Method and device for converting horizontal and vertical of concrete pump pipe of high-rise building, electronic equipment and storage medium

Abstract

The application discloses a high-rise building concrete pump pipe horizontal-vertical conversion method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a first state; matching a corresponding processing mode from a candidate processing mode according to the first state to obtain a target processing mode; and controlling the pump pipe according to the target processing mode. According to the application, the corresponding control strategy is matched according to the current working stage of the pump pipe, so that the pump pipe can be adjusted in time when the pump pipe appears in an extreme working condition, and the safety of the construction process and the pump pipe is ensured.

Description

Technical Field

[0001] This invention relates to the field of mechanical control technology, and in particular to a method, device, electronic equipment, and storage medium for converting the horizontal to vertical concrete pump pipes in high-rise buildings. Background Technology

[0002] In the asynchronous construction of high-rise buildings with staggered floors, when concrete needs to be drawn out for the lagging horizontal floor slabs, the existing process usually involves manually dismantling the vertical main pump pipe, using a tower crane to lift the upper pipe section into the air, and then manually connecting the horizontal bend. This passive operation faces three major engineering physical pain points under extreme working conditions.

[0003] First, there's the "cantilever beam deflection" at the solid mechanics level. When a heavy, thick-walled steel pipe changes from a vertical to a horizontal suspended state, the pipe end will inevitably deflect downwards due to the enormous weight of the pipe and the residual concrete inside. This will cause the flange end face to tilt, and if forcibly pulled together, it will generate extremely high mechanical assembly prestress, which can easily induce pipe bursting during high-pressure pumping.

[0004] Secondly, there's the issue of "thixotropic thickening and aggregate bridging" at the non-Newtonian fluid dynamics level. During pipe diversion, the high-pressure concrete inside the pipe is forced to stand still. As a typical Bingham plastic fluid, concrete, when left to stand, will cause the reconstruction of its internal flocculated structure, leading to a sharp increase in static yield stress. After the flow path is reopened, the fluid is highly susceptible to forming a mechanical arch at the 90° right-angle bend where the resistance is greatest along the entire line, where coarse aggregates can easily jam together, potentially causing instantaneous pump stalling or even pipeline failure.

[0005] Finally, there's the "heavy-load hard collision" at the rigid body dynamics level. When the concrete is poured and repositioned, the vertical pipe column, weighing over ten tons, needs to be lowered for docking. Even a slight misalignment can cause enormous shearing forces to be generated when the hydraulic cylinder rigidly descends, instantly crushing the flange or severing the locating pin. Summary of the Invention

[0006] This invention provides a method, device, electronic equipment, and storage medium for converting concrete pump pipes from horizontal to vertical orientation in high-rise buildings, in order to solve the problem of difficult control of pump pipes under extreme working conditions.

[0007] According to one aspect of the present invention, a method for converting the horizontal to vertical concrete pump pipe of a high-rise building is provided, comprising: Determine the first state; the first state is the concrete pouring stage reached by the pump pipe; The target processing mode is obtained by matching the corresponding processing mode from the candidate processing modes according to the first state; the candidate processing modes include: a first processing mode, a second processing mode, and a third processing mode; the first processing mode is used to compensate for the tilt angle caused by the pump pipe rotating to a horizontal suspended state through adaptive pre-compensation; the second processing mode is used to control the pump pipe to pour the building based on the fluid thixotropy; the third processing mode is used to control the soft landing of the heavy-duty pipe column based on a first lifting force; the first lifting force is the relationship between the torque and the motion state constructed based on the virtual impedance characteristics of the pump pipe; the soft landing is to control the heavy-duty pipe column to land by deceleration or switching. The pump tube is controlled according to the target processing mode.

