Deck bridge fabrication machine control system and method for continuous beam construction

Abstract

The invention relates to the technical field of building construction, in particular to a deck bridge fabrication machine control system and method for continuous beam construction. The stability analysis module is used for carrying out load test on the installed bridge fabrication machine to determine whether the bridge fabrication machine meets a bridge fabrication machine walking starting condition or not; the pre-walking control module is used for determining initial walking parameters so as to carry out pre-walking control on the bridge fabrication machine; the walking analysis module is used for determining a walking stability characterization value based on the stress information change condition of each component in the pre-walking process of the bridge fabrication machine, determining a walking deviation characterization value based on the spatial position information change condition of each component in the pre-walking process of the bridge fabrication machine, and determining whether the pre-walking process of the bridge fabrication machine meets a preset standard or not; determining a target walking parameter; and the walking control module is used for carrying out walking control on the bridge fabrication machine based on the target walking parameters. Automatic control over walking of the bridge fabrication machine can be achieved, and the continuous beam construction precision is improved.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to a control system and method for a bridge-building machine for continuous beam construction. Background Technology

[0002] With the continuous development of my country's economic construction and the constant progress of science and technology, the modern high-speed rail system has also advanced rapidly, keeping pace with the nation's progress. The continuous completion of various high-speed railway projects has led to the increasingly sophisticated construction technology of cantilever continuous beams. Large-span continuous beam bridges are widely used due to their rational structure and economical cost. However, the construction technology of cantilever continuous beams is both a key focus and a challenge in bridge construction. Traditional construction methods suffer from long construction periods and high safety risks. The upper-bearing bridge-building machine, as a new type of specialized equipment, achieves high efficiency and precision in continuous beam construction through integrated design and intelligent control. The core of the upper-bearing bridge-building machine process is to use the machine as a mobile construction platform, supported on the completed bridge deck. Mechanized operations are used to assemble and adjust bridge segments. The machine advances gradually through its support and traveling systems to complete the construction of the entire span of the bridge. The support system uses hydraulic jacks, which can be precisely adjusted according to the bridge's alignment and elevation. The traveling system uses a wheeled structure, driven by a motor, to achieve smooth movement of the bridge-building machine.

[0003] However, traditional bridge-building machine control systems suffer from numerous technical bottlenecks in practical applications, making it difficult to meet the high-precision and intelligent requirements of modern bridge construction. Firstly, data acquisition is limited in scope and lacks coordination. Traditional control systems often rely on manual inspections or single-point sensor data collection. Secondly, after installation, traditional bridge-building machines rely heavily on technicians' experience to determine if travel conditions are met. This experience-based approach can easily lead to the machine starting its travel program with hidden defects, potentially causing major safety accidents such as main beam tilting, anchorage failure, or even equipment overturning. Furthermore, travel parameter settings lack adaptability to different working conditions. Traditional control systems use fixed travel parameters without considering installation deviations and environmental interference. When installation deviations exist or the construction environment is complex, fixed parameters cannot match the actual working conditions, easily leading to problems such as excessively high travel speeds causing large positioning deviations and poor gear and rack meshing, or excessively low speeds causing low construction efficiency. Moreover, the lack of a dynamic closed-loop optimization mechanism in travel control results in low accuracy and efficiency for bridge-building machine travel control, making it difficult to guarantee the construction precision of continuous beams.

[0004] Chinese Patent Publication No. CN118746932A discloses an automatic bridge-building machine control method and system, belonging to the field of automatic control technology for bridge construction. Addressing the problem of low automation control levels in current automatic bridge-building machines, this paper provides an automatic bridge-building machine control method and system. The control system includes a bottom mold system, an inner mold system, a side mold system, and a traveling system. Through the connection of the control system with several pressure and displacement sensors, the system completes the mold-closing and unclosing processes of the bottom mold, inner mold, and side molds, and controls the traveling system to complete the traveling process. After completing one stage of bridge construction, the system automatically proceeds to the next stage of bridge construction.

[0005] The existing technology has the following problems: the data acquisition dimension is single and the coordination is poor; the setting of travel parameters lacks adaptability to working conditions; and the travel control process cannot be dynamically adjusted according to the actual situation. As a result, the accuracy and efficiency of the travel control of the upper-bearing bridge building machine are relatively low, and it is difficult to guarantee the construction accuracy of continuous beams. Summary of the Invention

[0006] To address this, the present invention provides a control system and method for a bridge-building machine used in continuous beam construction, which overcomes the problems in the prior art where data acquisition is limited in dimensions and lacks coordination, travel parameter settings lack adaptability to working conditions, and the travel control process cannot be dynamically adjusted according to actual conditions, resulting in low accuracy and efficiency of travel control for the bridge-building machine and difficulty in ensuring the construction precision of continuous beams.

[0007] To achieve the above objectives, on the one hand, the present invention provides a control system for a continuous beam bridge-building machine, comprising:

[0008] The data acquisition module is used to acquire the stress information and spatial position information of each component of the bridge building machine in real time, and to periodically acquire the environmental information of the construction area.

[0009] The stability analysis module is used to perform load tests on the installed bridge-building machine, determine the load test characterization values ​​at several test points, determine the installation stability of the bridge-building machine, and determine whether the bridge-building machine meets the travel and start-up conditions based on the installation stability.

[0010] The pre-travel control module is used to determine the type of environmental interference based on the changes in environmental information in the construction area within a preset time period when the installation stability meets the conditions for starting the bridge-building machine, determine the installation deviation characterization value based on the stress information of each component of the installed bridge-building machine, and determine the initial travel parameters based on the type of environmental interference and the installation deviation characterization value, so as to perform pre-travel control on the bridge-building machine.

