure sensor. The annular support 11 has an annular structure and serves as the mounting base for the demolition system 2 and the electric tracked walking mechanism 15. The electric tracked walking mechanism 15 is mounted on the inner front wall of the annular support 11 via the hydraulic support structure 14, and the demolition system 2 is slidably mounted on the rear end of the annular support 11. The annular support 11 is fitted onto the... The outer side of the support beam 4 to be demolished, and the axis of the annular support 11 coincides with the axis of the support beam 4 to be demolished; the annular track 12 is set at the rear end of the annular support 11, and the demolition system 2 is slidably set on the annular track 12; wherein, the annular track 12 serves as the sliding track of the demolition system 2; when the demolition system 2 slides along the annular track 12, it can break and demolish different surfaces of the support beam 4 to be demolished; preferably, the annular track 12 adopts a self-lubricating guide rail to ensure that the demolition device can operate continuously and reliably in harsh construction environments.

[0025] Optionally, the annular support 11 includes several track segments, each track segment being an arc structure with a preset radius; several track segments are sequentially spliced ​​to form an annular support, serving as the annular support 11; wherein, adjacent track segments are blindly connected by a dovetail tenon structure; setting the annular support 11 as an assembly structure of several track segments can meet the dismantling requirements of concrete support beams with different cross-sectional specifications, improving the applicability of the dismantling device; each track segment has a track standard section at its rear end, each track standard section being an arc-shaped track structure with a preset radius; when several track segments are sequentially spliced, the track standard sections on the track segments are sequentially connected to form an annular track 12; preferably, the track standard section and the track segment are an integral structure.

[0026] The annular support 11 has a plurality of parking lock holes 13 on its rear circumference. The parking lock holes 13 are evenly arranged along the circumferential direction of the annular support 11 and are located near the side of the annular track 12. The parking lock holes 13 are arranged radially along the annular support 11 and are used to match the parking lock pins 23 in the breaking system 2 to fix the breaking system 2 at a predetermined position on the annular support 11. One end of the parking lock hole 13 is connected to the outer wall surface of the annular support 11, and the other end of the parking lock hole 13 is connected to the inner wall surface of the annular support 11.

[0027] The hydraulic support structure 14 is disposed on the inner wall of the front end of the annular support 11, and is used to connect the electric tracked walking mechanism 15 to the annular support 11. It can apply radial pressure along the annular support 11 to the electric tracked walking mechanism 15, ensuring that the electric tracked walking mechanism 15 can make close contact with the surface of the support beam 4 to be dismantled, thereby ensuring that the dismantling device can reliably and stably move along the axial direction of the support beam 4 to be dismantled. Specifically, one end of the hydraulic support structure 14 is connected to the inner wall of the front end of the annular support 11, and the other end of the hydraulic support structure 14 extends along the diameter direction of the annular support 11 and toward the center of the annular support 11. The hydraulic support structure 14 can freely extend and retract along the diameter direction of the annular support 11 to apply radial pressure along the annular support 11 to the electric tracked walking mechanism 15. The electric tracked walking mechanism 15 is installed at the extended end of the hydraulic support structure 14, and the electric tracked walking mechanism 15 is in close contact with the surface of the support beam 4 to be dismantled.

[0028] Specifically, the number of hydraulic support structures 14 and electric tracked walking mechanisms 15 is at least four. These four hydraulic support structures 14 and four electric tracked walking mechanisms 15 are distributed around the support beam 4 to be dismantled, and are in close contact with the four surfaces of the support beam 4, effectively improving the stability of the device and the smoothness of the walking process. The pressure sensor is installed on the electric tracked walking mechanism 15 to collect and transmit the clamping force between the electric tracked walking mechanism 15 and the support beam 4 to the central control system. The central control system can be used to adjust the pressure based on the collected electric tracked walking mechanism 15. The clamping force between the electric tracked walking mechanism 15 and the support beam 4 to be removed generates and sends a clamping force adjustment command to the hydraulic support structure 14. Specifically, when the deviation between the measured pressure of the pressure sensor and the set value exceeds a threshold, the hydraulic support structure 14 is activated to dynamically adjust the clamping force of the electric tracked walking mechanism 15. Based on the surface point cloud data of the support beam 4 to be removed obtained by the laser scanner 3, the minimum contact path of the electric tracked walking mechanism 15 is calculated. The surface self-adaptation of the support beam 4 to be removed is achieved through the independent control of multiple electric tracked walking mechanisms 15, supporting stable attachment of curved surfaces with a curvature radius ≥ 800 mm.