[0008] According to another aspect of the present invention, a horizontal-to-vertical conversion device for concrete pump pipes in high-rise buildings is provided, comprising: The first state determination module is used to determine the first state; the first state is the concrete pouring stage reached by the pump pipe. The target processing mode determination module is used to match the corresponding processing mode from the candidate processing modes according to the first state to obtain the target processing mode; the candidate processing modes include: a first processing mode, a second processing mode, and a third processing mode; the first processing mode is used to compensate for the tilt angle caused by the pump pipe rotating to a horizontal suspended state through adaptive pre-compensation; the second processing mode is used to control the pump pipe to pour the building based on the fluid thixotropy; the third processing mode is used to control the soft landing of the heavy-duty pipe column based on a first lifting force; the first lifting force is the correlation between the torque and the motion state constructed based on the virtual impedance characteristics of the pump pipe; the soft landing is to control the heavy-duty pipe column to land by deceleration or switching. The control module is used to control the pump pipe according to the target processing mode.

[0009] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the high-rise building concrete pump pipe horizontal-vertical conversion method according to any embodiment of the present invention.

[0010] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the high-rise building concrete pump pipe horizontal-to-vertical conversion method according to any embodiment of the present invention.

[0011] The technical solution of this invention involves determining a first state; matching a corresponding processing mode from candidate processing modes based on the first state to obtain a target processing mode. The candidate processing modes are generated based on the actual operating state of the pump pipe, providing control strategies for different operating states; and controlling the pump pipe according to the target processing mode. This application matches the corresponding control strategy to the current operating stage of the pump pipe, enabling timely adjustments when extreme operating conditions occur, thus ensuring the safety of the construction process and the pump pipe.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A flowchart of a method for converting a concrete pump pipe from horizontal to vertical orientation in a high-rise building, provided as an embodiment of the present invention; Figure 2 A flowchart illustrating a first processing mode provided in an embodiment of the present invention; Figure 3 A flowchart of a second processing mode method provided in an embodiment of the present invention; Figure 4 A flowchart of a third processing mode method provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a horizontal-vertical conversion system for concrete pump pipes in high-rise buildings, provided by an embodiment of the present invention. Figure 6 This is a schematic diagram of a horizontal-vertical conversion device for concrete pump pipes in high-rise buildings, provided in an embodiment of the present invention. Figure 7 A schematic diagram of the electronic device used to implement the method for converting the horizontal to vertical concrete pump pipes in high-rise buildings according to an embodiment of the present invention. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] Figure 1 This is a flowchart illustrating a method for converting a concrete pump pipe from horizontal to vertical orientation in a high-rise building, provided by an embodiment of the present invention. This embodiment is applicable to situations requiring pump pipe adjustment. The method can be executed by a high-rise building concrete pump pipe horizontal-to-vertical conversion device, which can be implemented in hardware and / or software. This device can be configured in any electronic device with network communication capabilities. Figure 1 As shown, the method includes: S110. Determine the first state; the first state is the concrete pouring stage reached by the pump pipe.

[0018] The concrete pouring stage includes: coordinated pressure relief and grout retention dry interception stage, absolute synchronous jacking space clearance stage, pump pipe overturning stage, flow channel reconstruction stage, diversion stage, and reset stage.

[0019] The coordinated pressure relief and grout-preserving dry shut-off stage is as follows: After the work order is issued, the control terminal directs the ground main pump truck to perform reverse pumping and pressure relief via the Internet of Things to eliminate residual back pressure in the pipeline. Subsequently, a miniature hydraulic cylinder drives the intelligent shut-off gate valve to close laterally, cutting off and sealing the concrete liquid column in the upper suspended pipe column to prevent grout leakage. Then, the quick-release flange assemblies at both ends of this layer are safely disassembled.

[0020] The absolute synchronous jacking space clearance stage involves activating the dual-sided vertical jacking hydraulic cylinders after the pump pipe is disconnected. The system uses linear displacement sensor feedback to perform absolute synchronous control, vertically jacking the upper vertical pump pipe to a safe operating height and automatically attaching mechanical anti-fall locking pins, creating a spatial breakpoint for flow channel reconstruction. This system is a horizontal-to-vertical conversion system for concrete pump pipes in high-rise buildings.

[0021] The pump pipe flipping stage involves activating the variable-amplitude hydraulic cylinder to drive the target pump pipe to flip downwards and level it. The system operates in silent first processing mode at its core, calculating deformation based on the dynamic load within the pipe, controlling the cylinder to perform overshoot compensation, and confirming this through a closed-loop tilt sensor. This forces the suspended flange to remain firmly locked in an absolutely vertical position while leveled.