[0011] The travel analysis module is used to determine the travel stability characterization value based on the changes in the force information of each component during the pre-travel of the bridge-building machine, to determine the travel deviation characterization value based on the changes in the spatial position information of each component during the pre-travel of the bridge-building machine, and to determine whether the pre-travel process of the bridge-building machine meets the preset standard based on the travel stability characterization value and the travel deviation characterization value, so as to determine the target travel parameters.

[0012] The travel control module is used to control the travel of the bridge-building machine based on the target travel parameters.

[0013] Furthermore, the stability analysis module includes:

[0014] The load testing unit is used to perform load tests on the installed bridge-building machine in order to determine the load test characterization values ​​at several test points.

[0015] The test analysis unit is used to determine the installation stability of the bridge-building machine based on the load test characterization values ​​of each test point.

[0016] The stability determination unit is used to determine whether the bridge-building machine's travel start-up conditions are met based on the comparison result between the installation stability and the preset stability.

[0017] Furthermore, the pre-travel control module includes:

[0018] The environmental analysis unit is used to determine the environmental impact characterization value based on the changes in environmental information in the construction area within a preset time period, and to determine the type of environmental interference based on the comparison between the environmental impact characterization value and the preset impact characterization value.

[0019] The environmental interference types include strong environmental interference types and weak environmental interference types.

[0020] Furthermore, the pre-travel control module includes:

[0021] The initial stress analysis unit is used to determine the stress distribution characterization value of each component based on the stress information of each component of the completed bridge building machine, and to determine the component deviation index corresponding to each component based on the comparison result of the stress distribution characterization value of each component with the standard stress index, so as to determine the installation deviation characterization value.

[0022] Furthermore, the pre-travel control module includes:

[0023] The pre-travel control unit is used to determine the travel adjustment coefficient based on the environmental interference type and the installation deviation characterization value when the installation stability meets the conditions for starting the bridge-building machine, and to determine the initial travel parameters based on the travel adjustment coefficient and the preset travel parameters, so as to perform pre-travel control on the bridge-building machine.

[0024] Furthermore, the travel analysis module determines whether the pre-travel process of the bridge-building machine meets the preset standard based on the comparison result of the travel control characterization value and the preset control characterization value;

[0025] The travel control characterization value is determined based on the travel stability characterization value and the travel deviation characterization value.

[0026] Furthermore, the travel analysis module determines the target travel parameters based on the travel control characterization value and the initial travel parameters under the first relative condition;

[0027] The first relative condition is that the pre-travel process of the bridge-building machine meets the preset standard.

[0028] Furthermore, the travel analysis module adjusts the preset travel parameters based on the travel control characterization value under the second relative condition;

[0029] The second relative condition is that the pre-travel process of the bridge-building machine does not meet the preset standard.

[0030] Furthermore, the load testing unit applies several sets of loads at each of the test points to obtain the deflection deformation and stress change at each test point before and after the load is applied, so as to determine the load test characterization value of each test point.

[0031] On the other hand, the present invention also provides a control method for a top-bearing bridge-building machine used in continuous beam construction, comprising:

[0032] The system acquires real-time stress and spatial location information of each component of the bridge-building machine, and periodically acquires environmental information of the construction area.

[0033] A load test was conducted on the installed bridge-building machine, and the load test characterization values ​​of several test points were determined to determine the installation stability of the bridge-building machine. Based on the installation stability, it was determined whether the conditions for the bridge-building machine to travel and start were met.

[0034] If the conditions for starting the bridge-building machine are met, the type of environmental interference is determined based on the changes in environmental information in the construction area within a preset time period, and the value of the installation deviation is determined based on the stress information of each component of the bridge-building machine after installation.

[0035] Initial travel parameters are determined based on the environmental interference type and the installation deviation characterization value to perform pre-travel control on the bridge building machine;

[0036] The stability characterization value is determined based on the changes in the force information of each component during the pre-travel of the bridge-building machine, and the travel deviation characterization value is determined based on the changes in the spatial position information of each component during the pre-travel of the bridge-building machine.

[0037] Based on the travel stability characterization value and the travel deviation characterization value, it is determined whether the pre-travel process of the bridge-building machine meets the preset standard, and the target travel parameters are determined to control the travel of the bridge-building machine.

[0038] Compared with existing technologies, the advantages of this invention are as follows: By setting up a data acquisition module, it achieves real-time collection of multi-dimensional data, providing comprehensive data support for subsequent analysis and control. By setting up a stability analysis module, it quantitatively determines the installation stability of the bridge-building machine based on load test results, achieving accurate assessment of the bridge-building machine's installation quality. This serves as the basis for judging whether the conditions for starting the bridge-building machine's movement are met, avoiding blindly starting the movement program and improving the safety and quality of continuous beam construction. By setting up a pre-movement control module, it determines the initial movement parameters based on environmental interference types and installation deviation characterization values, adapting to actual construction conditions, improving the safety and efficiency of the bridge-building machine's movement. By setting up a movement analysis module, it quantitatively determines whether the pre-movement meets preset standards based on the changes in force and spatial position information of each component during the pre-movement process, providing an objective basis for determining the target movement parameters. This ensures that the finally determined target movement parameters accurately match the actual state of the bridge-building machine, improving the movement accuracy and stability of the bridge-building machine. By setting up a travel control module, the travel of the bridge-building machine can be precisely and automatically controlled based on the target travel parameters, thereby improving the construction accuracy and safety of continuous beams.