[0029] The hydraulic outrigger 16 is mounted on the demolition system 2. One end of the hydraulic outrigger 16 is connected to the demolition system 2, and the other end of the hydraulic outrigger 16 is in contact with the surface of the support beam 4 to be demolished. The tilt sensor 17 is located on the outside of the hydraulic outrigger 16 and is used to collect and send the tilt angle of the annular track 12 to the central control system. The central control system can generate and send a height compensation command to the hydraulic outrigger 16 based on the collected tilt angle of the annular track 12. Specifically, the hydraulic outrigger 16 is mounted on the extension end of the track holder 21 and is located close to the surface of the support beam 4 to be demolished. The track segments are blindly connected by a dovetail tenon structure to form an annular support 11. The assembly process of the annular support 11 uses acoustic wave detection technology to verify the structural locking state. A three-dimensional leveling model is constructed based on the tilt sensor 17, and the installation plane of the annular support 11 is adaptively leveled by the hydraulic outrigger 16, with a leveling accuracy of 0.1°.

[0030] It should be noted that the supporting track system 1 provides a stable mobile platform and working foundation for the dismantling system 2; the annular support 11 in the supporting track system 1 adopts a blind-fit connection of several track stages through a dovetail tenon structure, which not only ensures the system structure, but also facilitates on-site installation and transportation; the track segments are made of aerospace-grade lightweight materials, which are light in weight but high in strength, and can be quickly hoisted into place by conventional lifting equipment; the annular track 12 has embedded self-lubricating guide rails and integrated power supply lines to ensure the continuous and stable operation of the equipment in harsh construction environments.

[0031] Multiple independently controlled electric tracked walking mechanisms 15 are used as the walking mechanism. Each electric tracked walking mechanism 15 is equipped with a pressure sensor, which can automatically adjust the clamping force according to the actual contour of the support beam 4 to be removed, so as to ensure that the support track system 1 can be stably attached to the support beams of various cross-sectional sizes. The installation process of the entire support track system 1 is simple and quick, which significantly improves the efficiency of construction preparation.

[0032] The support track system 1 serves as the dynamic support platform for the demolition system 2, and its deployment is highly coordinated with the demolition operation of the demolition system 2. Specifically, before the demolition operation begins, the support track system 1 completes adaptive laying based on the surface point cloud data of the support beam 4 to be demolished, and ensures stable attachment of the system by adjusting the clamping force of the electric tracked walking mechanism 15. During the demolition process, the displacement of the support track system 1 is adjusted in conjunction with the operation progress. Specifically, after each set demolition length, such as 1.5 meters, is completed, the support track system 1 automatically moves forward to reserve an overlap area, such as 0.15 meters, thus ensuring continuous operation of the equipment and preventing the track from being suspended. In addition, the tilt sensor 17 monitors the relative positional offset between the support track system 1 and the support beam 4 to be demolished. When the support track system 1 is detected to have a positional deviation due to beam deformation, the hydraulic outriggers 16 are immediately triggered to perform position compensation.

[0033] Furthermore, the supporting track system 1 completes adaptive laying based on the surface point cloud data of the support beam 4 to be dismantled, and ensures stable attachment of the system by adjusting the clamping force of the electric tracked walking mechanism 15, as follows: First, the beam contour features of the support beam 4 to be dismantled are extracted based on the surface point cloud data of the support beam 4 to be dismantled, and the minimum fitting path is calculated through curvature analysis algorithm; then, the track segments are autonomously laid along the beam axis, and each track segment is blindly connected by a dovetail tenon structure; the tilt angle sensor 17 monitors the tilt angle of the annular support 11 in real time, and the independently controlled hydraulic outriggers automatically compensate for the height difference; the electric tracked walking mechanism 15 intelligently distributes the clamping force according to the local curvature, and the smaller the curvature radius, the greater the pressure applied, ensuring stable attachment of the complex curved beam; when the deployment is completed, the system automatically performs safety verification, and the dismantling operation is started only after the pressure sensor confirms that all contact points have reached the preset clamping threshold.

[0034] In this embodiment, the demolition system 2 includes a track holder 21, a hydraulic breaker 22, a parking lock pin 23, and a traveling mechanism 24. The track holder 21 is slidably mounted on the annular track 12 and is used to drive the hydraulic breaker 22 to slide along the annular track 12, thereby realizing the demolition operation on different surfaces of the support beam 4 to be demolished. The first end of the track holder 21 is fitted and installed on the annular track 12 and can move along the circumference of the annular track 12. The second end of the track holder 21 extends along the axial direction of the support beam 4 to be demolished and away from the annular support 11.