[0022] The flow channel reconstruction stage involves the following steps: Since the flange end face has been automatically leveled to spatial geometric parallelism from the first processing mode, there is no need to use a crowbar to pull it forcefully. A right-angle conversion joint with a vibration-damping base is directly pushed between the end of the horizontal pipe section and the lower feed vertical pump pipe, and a flexible hose is cast at the end of the front connection. The entire assembly process requires no mechanical prestress; the flow channel connection is completed by directly closing the quick-release clamps.

[0023] The diversion phase involves the following steps: After the physical flow channels are connected, the system's underlying layer triggers a second processing mode. The Internet of Things (IoT) forces the ground main pump truck to execute alternating pulse vibration to break up aggregate blockages at right-angle bends. Once pressure monitoring shows that the internal flow channels have undergone thixotropic liquefaction and are completely unobstructed, the hydraulic slide of the intelligent shut-off valve is fully retracted, accelerating to the normal rated large displacement to complete the concrete pouring of the current horizontal floor structure.

[0024] The reset phase involves: stopping the pump after pouring and removing the placing hose and right-angle elbow. The luffing hydraulic cylinder pulls the target pump pipe back to its vertical position and locks it. The mechanical anti-fall lock pin is released, and the upper vertical main lifting column begins to descend at a uniform speed. When the flange spacing enters the 15mm critical contact zone, the system automatically calls the third processing mode, switching to an extremely low stiffness micro-suspension impedance control mode. Relying on the inclined surface of the positioning guide pin, passive sliding automatic alignment without rigid impact is achieved. After bottoming out, the supporting hydraulic pressure is completely released, the flange clamps are tightened, the system withdraws its intervention, and the building's normal vertical backbone network pumping operation resumes.

[0025] The flange end face is the key machined surface on the flange that directly contacts the gasket and is used to achieve a sealing effect on the pipe connection.

[0026] Specifically, the first state is determined based on the stage at which the pump pipe pours concrete during operation.

[0027] Furthermore, since only the pump pipe flipping stage, the diversion stage, and the reset stage require different control modes when pouring concrete, the coordinated pressure relief and grout-preserving dry interception stage, the absolutely synchronous jacking space clearance stage, and the flow channel reconstruction stage are defined as the normal operation state.

[0028] Furthermore, when the concrete pouring stage reaches the pump pipe reversal stage, i.e., the activation of the luffing hydraulic cylinder is detected and the pump pipe reversal command is received, the first state is the reversal start state. When the concrete pouring stage reaches the drainage stage, i.e., when physical flow channel connectivity is detected, the first state is the drainage start state. When the concrete pouring stage reaches the reset stage, i.e., when the flange spacing is detected to be less than or equal to 15mm, the first state is the reset start state. The remaining states are the normal operation stage and the stage operation state.

[0029] The phased operation status refers to the state of the pump tube reversal phase, the diversion phase, and the reset phase after matching the processing mode and before reaching the next phase.

[0030] S120. Match the corresponding processing mode from the candidate processing modes according to the first state to obtain the target processing mode; the candidate processing modes include: the first processing mode, the second processing mode and the third processing mode; the first processing mode is used to compensate for the tilt angle caused by the pump pipe rotating to a horizontal suspended state through adaptive pre-compensation; the second processing mode is used to control the pump pipe to pour the building based on the fluid thixotropy; the third processing mode is used to control the soft landing of the heavy-duty pipe column based on the first lifting force; the first lifting force is the relationship between the torque and the motion state constructed based on the virtual impedance characteristics of the pump pipe; the soft landing is to control the heavy-duty pipe column to land by deceleration or switching.

[0031] The tilt angle generated when the pump pipe rotates to a horizontal suspended state is the angle at which the pump pipe naturally droops due to gravity after rotating 90°.

[0032] Among them, adaptive compensation automatically adjusts the upward angle of the pump pipe based on the angle at which the pump pipe naturally droops due to gravity.