[0039] Furthermore, the stability analysis module of this invention, by setting up a load testing unit, simulates the load transfer process during the start-up of the bridge-building machine through active pressure application, comprehensively and quantitatively analyzing the structural stability of each test point of the bridge-building machine after installation. By setting up the testing analysis unit, a comprehensive correlation analysis is performed based on the load test characteristic values ​​of each test point, thereby quantitatively evaluating the overall stability of the bridge-building machine. By setting up a stability judgment unit, the installed stability is compared with the preset stability, clearly defining the quantitative conditions for the start-up of the bridge-building machine, improving the safety and stability of the bridge-building machine's movement, and ensuring the construction quality of the continuous beam.

[0040] Furthermore, the pre-travel control module of this invention achieves accurate quantitative assessment of the construction area environment by setting up an environmental analysis unit. Based on the quantitative results, it classifies the environmental interference type into strong interference type and weak interference type, improves the response efficiency to environmental changes, can identify high-risk environmental conditions in advance, and improves the accuracy of bridge-building machine travel control.

[0041] Furthermore, the pre-travel control module of the present invention, by setting an initial force analysis unit and calculating the force distribution characterization value, determines the component deviation index, which can accurately quantify the degree of installation deviation of the bridge-building machine, and finally comprehensively determine the installation deviation characterization value, providing accurate data support for the adjustment of travel parameters, and avoiding equipment damage or insufficient accuracy caused by blindly adjusting parameters.

[0042] Furthermore, the pre-travel control module of this invention, by setting a pre-travel control unit, calculates the travel adjustment coefficient based on the type of environmental interference and the characterization value of installation deviation, thereby achieving precise adaptation of the initial travel parameters to the actual working conditions, realizing dynamic optimization of the pre-travel parameters, and achieving intelligent control in the initial stage of travel. This lays a reliable foundation for subsequently determining the target travel parameters, further improving the travel efficiency and stability of the bridge-building machine, and ensuring the construction quality of continuous beams.

[0043] Furthermore, the travel analysis module of this invention performs quantitative evaluation of the pre-travel process based on the comparison results of travel control characterization values ​​and preset control characterization values, constructing a differentiated parameter determination mechanism that balances travel efficiency and safety. For the first relative condition, the target travel parameters are directly determined based on the travel control characterization values ​​and initial travel parameters, shortening the parameter optimization cycle and improving construction efficiency. For the second relative condition, the initial travel parameters are adjusted in reverse based on the travel control characterization values, and the pre-travel process is readjusted, which can improve the accuracy and stability of subsequent travel processes, further enhancing the construction accuracy of continuous beams. Attached Figure Description

[0044] Figure 1 This is a structural block diagram of the control system for the upper-bearing bridge-building machine used in continuous beam construction according to an embodiment of the present invention;

[0045] Figure 2 This is a structural block diagram of the stability analysis module in an embodiment of the present invention;

[0046] Figure 3 This is a structural block diagram of the pre-walking control module according to an embodiment of the present invention;

[0047] Figure 4 This is a logic diagram for determining the type of environmental interference in an embodiment of the present invention.

[0048] Figure 5 This is a flowchart illustrating the control method of the upper-bearing bridge-building machine for continuous beam construction according to an embodiment of the present invention. Detailed Implementation

[0049] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0050] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0051] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0052] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] Please see Figures 1-4 As shown, Figure 1 This is a structural block diagram of the control system for the upper-bearing bridge-building machine used in continuous beam construction according to an embodiment of the present invention; Figure 2 This is a structural block diagram of the stability analysis module in an embodiment of the present invention; Figure 3 This is a structural block diagram of the pre-walking control module according to an embodiment of the present invention; Figure 4 This invention provides a logic diagram for determining the type of environmental interference in an embodiment of the invention; the invention also provides a control system and method for a continuous beam bridge-building machine, comprising:

[0054] The data acquisition module is used to acquire the stress information and spatial position information of each component of the bridge building machine in real time, and to periodically acquire the environmental information of the construction area.

[0055] During implementation, corresponding sensors are deployed on each component of the bridge-building machine to acquire force and spatial position information at corresponding locations. The specific equipment and methods for acquiring this information are not specifically limited. For example, pressure sensors are installed on the outrigger cylinders, demolding cylinders, and lateral movement cylinders to collect real-time cylinder working pressure; tension sensors are installed on the gantry booms and bottom formwork suspension booms to monitor boom tension values; stress sensors are attached to the mid-span, front, and rear sections of the main beam to collect stress changes, and so on. Displacement sensors are installed on the side formwork, bottom formwork, and inner formwork to collect demolding spacing and positioning deviation data; tilt sensors are installed on both sides of the main beam to monitor changes in the overall machine's tilt angle; and laser positioning sensors are installed on the traveling beam to acquire real-time traveling positioning coordinates, thereby accurately determining the spatial position information of each component of the bridge-building machine. The construction area is the construction range of the bridge-building machine. Environmental information includes wind speed, wind direction, temperature, and humidity. There are no specific restrictions on the equipment and methods for obtaining environmental information. For example, wind speed and wind direction information can be obtained through an anemometer, and temperature and humidity information can be obtained through a temperature and humidity sensor. These will not be elaborated here. The collection cycle can be set to 1 min / time to 3 min / time.

[0056] The stability analysis module, which is connected to the data acquisition module, is used to perform load tests on the installed bridge-building machine, determine the load test characterization values ​​of several test points, determine the installation stability of the bridge-building machine, and determine whether the installation stability meets the conditions for starting the bridge-building machine.

[0057] Specifically, the stability analysis module includes:

[0058] The load testing unit is used to perform load tests on the installed bridge-building machine in order to determine the load test characterization values ​​at several test points.