[0035] The first end of the track holder 21 serves as the mounting end, used to connect with the annular track 12; the second end of the track holder 21, i.e., the extension end of the track holder 21, serves as the support end, used to support and mount the hydraulic breaker 22; the mounting end of the track holder 21 is provided with a track groove 211, and the annular track 12 is fitted into the track groove 211; specifically, the track groove 211 is located at the mounting end of the track holder 21; one end of the track groove 211 is an open end, communicating with the mounting end of the track holder 21, and the other end of the track groove 211 extends toward the support end of the track holder 21; wherein, the cross-sectional shape of the track groove 211 matches the cross-sectional shape of the annular track 12 to ensure that the annular track 12 can be stably fitted into the track groove 211.

[0036] The parking lock pin 23 is retractably mounted on the inner wall of the track slot 211 and is used to cooperate with the parking lock hole 13 to fix the breaking system 2 at a predetermined position on the annular support 11. Specifically, the parking lock pin 23 is located near the opening end of the track slot 211, one end of the parking lock pin 23 is connected to the inner wall of the track slot 211, and the other end of the parking lock pin 23 can extend and retract along the radial direction of the annular support 11 and can be inserted into the parking lock hole 13. Through the mutual cooperation between the parking lock pin 23 and the parking lock hole 13, the track slot 21 and the annular support 11 are connected as one unit, thereby fixing the breaking system 2 at a predetermined position on the annular support 11.

[0037] The traveling mechanism 24 is disposed within the track holder 21 and is located near the end face of the track slot 211. The traveling mechanism 24 contacts the end face of the annular track 12 and, through the interaction between the traveling mechanism 24 and the annular track 12, drives the track holder 21 to slide along the circumference of the annular track 12. Specifically, the traveling mechanism 24 is disposed between the end face of the track slot 211 and the end face of the annular track 12. The traveling mechanism 24 can rotate around its own axis and contact the end face of the annular track 12, thereby driving the track holder 21 to slide along the circumference of the annular track 12.

[0038] Optionally, the traveling mechanism 24 includes a servo drive motor and a rotating shaft; the servo drive motor is mounted on the inner wall of the track slot 211, and the rotating shaft is disposed within the track slot 211; wherein, one end of the rotating shaft is connected to the output end of the servo drive motor, and the other end of the rotating shaft extends toward the center of the annular support 11; a first toothed structure is provided on the outer side of the rotating shaft, and a second toothed structure is provided on the end face of the annular track 12; the first toothed structure and the second toothed structure mesh with each other to form a face gear transmission structure between the rotating shaft and the annular track 12, thereby realizing the sliding of the track slot 21 along the circumferential direction of the annular track 12; further optionally, the rotating shaft and the end face of the annular track 12 are in frictional contact, so as to utilize the friction between the rotating shaft and the end face of the annular track 12 to realize the sliding of the track slot 21 along the circumferential direction of the annular track 12.

[0039] The hydraulic breaker 22 is installed at the extension end of the track holder 21 and is positioned close to the surface of the support beam 4 to be dismantled; wherein, one end of the hydraulic breaker 22 is connected to the track holder 21, and the other end of the hydraulic breaker 22 extends toward the surface of the support beam 4 to be dismantled.

[0040] In this embodiment, the laser scanner 3 is installed on the demolition system 2 to perform three-dimensional laser scanning on the support beam 4 to be demolished, and obtain surface point cloud data and laser reflection intensity data of the support beam 4 to be demolished; specifically, the laser scanner 3 is installed on the extension end of the track holder 21 and is set close to the surface of the support beam 4 to be demolished.

[0041] The central control system is used to generate predetermined demolition commands based on the surface power data and laser reflection intensity data of the support beam 4 to be demolished. The predetermined demolition commands include demolition path coordinate points and demolition energy parameters at each demolition path coordinate point. The demolition path coordinate points are used to drive the demolition system 2 to move along the circumferential direction of the support track system 1, and the demolition energy parameters at each demolition path coordinate point are used to control the impact frequency and amplitude of the hydraulic breaker in the demolition system 2.