[0033] Among them, fluid thixotropy is used to characterize the property that when concrete is subjected to mechanical actions such as mixing and flowing, the viscosity gradually decreases and the fluidity increases over time; after shearing stops, the viscosity slowly returns to its initial state over time.

[0034] Among them, the virtual impedance characteristics of the pump tube are obtained by constructing a virtual mass-spring-damped impedance model of the pump tube according to the software algorithm. This model is used to characterize the characteristics of the pump tube's hardware structure changing state according to preset soft and hard characteristics.

[0035] Specifically, if the first state is a flip-start state, then the first processing mode is matched from the candidate processing modes and used as the target processing mode. If the first state is a traffic diversion start state, then the second processing mode is matched from the candidate processing modes and used as the target processing mode. If the first state is a reset start state, then the third processing mode is matched from the candidate processing modes and used as the target processing mode.

[0036] The first processing mode is used to eliminate the natural tilt angle caused by gravity when the pump pipe is lowered.

[0037] Furthermore, the processing logic of the first processing mode is as follows: During the process of the pipe segment flipping downwards to a horizontal position, first data is acquired, and a first equation is constructed based on Newtonian mechanics using the first and second data. A first mass is derived from the first equation. A first rotation angle is determined based on the first mass, the material mechanics formula for the rotation angle at the end of a cantilever beam, and the right angle. The pump pipe, lowered to equilibrium, is tilted upwards based on the first rotation angle to counteract the natural sagging angle generated during its descent, i.e., the second rotation angle. The pipe segment is fine-tuned based on the acquired second rotation angle, and the actual posture after fine-tuning is acquired. The adjustment result is verified based on the acquired posture, and the pipe segment is maintained based on the verification result.

[0038] For example, such as Figure 2 The diagram shows the overall processing flow of the first processing mode, which includes three processing stages. Initially, the target pump pipe is flipped from a vertical to a horizontal suspended position. This leads to the first stage (dynamic mechanical observation and mass back-calculation stage), where the pressure difference between the two chambers of the luffing cylinder is acquired at high speed. ,according to The moment balance equation is called to obtain the first equation. The first equation is derived to obtain the equivalent total mass M of the pipe and its internal residual concrete. The second stage (material mechanics deflection prediction modeling stage) is then entered, where M is converted into a uniformly distributed load and substituted into the material mechanics formula for the end rotation angle of a cantilever beam to obtain the second rotation angle, which is the sag deflection angle generated after the pipe end is leveled. The third stage (feedforward overshoot and dual-sensor closed-loop control stage) is then entered, where the first rotation angle is set based on the second rotation angle, i.e., the set feedforward overshoot angle control target shown in the figure. The pipe segment is then tilted upwards based on the obtained first rotation angle. The actual attitude data of the pipe section dual-axis tilt sensor is read. Based on the acquired actual attitude data, it is determined whether the actual flange face tilt angle is stable at an absolute vertical 90°. If so, the deformation caused by gravity is completely canceled, and the variable amplitude hydraulic circuit is locked to maintain pressure. If not, there is a residual deviation. The PID controller outputs a fine-tuning command to control the proportional servo valve to perform small flow jogging compensation. After compensation, the actual attitude data is acquired and judged again until the gravity deformation is completely canceled. Then the suspended flange face maintains an absolute vertical and presents a zero-stress parallel assembly state.

[0039] The second processing mode is used to resolve the pump stalling crisis caused by concrete settling after the flow channel is reconstructed. The pump stalling crisis occurs when, during the concrete transportation process, the concrete flow channel is blocked, the operating conditions change abruptly, or improper operation causes the pump outlet pressure to spike abnormally and the flow rate to drop sharply, resulting in the pump being overloaded and having no effective output.

[0040] Furthermore, the processing logic of the second processing mode is as follows: After the flow channel is reconstructed, the first time is obtained by collecting the static time of the pump pipe break recorded by the built-in timer. The static yield pressure of the fluid inside the broken pipe, i.e., the first pressure, is determined based on the first time and temperature data. The flowability of the concrete is judged based on the obtained first pressure, and a concrete pumping sequence is generated based on the obtained flowability, and a pumping signal is generated based on the pumping sequence. The shear thinning effect is induced according to the pumping signal, and it is determined whether the hydraulic main cylinder pressure of the main pump truck meets the requirements. Based on the judgment result, the concrete is delivered to achieve the pouring of the building.