[0059] Specifically, the load testing unit applies several sets of loads to each of the test points to obtain the deflection deformation and stress change at each test point before and after the load is applied, so as to determine the load test characterization value of each test point.

[0060] During implementation, test points can be set at key locations such as the front end, mid-span, and rear end of the main beam, the anchorage points of the traveling beam, and the gantry hangers. Deflection and stress sensors are used to acquire the deflection and stress at each test point. The loads are set as no load (0% of rated load), 50% of rated load, and 100% of rated load. In the no-load test, the bridge-building machine is left stationary for 10 minutes without additional counterweight to obtain the initial deflection and stress values ​​at each test point. In the 50% rated load test, counterweights are symmetrically stacked at each test point in batches until reaching 5... At 0% rated load, after stacking, maintain the load for 10 minutes to ensure structural deformation stability, and record the first deflection and first stress values ​​at each test point. At 100% rated load, stack the counterweights symmetrically at each test point in batches until the load reaches 100% rated load, and maintain the load for 10 minutes after stacking to ensure structural deformation stability, and record the second deflection and second stress values ​​at each test point. After the test, unload the load, and after 10 minutes of unloading, record the third deflection and third stress values ​​at each test point.

[0061] Understandably, for any test point, the deflection at that point can be calculated as follows: ND = d1 × (ND1 - ND0) / ND0 + d2 × (ND2 - ND0) / ND0 + d3 × (ND3 - ND0) / ND0, where ND0 is the initial deflection value, ND1 is the first deflection value, ND2 is the second deflection value, ND3 is the third deflection value, and d1, d2, and d3 are the weighting coefficients for the corresponding load tests, which can be based on the actual situation or the percentage of qualified load test results in historical data. The pass / fail ratio is positively correlated with the weighting coefficient, and d1+d2+d3=1. The stress deformation at this test point is: YL=d1×(YL1-YL0) / YL0+d2×(YL2-YL0) / YL0+d3×(YL3-YL0) / YL0, where YL0 is the initial stress value, YL1 is the first stress value, YL2 is the second stress value, and YL3 is the third stress value. The product of the deflection deformation and the stress deformation at this test point is determined as the load test characterization value of this test point.

[0062] A test analysis unit, which is connected to the load test unit, is used to determine the installation stability of the bridge-building machine based on the load test characterization values ​​of each test point.

[0063] During implementation, based on the load test results of each test point of the bridge-building machine from historical data, the maximum load test characteristic value and the stability relative characteristic value corresponding to each test point are determined. This stability relative characteristic value is the ratio of the load test characteristic value to the maximum load test characteristic value at each test point. If the stability relative characteristic value determined for any test point is greater than 1, that test point is deemed unqualified and not used. The average stability relative characteristic value of all qualified test points is determined as the installation stability of the bridge-building machine.

[0064] A stability determination unit, which is connected to the test analysis unit, is used to determine whether the bridge-building machine's travel start-up conditions are met based on the comparison result between the installation stability and the preset stability.

[0065] During implementation, if the installation stability is greater than the preset stability, the bridge-building machine's travel and start-up conditions are met; if the installation stability is less than or equal to the preset stability, the bridge-building machine's travel and start-up conditions are not met. Implementers can set the preset stability based on actual conditions or the average installation stability of bridge-building machines that have passed conformity inspections in historical data.

[0066] Specifically, the stability analysis module of this invention, by setting up a load testing unit, simulates the load transfer process during the start-up of the bridge-building machine through active pressure application, comprehensively and quantitatively analyzing the structural stability of each test point of the bridge-building machine after installation. By setting up a test analysis unit, a comprehensive correlation analysis is performed based on the load test characteristic values ​​of each test point, thereby quantitatively evaluating the overall stability of the bridge-building machine. By setting up a stability judgment unit, the installed stability is compared with the preset stability, clearly defining the quantitative conditions for the start-up of the bridge-building machine, improving the safety and stability of the bridge-building machine's movement, and ensuring the construction quality of the continuous beam.

[0067] The pre-travel control module is connected to the data acquisition module and the stability analysis module respectively. It is used to determine the type of environmental interference based on the changes in environmental information in the construction area within a preset time period when the installation stability meets the conditions for starting the bridge-building machine, determine the installation deviation characterization value based on the stress information of each component of the bridge-building machine after installation, and determine the initial travel parameters based on the type of environmental interference and the installation deviation characterization value, so as to perform pre-travel control on the bridge-building machine.

[0068] Specifically, the pre-travel control module includes:

[0069] The environmental analysis unit is used to determine the environmental impact characterization value based on the changes in environmental information within the construction area over a preset time period, and to determine the environmental interference type based on the comparison between the environmental impact characterization value and the preset impact characterization value; wherein, the environmental interference type includes strong environmental interference type and weak environmental interference type.