[0042] Specifically, the process of generating a predetermined demolition command based on the surface point cloud data and laser reflection intensity data of the support beam 4 to be demolished is as follows: Based on the surface point cloud data of the support beam 4 to be demolished, a three-dimensional geometric model of the support beam 4 to be demolished is established. Based on the laser reflection intensity data of the support beam 4 to be demolished, the steel reinforcement area and concrete area in the three-dimensional geometric model of the support beam 4 to be demolished are divided to obtain a partitioned three-dimensional geometric model. Based on the concrete rebound detection data of the support beam 4 to be demolished, an interpolation algorithm is used to generate a continuous concrete strength distribution field in the partitioned three-dimensional geometric model to obtain a spatial topology model that integrates geometric features and material properties. Based on the spatial topology model that integrates geometric features and material properties, a demolition path is generated according to a preset path planning strategy. The demolition path includes several demolition path coordinate points. Based on the spatial topology model that integrates geometric features and material properties, and combined with the demolition path, the demolition energy parameters at each demolition path coordinate point are obtained according to a preset demolition mode decision strategy. The demolition path and the demolition energy parameters at each demolition path coordinate point are output to obtain a predetermined demolition command.

[0043] It should be noted that, in the process of establishing a spatial topology model that integrates geometric features and material properties, the laser scanner 3 is used to obtain the surface point cloud data and laser reflection intensity data of the support beam 4 to be demolished through multi-angle laser scanning; based on the surface point cloud data and laser reflection intensity data of the support beam 4 to be demolished, the three-dimensional geometric model of the support beam 4 to be demolished is reconstructed and the steel reinforcement distribution area is automatically identified; combined with the concrete rebound test data of the support beam 4 to be demolished, the model strength parameters are dynamically corrected to establish a spatial topology model that includes the material strength distribution, thus obtaining a spatial topology model that integrates geometric features and material properties.

[0044] In the process of obtaining surface point cloud data and laser reflection intensity data of the support beam 4 to be dismantled by using laser scanner 3 through multi-angle laser scanning, the laser scanner 3 is driven by track holder 21 to move along the circumferential direction of the ring track 12, and the ring support 11 is driven by electric track walking mechanism 15 to move along the axial direction of the support beam 4 to be dismantled, so that the laser scanner 3 moves spirally along the axial direction of the support beam 4 to be dismantled, thereby obtaining surface point cloud data and laser reflection intensity data of the support beam 4 to be dismantled.

[0045] Based on the surface point cloud data and laser reflection intensity data of the support beam 4 to be demolished, the three-dimensional geometric model of the support beam 4 to be demolished is reconstructed and the steel reinforcement distribution area is automatically identified. The three-dimensional geometric model is reconstructed based on the spatial coordinate distribution of the point cloud, and the concrete and steel reinforcement areas are distinguished according to the difference in laser reflection intensity. Among them, the preset high reflection intensity point cloud cluster is identified as the steel reinforcement structure, and the preset low reflection intensity area is determined as the concrete matrix.

[0046] In the process of establishing a spatial topological model that includes the material strength distribution by dynamically correcting the model strength parameters based on the concrete rebound test data of the support beam 4 to be demolished, the concrete rebound test data is integrated, and a continuous strength distribution field is generated in three-dimensional space through an interpolation algorithm to form a dynamic topological model that integrates geometric features and material properties. The dynamic topological model that integrates geometric features and material properties is updated in real time based on the newly exposed structural features during the demolition process. Specifically, the laser scanner 3 is used to scan the newly exposed structural features during the demolition of the support beam 4 to be demolished, and the scanned data of the newly exposed structural features is used to update the dynamic topological model that integrates geometric features and material properties in real time.

[0047] The preset path planning strategy includes: synchronously generating paths according to a bidirectional search strategy from the beam end of the support beam 4 to be demolished to the middle area of ​​the beam; wherein, in the middle area of ​​the support beam 4 to be demolished, a pre-constructed spatial obstacle avoidance cost function and a pre-constructed energy optimization cost function are used for cost balance optimization; the pre-constructed spatial obstacle avoidance cost function is used to dynamically increase the path weight close to the rebar area by calculating the Euclidean distance between the path node and the rebar cluster; the pre-constructed energy optimization cost function is used to convert the concrete strength parameter of each demolition path coordinate point into a crushing energy consumption coefficient, and based on the crushing energy consumption coefficient, guide the priority selection of the preset strength area as the main path.

[0048] It should be noted that the demolition path planning process divides the support beam 4 to be demolished into a core demolition zone and a protective demolition zone, and generates the optimal demolition path using a pre-determined path planning method. The pre-determined path planning method introduces dual constraints of spatial constraints and energy constraints. The spatial constraint requires avoiding the location of the main reinforcing bars, and the energy constraint adjusts the demolition energy output based on real-time strength feedback. The path planning includes a detour strategy, that is, when a dense area of ​​reinforcing bars is detected, a detour path is automatically generated.