[0041] For example, such as Figure 3 The diagram shows the overall processing flow of the second processing mode. As can be seen, the second processing mode also includes three processing stages. First, the flow channel is reconstructed, and preparations are made to restart the pump. The first stage (rheological state assessment and forced takeover stage) involves reading the pipe disconnection time and ambient temperature data, using a rheological model to assess the static yield stress of the fluid in the Bingham model, and forcibly taking over the ground main pump truck via the Internet of Things, absolutely prohibiting continuous high-volume pumping. Entering the second stage (low-frequency alternating pulse excitation and thixotropic liquefaction stage), an asymmetric micro-pulse excitation timing command is issued, i.e., the pumping timing, which includes the following actions: Action 1, forward slow retraction for 0.1 seconds (providing fluid shear rate); Action 2, rapid reverse suction for 0.5 seconds (transient negative pressure water hammer crushing the coarse aggregate arch bridge); Action 3, pause and pressure holding for 1.0 second (releasing water hammer excitation energy), inducing shear thinning effect, causing the apparent viscosity to continue to decrease, and monitoring the hydraulic main cylinder pressure of the main pump truck, i.e. whether the continuous pulse peak has fallen back to a stable low level. If not, it is considered that physical blockage still exists, and the pumping signal continues to be issued to clear the blockage until the main cylinder pressure requirement is met; if so, it enters the third stage (release of flow restriction and smooth acceleration stage), i.e., the liquid gate of the upper intelligent shut-off valve is completely withdrawn, the release of flow restriction command is issued to the main pump truck, and the pumping is smoothly accelerated to continuous rated large displacement pumping according to the S-shaped acceleration curve.

[0042] The third processing mode is used to lower and reposition the heavy-duty pipe column of the pump pipe after the pouring is completed.

[0043] Furthermore, the processing logic of the third processing mode is as follows: After the pouring is completed, the heavy-duty pipe column is lowered, and the distance between the heavy-duty pipe column and the flange assembly is obtained, resulting in a first distance. The first distance is compared with a preset distance, and a second state is determined based on the comparison result. A first lifting force is determined based on the obtained second state, and this first lifting force is applied to the vertical lifting hydraulic cylinder to provide an upward lifting force for the heavy-duty pipe column, which is used to offset part of the gravity and ensure that the heavy-duty pipe column slowly and smoothly connects with the flange assembly. The seamless connection of the flange end face is determined based on the appearance of the pressure unloading inflection point after connection. Based on the judgment result, the heavy-duty pipe column is slowly adjusted.

[0044] For example, such as Figure 4 The diagram shows the overall processing flow of the third processing mode. As can be seen, firstly, the anti-fall lock pin is released, the main pump pipe is hovered in preparation for descent and reset, and the laser ranging probe is activated to sample the approach distance between the upper and lower flanges at high speed, i.e., the first distance h. The distance h is read in real time to determine which control range it falls within. If the first distance is greater than the preset distance, the high-rigidity position closed-loop control mode is maintained, and the double-sided lifting cylinders descend synchronously, smoothly, and at a uniform speed. If the first distance is less than or equal to the preset distance, the virtual impedance micro-levitation docking stage is entered, i.e., the control loop is instantly cut off, and the virtual impedance torque stage is entered. In the control mode, a high-frequency regulating servo pressure reducing valve is used to set a constant upward lifting force, i.e., the first lifting force. This first lifting force is applied to the vertical lifting hydraulic cylinder, unloading 95% of the gravity. The gravity column enters a slightly suspended and softened state under only 5% net weight pressure. The tapered guide pin's inclined surface contacts the hole wall, generating a weak lateral force that overcomes the lateral constraint, producing a millimeter-level passive yaw lateral movement. It automatically slides into the center of the flange. It then determines whether a pressure unloading inflection point has occurred. If so, the flange end face fits seamlessly, and the hydraulic support force is slowly released according to the ramp function. If not, the gravity column is in a flexible, compliant sliding and sinking state.