[0070] In implementation, for any environmental parameter, such as wind speed: for any point in time, the average wind speed at several monitoring points within the construction area is taken as the wind speed within the construction area at that point in time. If the wind speed at any point in the preset time period is greater than or equal to the preset wind speed, the weight corresponding to the wind speed is determined to be 0.7. If the wind speed in the preset time period is less than the preset wind speed, the weight corresponding to the wind speed is determined to be 0.3. The wind speed change rate corresponding to each point in time is calculated. For example, for any point in time, the wind speed difference between that point in time and the previous adjacent point in time is determined as the first wind speed difference. The ratio of the first wind speed difference to the average wind speed in the preset time period is determined as the wind speed change rate corresponding to that point in time. The actual implementers can set the preset wind speed based on the actual situation or the maximum wind speed during the travel of the bridge-building machine that has passed the qualification inspection in historical data. Temperature: For any given time point, the average temperature at several monitoring points within the construction area is taken as the temperature within the construction area at that time point. If the temperature at any time point within a preset time period is greater than or equal to the preset temperature, the weight corresponding to the temperature is set to 0.7. If the temperature within the preset time period is less than the preset temperature, the weight corresponding to the temperature is set to 0.3. The temperature change rate corresponding to each time point is calculated. For example, for any given time point, the temperature difference between that time point and the previous adjacent time point is determined as the first temperature difference. The ratio of the first temperature difference to the average temperature within the preset time period is determined as the temperature change rate corresponding to that time point. The actual implementers can set the preset temperature based on the actual situation or the maximum temperature during the travel of the bridge-building machine that has passed the qualification inspection in historical data. Humidity: For any given time point, the average humidity at several monitoring points within the construction area is taken as the humidity within the construction area at that time point. If the humidity at any time point within the preset time period is greater than or equal to the preset humidity, the weight corresponding to the humidity is set to 0.7. If the humidity within the preset time period is less than the preset humidity, the weight corresponding to the humidity is set to 0.3. The humidity change rate corresponding to each time point is calculated. For example, for any given time point, the humidity difference between that time point and the previous adjacent time point is determined as the first humidity difference. The ratio of the first humidity difference to the average humidity within the preset time period is determined as the humidity change rate corresponding to that time point. The actual implementers can set the preset humidity based on the actual situation or the maximum humidity during the travel of the bridge-building machine that has passed the qualification inspection in historical data.Wind direction: For any given time point, calculate the angle between the wind direction and the direction of travel of the bridge-building machine. If the angle at any time point within a preset time period is greater than or equal to the preset angle, the weight corresponding to the wind direction is set to 0.7. If the angles within the preset time period are all less than the preset angle, the weight corresponding to the wind direction is set to 0.3. Calculate the wind direction change rate for each time point. For example, for any given time point, the difference between the angle between that time point and the previous adjacent time point is determined as the first wind direction difference. The ratio of the first wind direction difference to the average angle within the preset time period is determined as the wind direction change rate for that time point. Therefore, the environmental impact characterization value HJ = h1×HJ1 + h2×HJ2 + h3×HJ3 + h4×HJ4, where h1 is the weight corresponding to wind speed, HJ1 is the rate of change of wind speed, h2 is the weight corresponding to temperature, HJ2 is the rate of change of temperature, h3 is the weight corresponding to humidity, HJ3 is the rate of change of humidity, h4 is the weight corresponding to wind direction, and HJ4 is the rate of change of wind direction. Implementers can set a preset angle based on the actual situation or historical data of the maximum angle during the bridge-building machine's movement that passed the qualification inspection. Preferably, the preset time period can be set to 15 min to 30 min.

[0071] Understandably, if the environmental impact characterization value is greater than the preset impact characterization value, the environmental interference type is determined to be a strong environmental interference type; if the environmental impact characterization value is less than or equal to the preset impact characterization value, the environmental interference type is determined to be a weak environmental interference type. Implementers can set the preset impact characterization value based on the actual situation or the average environmental impact characterization value that passed the compliance inspection in historical data.

[0072] Specifically, the pre-travel control module of this invention achieves accurate quantitative assessment of the construction area environment by setting up an environmental analysis unit. Based on the quantitative results, it classifies the environmental strong interference type and the environmental weak interference type, improves the response efficiency to environmental changes, can identify high-risk environmental conditions in advance, and improves the accuracy of bridge-building machine travel control.

[0073] Specifically, the pre-travel control module includes:

[0074] The initial stress analysis unit is used to determine the stress distribution characterization value of each component based on the stress information of each component of the completed bridge building machine, and to determine the component deviation index corresponding to each component based on the comparison result of the stress distribution characterization value of each component with the standard stress index, so as to determine the installation deviation characterization value.

[0075] In implementation, standard stress indicators include maximum and minimum stress indicators. Each component has a corresponding standard stress indicator, which can be set based on the stress conditions of each component of the bridge-building machine that has passed the qualification inspection in historical data. For any component, the mean and standard deviation of the stress values ​​at each location of the component are calculated, and the ratio of the standard deviation to the mean is determined as the stress distribution characterization value corresponding to the component. The difference between the stress distribution characterization value corresponding to the component and the minimum stress indicator is determined as the minimum stress difference. The difference between the maximum and minimum stress indicators corresponding to the component is determined as the standard stress difference. The ratio of the minimum stress difference to the standard stress difference is determined as the component deviation index corresponding to the component. For example, for the main beam of the bridge-building machine... The stress at each location of the main beam is obtained, and the mean stress and standard deviation of the stress at each location are calculated. The ratio of the standard deviation of the main beam stress to the mean stress of the main beam is determined as the stress distribution characterization value corresponding to the main beam. The maximum stress index can be set based on the maximum stress of the main beam of the bridge-building machine that has passed the qualification test in historical data, and the minimum stress index can be set based on the minimum stress of the main beam of the bridge-building machine that has passed the qualification test in historical data. The difference between the stress distribution characterization value corresponding to the main beam and the minimum stress index is determined as the minimum stress difference of the main beam. The difference between the maximum stress index and the minimum stress index corresponding to the main beam is determined as the standard stress difference of the main beam. The ratio of the minimum stress difference of the main beam to the standard stress difference of the main beam is determined as the component deviation index corresponding to the main beam.

[0076] It is understandable that the average value of the component deviation index of each component of the bridge-building machine is determined as the value representing the installation deviation.