[0049] Specifically, a spatial obstacle avoidance cost function is introduced, which dynamically increases the path weight near the rebar cluster by calculating the Euclidean distance between the path node and the rebar cluster, forcing the planned path to actively detour around the dense rebar area. Secondly, an energy optimization cost function is established, which converts the concrete strength parameter into the crushing energy consumption coefficient, guiding the algorithm to prioritize low-strength areas as the main path. When implementing path planning, a bidirectional search strategy is adopted, generating paths synchronously from both ends of the beam. In the middle area, the spatial obstacle avoidance cost function and the energy optimization cost function are used for cost balance optimization, which greatly reduces the computational complexity. The path dynamic replanning mechanism detects model changes through real-time point cloud comparison, and immediately triggers local path recalculation when an unforeseen obstacle is detected.

[0050] The preset demolition mode decision strategy includes: comparing the concrete strength parameters of each demolition path coordinate point with a preset concrete strength threshold to obtain the strength comparison result of each demolition path coordinate point; selecting a preset demolition mode based on the strength comparison result of each demolition path coordinate point; and determining the demolition energy parameters at each demolition path coordinate point based on the selected preset demolition mode. Specifically, when the concrete strength of the support beam 4 to be demolished is greater than C40, the high-frequency point demolition mode is activated; when the concrete strength of the support beam 4 to be demolished is in the C30-C40 range, the continuous linear demolition mode is adopted; and when the concrete strength of the support beam 4 to be demolished is less than C30, the area demolition mode is activated.

[0051] In this embodiment, a closed-loop workflow is formed through the initial modeling stage, the breaking path planning, and the breaking execution. The spatial topology model generated in the initial modeling stage provides data on the location and strength distribution of reinforcing bars for the path planning. The breaking path planning outputs a sequence of instructions containing spatial coordinates and breaking energy based on the spatial topology model. In the breaking execution stage, the equipment displacement is driven according to the coordinate points in the instruction sequence, and the breaking parameters are automatically matched according to the strength values ​​of each point. During the breaking process, the newly exposed beam structure is scanned and fed back to the modeling system in real time, triggering model updates and starting a new round of path optimization, forming a closed-loop control flow of "model → planning → execution → feedback".

[0052] During the demolition execution phase, the servo drive motor in the traveling mechanism 24 responds to several demolition path coordinate points in the predetermined demolition command to achieve precise positioning of the demolition system 2. The positioning error compensation mechanism automatically corrects the posture deviation through real-time coordinate comparison. In addition, a differentiated demolition strategy is adopted for different concrete strengths, with the core control object being the impact frequency and amplitude of the hydraulic breaker. Specifically, when the preset high-strength concrete area is identified, the hydraulic valve opening of the hydraulic breaker is increased to raise the impact frequency to above 35Hz, while the stroke is reduced to form a high-frequency point-breaking mode. The preset medium-strength area maintains the standard frequency but increases the amplitude to achieve continuous linear cutting. The preset low-strength area reduces the frequency to 15Hz and maximizes the amplitude to form a surface compaction effect. The demolition effect is monitored in real time by the vibration sensor preset on the support beam 4 to be demolished. The parameters are dynamically adjusted every 30 seconds according to the demolition rate. When the amount of demolition per unit time does not reach the expected value, the energy output is automatically increased.

[0053] In this embodiment, the central control system includes a field layer and a cloud layer. The field layer uses a PLC system to achieve real-time equipment-level control with a response latency of ≤10ms, completing basic functions such as motion control and data acquisition. The cloud layer constructs a construction digital twin, enabling remote decision support by dynamically mapping the status of field equipment. Specifically, the cloud layer performs deviation analysis between the real-time broken surface 3D point cloud and the standard model. When the deviation value is >5%, it automatically triggers process parameter adjustment commands. In addition, an iterative optimization mechanism is introduced. When the monitoring data exceeds a preset threshold, the system automatically backtracks to the scheme generation stage for replanning. All process data is encrypted and stored using blockchain technology, forming an immutable construction digital archive.