[0045] S130. Control the pump pipe according to the target processing mode.

[0046] Specifically, if the target processing mode is the first processing mode, the natural sag angle generated during the lowering of the pump pipe is compensated. If the target processing mode is the second processing mode, the pump pipe is controlled to deliver concrete according to the pumping signal. If the target processing mode is the third processing mode, the heavy-duty pump pipe column is soft-landed.

[0047] Furthermore, the above steps are completed through a high-rise building concrete pump pipe horizontal-to-vertical conversion system. This system abandons purely mechanical design, constructing an integrated electromechanical-hydraulic-intelligent equipment with a wall-mounted anchoring support as its physical foundation. Specifically, during the lifting and clearance phase, symmetrically arranged vertical lifting hydraulic cylinders on both sides are supported between the support and the upper fixing component. During operation, the cylinders extend, overcoming the weight of the tens of meters of pump pipe above, vertically pushing it up and suspending it. Anti-fall locking pins in the hydraulic circuit ensure safe suspension. To prevent the liquid column inside the pipe from losing support and bursting at the moment of pipe breakage, an intelligent shut-off gate valve is compactly integrated below the upper fixing component. It cuts in laterally and closes before pipe breakage, firmly supporting the upper liquid column and achieving dry separation. During the attitude change phase, the tail end of the target tilting pump pipe is connected to the support via a movable hinge seat. One end of the luffing hydraulic cylinder is hinged to the support, and the other end is connected to the middle section of the target pipe. By adjusting the force arm through the linear extension and retraction of the hydraulic cylinder push rod, the pipe section is directly driven to rotate around the bottom hinge point, achieving a smooth in-situ attitude switch from 0° (vertical) to 90° (horizontal). For interface anti-impact measures, all flange separation nodes utilize quick-release flange assemblies with tapered positioning guide pins machined on the end faces to provide a physical sliding surface. Simultaneously, a composite damping vibration-damping base (such as a high-strength disc spring or magnetorheological medium) is installed between the back of the right-angle conversion joint for horizontal flow access and the support to purely physically absorb the low-frequency water hammer excitation energy generated during high-pressure fluid turning and reversing.

[0048] Furthermore, the structure of the horizontal-to-vertical conversion system for concrete pump pipes in high-rise buildings is as follows: Figure 5As shown, it includes: 1- Shear wall: A vertical load-bearing structure that has reached its design strength, serving as the absolute foundation for the load-bearing and reaction forces of the entire device. 2- Wall anchoring bracket: Rigidly fixed to the shear wall, serving as the core physical load-bearing base of the system. 3- Upper vertical pump pipe: A heavy-duty main pump pipe column suspended above the separation node. 4- Vertical lifting hydraulic cylinder: Responsible for vertically pushing the upper pipe column upwards; its circuit integrates a linear displacement sensor and a high-frequency proportional servo pressure reducing valve. 5- Upper fixing component: An anti-slip clamp assembly that tightly clamps the upper vertical pump pipe. 6- Target flipping pump pipe: The core active pipe section for implementing in-situ switching between horizontal and vertical orientations. 7- Variable amplitude hydraulic cylinder: Responsible for driving the pipe section to flip; high-frequency dynamic pressure sensors are configured in the oil chambers at both ends. 8- Right angle conversion joint: A 90° elbow that changes the fluid direction; its back is padded with a composite damping vibration reduction base to purely physically absorb water hammer impact. 9-Lower Feed Vertical Pump Pipe: Main feed water pipe from the floor below. 10-End Casting Hose: Flexible end effector that flexibly guides concrete to the horizontal floor slab. 11-Quick-Release Flange Assembly: Clamps and flanges that enable quick, stress-free connection and dry separation of pipelines. 12-Positioning Guide Pin: Hard metal tapered pin with a large chamfer on the end face, providing sliding alignment guide force in conjunction with impedance algorithms. 13-Intelligent Shut-off Gate Valve: Extremely compactly located between the upper fixing component and the flange, with a built-in micro-hydraulic driven ultra-thin insert plate responsible for instantaneous grout retention during pipe breakage. 14-Dual-Axis Tilt Sensor: Mounted above the end of the suspended outer wall of the target flipped pipe section, monitoring the flange's spatial attitude in real time. 15-Laser Ranging Probe: Miniaturized and mounted on the outer edge of the upper and lower separation flanges, vertically and at high frequency monitoring millimeter-level approach distances. 16-Intelligent Control Terminal: Mounted on a wall or bracket, containing a PLC edge computing controller and a 5G / LoRa industrial IoT communication gateway.