[0077] Specifically, the pre-travel control module of the present invention determines the component deviation index by setting an initial force analysis unit and calculating the force distribution characterization value. This enables precise quantification of the installation deviation degree of the bridge-building machine and ultimately a comprehensive determination of the installation deviation characterization value, providing accurate data support for adjusting travel parameters and avoiding equipment damage or insufficient accuracy caused by blindly adjusting parameters.

[0078] Specifically, the pre-travel control module includes:

[0079] The pre-travel control unit is connected to the environmental analysis unit and the initial force analysis unit respectively. It is used to determine the travel adjustment coefficient based on the environmental interference type and the installation deviation characterization value when the installation stability meets the conditions for starting the bridge-building machine, and to determine the initial travel parameters based on the travel adjustment coefficient and the preset travel parameters, so as to perform pre-travel control on the bridge-building machine.

[0080] In implementation, the travel parameters include travel speed and speed adjustment interval. The bridge-building machine performs a pre-travel at the initial travel speed, and adjusts the speed during the pre-travel process. The speed adjustment interval is the distance between the travel speed and the speed adjustment interval after reaching the travel speed. After reaching the speed adjustment interval, the machine accelerates to a stable cruising speed. If the environmental interference type is strong, the corresponding basic adjustment coefficient is set to 0.6. If the environmental interference type is weak, the corresponding basic adjustment coefficient is set to 0.4. The product of the basic adjustment coefficient and the installation deviation characterization value is determined as the travel adjustment coefficient. The product of the travel adjustment coefficient and the preset travel speed is determined as the initial travel speed. The actual implementers can set the preset travel speed based on the actual situation or the average travel speed of the bridge-building machine that has passed the qualification test in historical data.

[0081] Specifically, the pre-travel control module of this invention calculates the travel adjustment coefficient based on the type of environmental interference and the characterization value of installation deviation by setting a pre-travel control unit. This enables precise adaptation of the initial travel parameters to the actual working conditions, dynamic optimization of the pre-travel parameters, and intelligent control in the initial stage of travel. This lays a reliable foundation for determining the target travel parameters in the future, further improving the travel efficiency and stability of the bridge-building machine and ensuring the construction quality of continuous beams.

[0082] The travel analysis module is connected to the data acquisition module to determine the travel stability characterization value based on the changes in the force information of each component during the pre-travel of the bridge-building machine, to determine the travel deviation characterization value based on the changes in the spatial position information of each component during the pre-travel of the bridge-building machine, and to determine whether the pre-travel process of the bridge-building machine meets the preset standard based on the travel stability characterization value and the travel deviation characterization value, so as to determine the target travel parameters.

[0083] Specifically, the travel analysis module determines whether the pre-travel process of the bridge-building machine meets the preset standard based on the comparison result of the travel control characterization value and the preset control characterization value; wherein, the travel control characterization value is determined based on the travel stability characterization value and the travel deviation characterization value.

[0084] In implementation, for any component, at any point in time during the pre-travel process, the mean and standard deviation of the force values ​​at each position of the component at that point in time are calculated. The ratio of the standard deviation to the mean is determined as the force characterization value of the component at that point in time. The fluctuation degree of the force characterization value of the component during the pre-travel process is determined as the travel stability index of the component. For example, the variance of the force characterization value of the component during the pre-travel process can be determined as the travel stability index of the component, and the mean of the travel stability indices of each component can be determined as the travel stability characterization value.

[0085] Understandably, a digital twin is constructed based on the entire construction process information of the bridge-building machine and the continuous beam. A pre-travel simulation is then performed based on the spatial structural information and initial travel parameters of the bridge-building machine and the continuous beam to determine the simulated spatial position information of each component during the pre-travel process, thereby obtaining the simulated spatial position vector YJ=(YJ1, YJ2, ..., YJ...). i , ..., YJ n ), where YJ i =(YJ i,1 YJ i,2 , ..., YJ i,j , ..., YJ i,m YJ i,j =(YJ i,j,1 YJ i,j,2 , ..., YJ i,j,g , ..., YJ i,j,h YJ i,j,g =(YJx i,j,g YJy i,j,g YJz i,j,g ), i=1, 2, ..., n, j=1, 2, ..., m, g=1, 2, ..., h, n is the time point, m is the number of components, h is the number of component monitoring points, YJx i,j,g Let YJy be the x-axis coordinate of the j-th component at the g-th monitoring point at the i-th time point during the simulated pre-travel process. i,j,g Let YJz be the y-axis coordinate of the j-th component at the g-th monitoring point at the i-th time point during the simulated pre-travel process. i,j,g To obtain the z-axis coordinate of the j-th component at the g-th monitoring point at the i-th time point during the simulated pre-travel process, the true spatial position vector EJ=(EJ1, EJ2, ..., EJ) is obtained based on the changes in the spatial position information of each component during the pre-travel process of the bridge-building machine. i , ..., EJ n ), of which EJ i =(EJ i,1 EJ i,2 , ..., EJ i,j , ..., EJ i,m ), EJ i,j =(EJ i,j,1 EJ i,j,2 , ..., EJ i,j,g , ..., EJ i,j,h ), EJ i,j,g =(EJx i,j,g EJy i,j,g EJz i,j,g ), i=1, 2,…, n, j=1, 2,…, m, g=1, 2,…, h, EJx i,j,gLet EJy be the x-axis coordinate of the j-th component at the g-th monitoring point at the i-th time point during the pre-travel process. i,j,g Let EJz be the y-axis coordinate of the j-th component at the g-th monitoring point at the i-th time point during the pre-travel process. i,j,g To determine the z-axis coordinate of the j-th component at the g-th monitoring point at the i-th time point during the pre-travel process, the travel deviation characterization value ZX = sqrt(∑ n i=1 ∑ m j=1 ∑ h g=1 ((YJx i,j,g -EJx i,j,g ) 2 +(YJy i,j,g -EJy i,j,g ) 2 +(YJz i,j,g -EJz i,j,g ) 2 ), sqrt() is the default function for determining the square root.