[0054] The central control system adopts a two-layer control architecture with a field layer and a cloud layer working in tandem. The field layer uses an industrial-grade PLC control system to handle real-time equipment control and data acquisition, ensuring millisecond-level response speeds. The cloud layer provides powerful data processing and analysis capabilities, enabling advanced functions such as remote monitoring, construction management, and quality assessment. Real-time data transmission is achieved through a 5G high-speed network, allowing construction managers to view construction progress and equipment status at any time via various terminal devices. The system possesses multiple intelligent functions, such as automatically generating optimal demolition solutions, real-time monitoring of construction quality, early warning of abnormal equipment conditions, and complete recording of construction data, including all construction parameters and processes. Data is automatically archived to form a complete digital construction archive, providing strong support for project management. In the initial modeling stage, the AI ​​engine in the cloud layer optimizes the point cloud registration algorithm. During path planning, the site layer and the cloud layer work together to calculate the optimal path. During execution, the equipment controller dynamically adjusts the hydraulic system based on the parameter table issued by the cloud layer. In the track adjustment stage, the position compensation command is generated in real time by the edge computing module. The entire system keeps all units synchronized through a unified time-stamping protocol. Key control commands (such as emergency stop and mode switching) adopt a local priority response mechanism, while status data is aggregated and analyzed in the cloud through a 5G private network to form a distributed intelligent control network.

[0055] Control process and working principle: As attached Figure 5 As shown, the control method for the concrete support beam removal device described in this embodiment includes: A laser scanner 3 performs a three-dimensional laser scan of the support beam 4 to be demolished, obtaining surface point cloud data and laser reflection intensity data of the support beam 4. A central control system generates a predetermined demolition command based on the surface point cloud data and laser reflection intensity data of the support beam 4. The demolition system 2 receives and responds to the predetermined demolition command, and demolishes the support beam 4 by breaking it. The demolition path coordinates in the predetermined demolition command are used to control the operation of the servo drive motor in the traveling mechanism 24, thereby controlling the displacement of the demolition system 2. The demolition energy parameters at each demolition path coordinate point in the predetermined demolition command are used to control the impact frequency and amplitude of the hydraulic breaker.

[0056] Demolition method: When using the concrete support beam removal device described in this embodiment to remove the support beam to be removed, the process is as follows: First, the support track system 1 is fitted onto the outside of the support beam 4 to be dismantled. Based on the inclination angle of the annular track 12 collected by the inclination sensor 17, the axial direction of the support track system 1 is adjusted to coincide with the axial direction of the support beam 4 to be dismantled by the hydraulic outriggers 16. Next, based on the clamping force between the electric tracked walking mechanism 15 and the support beam 4 to be dismantled collected by the pressure sensor, the clamping force of the electric tracked walking mechanism 15 is adjusted by the hydraulic support structure 14 to make the electric tracked walking mechanism 15 contact the surface of the support beam 4 to be dismantled.

[0057] Subsequently, a three-dimensional laser scan is performed on the support beam 4 to be dismantled using a laser scanner 3 to obtain surface point cloud data and laser reflection intensity data of the support beam 4 to be dismantled; the central control system generates a predetermined demolition command based on the surface point cloud data and laser reflection intensity data of the support beam 4 to be dismantled.

[0058] Next, the electric tracked walking mechanism 15 is activated, causing the entire demolition device to move along the axis of the support beam 4 to be demolished until the demolition device moves to the preset position of the first demolition section, and the crushing and demolition operation of the first demolition section begins. During the crushing and demolition operation, according to the predetermined demolition command, the traveling mechanism 24 drives the rail clamp 21 to slide along the circumference of the circular track 12 until the demolition system 2 moves to the preset crushing position. After that, the parking lock pin 23 extends towards the center of the circular support 11 and is inserted into the parking lock hole 13 to lock the rail clamp. The seat 21 is fixed together with the annular support 11, thereby realizing the locking operation of the demolition system 2; after the demolition system 2 is locked, the hydraulic breaker 22 is turned on to start breaking the surface of the support beam 4 to be demolished; during the breaking process, the impact frequency and amplitude of the hydraulic breaker 22 are controlled according to the predetermined demolition command; after the first demolition section is completed, the electric tracked walking mechanism 15 is turned on again, so that the demolition device moves along the axis of the support beam 4 to be demolished to the preset position of the second demolition section, and the breaking and demolition operation of the second demolition section begins.

[0059] The concrete support beam demolition device described in this embodiment uses a laser scanner to perform three-dimensional laser scanning of the support beam to be demolished, accurately acquiring its surface point cloud data and laser reflection intensity data. The central control system generates predetermined demolition commands based on the acquired surface point cloud data and laser reflection intensity data, including the demolition path coordinates and demolition energy parameters at each coordinate point. This allows the demolition system to operate according to precise commands, effectively avoiding the problems of incomplete or excessive demolition caused by the lack of intelligent control in existing mechanical demolition equipment. This greatly improves the accuracy of demolition, ensures demolition quality, and thus ensures the safety of the engineering structure. Specifically, demolition path planning significantly improves construction efficiency; intelligent sensing and automatic control technologies achieve precision and efficiency in demolition operations; the lightweight modular track system design greatly simplifies the installation process and improves the equipment's environmental adaptability; the central control system enables digital management of the entire construction process, improving quality control. Compared with traditional processes, this embodiment completely eliminates the safety hazards of high-altitude operations, significantly improves construction efficiency, ensures stable and reliable demolition quality, adapts to various complex construction site conditions, and provides a brand-new solution for building demolition projects, with significant economic and social benefits.

[0060] The concrete support beam removal device of the present invention integrates mechanical automation, intelligent sensing and cloud-based collaborative control technologies to achieve efficient and precise removal of concrete support beams, and is particularly suitable for large-scale support beam removal operations in deep foundation pit support projects.

[0061] The above embodiments are merely one of the implementation methods for achieving the technical solution of the present invention. The scope of protection claimed by the present invention is not limited to this embodiment, but also includes any variations, substitutions and other implementation methods that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention.

Claims

1. A concrete support beam removal apparatus, characterized by, The support rail system (1), the breaking system (2), the laser scanner (3) and the central control system are included. The support rail system (1) is coaxially sleeved on the outside of the support beam (4) to be removed and can move along the axis direction of the support beam (4) to be removed; the breaking system (2) is rotatably arranged at the rear end of the support rail system (1) and is used for breaking and removing the support beam (4) to be removed according to a predetermined breaking instruction; The laser scanner (3) is installed on the breaking system (2) and is used for three-dimensional laser scanning of the support beam (4) to be removed to obtain surface point cloud data and laser reflection intensity data of the support beam (4) to be removed. The central control system is used for generating the predetermined breaking instruction according to the surface point cloud data and the laser reflection intensity data of the support beam (4) to be removed; wherein the predetermined breaking instruction includes breaking path coordinate points and breaking energy parameters at each breaking path coordinate point.

2. A concrete support beam demolition device according to claim 1, characterised in that, According to the surface point cloud data and the laser reflection intensity data of the support beam (4) to be removed, the process of generating the predetermined breaking instruction is as follows: According to the surface point cloud data of the support beam (4) to be removed, a three-dimensional geometric model of the support beam (4) to be removed is established; According to the laser reflection intensity data of the support beam (4) to be removed, the steel bar region and the concrete region in the three-dimensional geometric model of the support beam (4) to be removed are divided to obtain a partitioned three-dimensional geometric model; Based on the concrete rebound detection data of the support beam (4) to be removed, a continuous concrete strength distribution field is generated in the partitioned three-dimensional geometric model by an interpolation algorithm to obtain a spatial topology model that fuses geometric features and material properties; Based on the spatial topology model that fuses geometric features and material properties, a breaking path is generated according to a preset path planning strategy; wherein the breaking path includes a plurality of breaking path coordinate points; Based on the spatial topology model that fuses geometric features and material properties and in combination with the breaking path, a breaking energy parameter at each breaking path coordinate point is obtained according to a preset breaking mode decision strategy; The breaking path and the breaking energy parameter at each breaking path coordinate point are output to obtain the predetermined breaking instruction.

3. A concrete support beam demolition device according to claim 2, wherein, The preset path planning strategy is as follows: The path is synchronously generated according to a bidirectional search strategy from the beam end to the middle region of the beam body of the support beam (4) to be removed; wherein in the middle region of the beam body of the support beam (4) to be removed, a pre-constructed spatial obstacle avoidance cost function and a pre-constructed energy optimization cost function are used for cost balance optimization; The pre-constructed spatial obstacle avoidance cost function is used for dynamically increasing the path weight close to the steel bar region by calculating the Euclidean distance between the path node and the steel bar cluster; The pre-constructed energy optimization cost function is used for converting the concrete strength parameter of each breaking path coordinate point into a breaking energy consumption coefficient and guiding to preferentially select a preset strength region as a main path based on the breaking energy consumption coefficient.