[0086] Understandably, the product of the travel stability characterization value and the travel deviation characterization value is determined as the travel control characterization value. If the travel control characterization value is less than the preset control characterization value, it is determined that the bridge-building machine's pre-travel process meets the preset standard. If the travel control characterization value is greater than or equal to the preset control characterization value, it is determined that the bridge-building machine's pre-travel process does not meet the preset standard. In practice, the implementers can set the preset control characterization value based on the actual situation or the average travel control characterization value that has passed the qualification test in historical data.

[0087] Specifically, the travel analysis module determines the target travel parameters based on the travel control characterization value and the initial travel parameters under the first relative condition; wherein, the first relative condition is that the pre-travel process of the bridge-building machine meets the preset standard.

[0088] In implementation, the product of the travel control characterization value and the initial travel speed is determined as the target travel speed, and the product of the travel control characterization value and the preset speed adjustment interval is determined as the target speed adjustment interval. The actual implementers can set the preset speed adjustment interval based on the actual situation or the average speed adjustment interval during the travel of the bridge building machine that has passed the qualification test in historical data.

[0089] Specifically, the travel analysis module adjusts the preset travel parameters based on the travel control characterization value under the second relative condition; wherein, the second relative condition is that the pre-travel process of the bridge-building machine does not meet the preset standard.

[0090] In implementation, the difference between the travel control characterization value and the preset control characterization value is determined as the travel control difference; the ratio of the travel control difference to the preset control characterization value is determined as the target adjustment coefficient; the product of the target adjustment coefficient and the preset travel speed is determined as the travel speed adjustment amount; the sum of the travel speed adjustment amount and the preset travel speed is determined as the adjusted preset travel speed; the product of the target adjustment coefficient and the preset speed adjustment interval is determined as the speed adjustment interval adjustment amount; and the sum of the speed adjustment interval adjustment amount and the preset speed adjustment interval is determined as the adjusted preset speed adjustment interval.

[0091] Specifically, the travel analysis module of this invention performs quantitative evaluation of the pre-travel process based on the comparison results of travel control characterization values ​​and preset control characterization values, and constructs a differentiated parameter determination mechanism to balance travel efficiency and safety. For the first relative condition, the target travel parameters are directly determined based on the travel control characterization values ​​and initial travel parameters, shortening the parameter optimization cycle and improving construction efficiency. For the second relative condition, the initial travel parameters are adjusted in reverse based on the travel control characterization values, and the pre-travel process is readjusted, which can improve the accuracy and stability of subsequent travel processes and further improve the construction accuracy of continuous beams.

[0092] The travel control module, which is connected to the travel analysis module, is used to control the travel of the bridge-building machine based on the target travel parameters.

[0093] This invention achieves real-time acquisition of multi-dimensional data through a data acquisition module, providing comprehensive data support for subsequent analysis and control. By setting up a stability analysis module, the installation stability of the bridge-building machine is quantitatively determined based on load test results, enabling precise assessment of the machine's installation quality. This serves as the basis for judging whether the machine meets the conditions for starting its movement, avoiding blindly initiating the movement program and improving the safety and quality of continuous beam construction. By setting up a pre-movement control module, initial movement parameters are determined based on environmental interference types and installation deviation characterization values, adapting to actual construction conditions and improving the safety and efficiency of the machine's movement. By setting up a movement analysis module, the changes in stress and spatial position information of each component during the pre-movement of the bridge-building machine are quantitatively determined to ensure compliance with preset standards. This provides an objective basis for determining the target movement parameters, ensuring that the final target movement parameters accurately match the actual state of the bridge-building machine, improving its movement accuracy and stability. Finally, by setting up a movement control module, precise and automated control of the bridge-building machine's movement is achieved based on the target movement parameters, improving the accuracy and safety of continuous beam construction.

[0094] Please see Figure 5 The diagram shown is a flowchart illustrating the control method for a bridge-building machine used in continuous beam construction according to an embodiment of the present invention. The present invention also provides a control method for a bridge-building machine used in continuous beam construction, comprising:

[0095] Step S1: Real-time acquisition of stress information and spatial location information of each component of the bridge-building machine, and periodic acquisition of environmental information of the construction area;

[0096] Step S2: Perform load tests on the installed bridge-building machine and determine the load test characterization values ​​at several test points to determine the installation stability of the bridge-building machine, and determine whether the bridge-building machine meets the travel and start-up conditions based on the installation stability.

[0097] Step S3: If the conditions for starting the bridge-building machine are met, the type of environmental interference is determined based on the changes in environmental information in the construction area within a preset time period, and the installation deviation characterization value is determined based on the stress information of each component of the installed bridge-building machine.

[0098] Step S4: Determine initial travel parameters based on the environmental interference type and the installation deviation characterization value to perform pre-travel control on the bridge building machine;

[0099] Step S5: Determine the travel stability characterization value based on the changes in the force information of each component during the pre-travel of the bridge-building machine, and determine the travel deviation characterization value based on the changes in the spatial position information of each component during the pre-travel of the bridge-building machine.

[0100] Step S6: Based on the travel stability characterization value and the travel deviation characterization value, determine whether the pre-travel process of the bridge-building machine meets the preset standard, and determine the target travel parameters to control the travel of the bridge-building machine.