4. A concrete support beam removal apparatus as claimed in claim 2, wherein, The preset breaking mode decision strategy is as follows: The concrete strength parameter of each breaking path coordinate point is compared with a preset concrete strength threshold to obtain a strength comparison result of each breaking path coordinate point. According to the intensity comparison result of each breaking path coordinate point, a preset breaking mode is selected; Based on the selected preset breaking mode, a breaking energy parameter at each breaking path coordinate point is determined.

5. The concrete support beam removal device of claim 1, wherein, The support rail system (1) comprises a ring-shaped support (11), a ring-shaped rail (12), a hydraulic support structure (14) and an electric caterpillar walking mechanism (15); The ring-shaped support (11) is sleeved on the outside of the support beam (4) to be demolished, and the axis of the ring-shaped support (11) coincides with the axis of the support beam (4) to be demolished; the ring-shaped rail (12) is arranged at the rear end of the ring-shaped support (11), and the breaking system (2) is slidably arranged on the ring-shaped rail (12); One end of the hydraulic support structure (14) is connected with the inner wall of the front end of the ring-shaped support (11), and the other end of the hydraulic support structure (21) extends along the diameter direction of the ring-shaped support (11) and towards the center direction of the ring-shaped support (11); the electric caterpillar walking mechanism (15) is installed at the extended end of the hydraulic support structure (14), and the electric caterpillar walking mechanism (15) is in close contact with the surface of the support beam (4) to be demolished.

6. A concrete support beam demolition device according to claim 5, wherein, The support rail system (1) further comprises a pressure sensor; The pressure sensor is used to collect and send the pressing force between the electric caterpillar walking mechanism (15) and the support beam (4) to be demolished to the central control system; The central control system is further used to generate and send a pressing force adjusting instruction to the hydraulic support structure (14) according to the collected pressing force between the electric caterpillar walking mechanism (15) and the support beam (4) to be demolished.

7. A concrete support beam removal apparatus as claimed in claim 5, wherein, The support rail system (1) further comprises a hydraulic support leg (16) and an inclination sensor (17); The hydraulic support leg (16) is installed on the breaking system (2), one end of the hydraulic support leg (16) is connected with the breaking system (2), and the other end of the hydraulic support leg (16) is in contact with the surface of the support beam (4) to be demolished; The inclination sensor (17) is arranged on the outside of the hydraulic support leg (16), and the inclination sensor (17) is used to collect and send the inclination of the ring-shaped rail (12) to the central control system; The central control system is further used to generate and send a height compensation instruction to the hydraulic support leg (16) according to the collected inclination of the ring-shaped rail (12).

8. A concrete support beam removal apparatus as claimed in claim 5, wherein, The breaking system (2) comprises a rail clamping seat (21), a hydraulic breaking hammer (22) and a travelling mechanism (24); One end of the rail clamping seat (21) is fitted and installed on the ring-shaped rail (12) and can move along the circumferential direction of the ring-shaped rail (12); the other end of the rail clamping seat (21) extends along the axis direction of the support beam (4) to be demolished and away from one side of the ring-shaped support (11); wherein the mounting end of the rail clamping seat (21) is provided with a rail clamping groove (211), and the ring-shaped rail (12) is fitted and arranged in the rail clamping groove (211); The hydraulic breaking hammer (22) is arranged at the extended end of the track clamping seat (21) and close to the surface of the support beam (4) to be removed; The travelling mechanism (24) is arranged in the track clamping seat (21) and close to the end surface of the track clamping groove (211); wherein the travelling mechanism (24) is in contact with the end surface of the ring track (12), and is used to drive the track clamping seat (21) to slide along the circumferential direction of the ring track (12) through the interaction between the travelling mechanism (24) and the ring track (12).

9. A concrete support beam demolition device according to claim 8, wherein, The breaking system (2) further comprises a parking lock pin (23); A plurality of parking lock holes (13) are arranged on the rear end circumference of the ring support (11), and the parking lock pin (23) is arranged on the inner wall of the track clamping groove (211) in an extendable manner; The parking lock pin (23) is used to cooperate with the parking lock hole (13) to fix the breaking system (2) at the predetermined position of the ring support (11).

10. A method of controlling a concrete support beam removal apparatus according to any one of claims 1 to 9, wherein The method comprises: The laser scanner (3) is used to perform three-dimensional laser scanning on the support beam (4) to be removed to obtain surface point cloud data and laser reflection intensity data of the support beam (4) to be removed; The central control system is used to generate a predetermined breaking instruction according to the surface point cloud data and the laser reflection intensity data of the support beam (4) to be removed; The breaking system (2) receives and responds to the predetermined breaking instruction to break and remove the support beam (4) to be removed.

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