[0101] Specifically, the control method for the upper-bearing bridge-building machine for continuous beam construction provided by the present invention can be applied to the control system of the upper-bearing bridge-building machine for continuous beam construction to achieve the same technical effect, which will not be elaborated here.

[0102] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A control system for a continuous beam bridge-building machine, characterized in that, include: The data acquisition module is used to acquire the stress information and spatial position information of each component of the bridge building machine in real time, and to periodically acquire the environmental information of the construction area. The stability analysis module is used to perform load tests on the installed bridge-building machine, determine the load test characterization values ​​at several test points, determine the installation stability of the bridge-building machine, and determine whether the bridge-building machine meets the travel and start-up conditions based on the installation stability. The pre-travel control module is used to determine the type of environmental interference based on the changes in environmental information in the construction area within a preset time period when the installation stability meets the conditions for starting the bridge-building machine, determine the installation deviation characterization value based on the stress information of each component of the installed bridge-building machine, and determine the initial travel parameters based on the type of environmental interference and the installation deviation characterization value, so as to perform pre-travel control on the bridge-building machine. The travel analysis module is used to determine the travel stability characterization value based on the changes in the force information of each component during the pre-travel of the bridge-building machine, to determine the travel deviation characterization value based on the changes in the spatial position information of each component during the pre-travel of the bridge-building machine, and to determine whether the pre-travel process of the bridge-building machine meets the preset standard based on the travel stability characterization value and the travel deviation characterization value, so as to determine the target travel parameters. The travel control module is used to control the travel of the bridge-building machine based on the target travel parameters.

2. The control system for the upper-bearing bridge-building machine for continuous beam construction according to claim 1, characterized in that, The stability analysis module includes: The load testing unit is used to perform load tests on the installed bridge-building machine in order to determine the load test characterization values ​​at several test points. The test analysis unit is used to determine the installation stability of the bridge-building machine based on the load test characterization values ​​of each test point. The stability determination unit is used to determine whether the bridge-building machine's travel start-up conditions are met based on the comparison result between the installation stability and the preset stability.

3. The control system for the upper-bearing bridge-building machine for continuous beam construction according to claim 2, characterized in that, The pre-travel control module includes: The environmental analysis unit is used to determine the environmental impact characterization value based on the changes in environmental information in the construction area within a preset time period, and to determine the type of environmental interference based on the comparison between the environmental impact characterization value and the preset impact characterization value. The environmental interference types include strong environmental interference types and weak environmental interference types.

4. The control system for the upper-bearing bridge-building machine for continuous beam construction according to claim 3, characterized in that, The pre-travel control module includes: The initial stress analysis unit is used to determine the stress distribution characterization value of each component based on the stress information of each component of the completed bridge building machine, and to determine the component deviation index corresponding to each component based on the comparison result of the stress distribution characterization value of each component with the standard stress index, so as to determine the installation deviation characterization value.

5. The control system for the upper-bearing bridge-building machine for continuous beam construction according to claim 4, characterized in that, The pre-travel control module includes: The pre-travel control unit is used to determine the travel adjustment coefficient based on the environmental interference type and the installation deviation characterization value when the installation stability meets the conditions for starting the bridge-building machine, and to determine the initial travel parameters based on the travel adjustment coefficient and the preset travel parameters, so as to perform pre-travel control on the bridge-building machine.

6. The control system for the upper-bearing bridge-building machine for continuous beam construction according to claim 5, characterized in that, The travel analysis module determines whether the pre-travel process of the bridge-building machine meets the preset standard based on the comparison results between the travel control characterization value and the preset control characterization value. The travel control characterization value is determined based on the travel stability characterization value and the travel deviation characterization value.

7. The control system for the upper-bearing bridge-building machine for continuous beam construction according to claim 6, characterized in that, The travel analysis module determines the target travel parameters based on the travel control characterization value and the initial travel parameters under the first relative condition; The first relative condition is that the pre-travel process of the bridge-building machine meets the preset standard.

8. The control system for the upper-bearing bridge-building machine for continuous beam construction according to claim 7, characterized in that, The travel analysis module adjusts the preset travel parameters based on the travel control characterization value under the second relative condition; The second relative condition is that the pre-travel process of the bridge-building machine does not meet the preset standard.

9. The control system for the upper-bearing bridge-building machine for continuous beam construction according to claim 2, characterized in that, The load testing unit applies several sets of loads to each test point to obtain the deflection deformation and stress change at each test point before and after the load is applied, so as to determine the load test characterization value of each test point.

10. A control method for a continuous beam construction machine for a bridge-building machine, applicable to the control system of the continuous beam construction machine according to any one of claims 1-9, characterized in that, include: The system acquires real-time stress and spatial location information of each component of the bridge-building machine, and periodically acquires environmental information of the construction area. A load test was conducted on the installed bridge-building machine, and the load test characterization values ​​of several test points were determined to determine the installation stability of the bridge-building machine. Based on the installation stability, it was determined whether the conditions for the bridge-building machine to travel and start were met. If the conditions for starting the bridge-building machine are met, the type of environmental interference is determined based on the changes in environmental information in the construction area within a preset time period, and the value of the installation deviation is determined based on the stress information of each component of the bridge-building machine after installation. Initial travel parameters are determined based on the environmental interference type and the installation deviation characterization value to perform pre-travel control on the bridge building machine; The stability characterization value is determined based on the changes in the force information of each component during the pre-travel of the bridge-building machine, and the travel deviation characterization value is determined based on the changes in the spatial position information of each component during the pre-travel of the bridge-building machine. Based on the travel stability characterization value and the travel deviation characterization value, it is determined whether the pre-travel process of the bridge-building machine meets the preset standard, and the target travel parameters are determined to control the travel of the bridge-building machine.

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