[0049] Optionally, at least one processing logic of the first processing mode includes steps A1-A3: Step A1: Generate the first equation based on the first data and the second data; the first data is the pressure difference between the two chambers of the variable amplitude cylinder when the pump pipe section flips downward; the second data is used to characterize the properties of the cylinder; the first equation is used to characterize the law that the torques generated by all external forces cancel each other out when the pipe section moves at a constant speed under stress.

[0050] The process of acquiring the first data is as follows: during the process of the pipe section flipping downwards to a horizontal position, the pressure difference between the two chambers of the luffing cylinder is collected in real time. We obtained the first data.

[0051] The second data may include: the effective piston area A of the hydraulic cylinder and the thrust arm length L1.

[0052] Specifically, based on the first and second data, the cylinder torque balance equation is constructed using Newtonian mechanics, resulting in the first equation.

[0053] Furthermore, the first equation can be expressed as: Where M is the primary mass, representing the equivalent total mass of the pipe and its internal residual concrete; The pivot arm is the center of gravity of the pipe section.

[0054] Step A2: Determine the first turning angle according to the first equation; the first turning angle is the angle of the pipe segment's sag.

[0055] Specifically, the first equation is derived to obtain the first mass. The obtained first mass is then used to determine the second rotation angle based on the formula for the rotation angle at the end of a cantilever beam in mechanics of materials. The difference between the second rotation angle and a right angle is then used to obtain the first rotation angle.

[0056] Furthermore, the first mass is represented as: .

[0057] Furthermore, the first turning angle is represented as: .in, The angle of natural sag of the pipe segment can be expressed as: .

[0058] Step A3: Adjust the pipe section according to the first turning angle.

[0059] Specifically, after the pipe section is lowered at 90 degrees, it is actively tilted upwards based on the first rotation angle to counteract the deformation caused by gravity. At the same time, the system reads the data from the dual-axis tilt sensor at the pipe end, determines whether it has reached a horizontal state based on the acquired sensor data, and performs PID closed-loop fine-tuning based on the judgment result, so that the subsequent assembly presents a perfect parallel state with zero stress.

[0060] Furthermore, the reason for determining the second turning angle is that after the pipe section is laid flat, there will be some sagging. Therefore, when the control end lowers the pipe section, it cannot take 90° absolute horizontal as the endpoint. In order to ensure that the pipe section finally reaches a horizontal state, it is necessary to generate the lowering angle of the pipe section based on the first turning angle, that is, the second turning angle.

[0061] Optionally, the first turning angle is determined according to the first equation, including steps B1-B3: Step B1: Derive the first equation to obtain the first mass; the first mass is the total mass of the pipe section and the residual concrete inside.

[0062] Specifically, by deriving the first equation with M as the dependent variable, the first mass is obtained.

[0063] Furthermore, the first mass is represented as: .

[0064] Step B2: Determine the second rotation angle based on the first mass; the second rotation angle is the downward deflection angle generated after the pipe section is laid flat.

[0065] Specifically, the uniformly distributed load is determined based on the first mass, and the obtained uniformly distributed load is substituted into the material mechanics formula for the rotation angle at the end of the cantilever beam to obtain the second rotation angle.

[0066] Furthermore, the uniformly distributed load is expressed as: Where L is the length of the cantilever tube.

[0067] Furthermore, the second turning angle can be expressed as: Where E is the elastic modulus of steel, and I is the moment of inertia of the cross section.

[0068] Step B3: Determine the first turning angle based on the second turning angle.

[0069] Specifically, the first angle is obtained by subtracting the second angle from the right angle.

[0070] Furthermore, the first turning angle is represented as: .

[0071] Optionally, at least one processing logic of the second processing mode includes steps C1-C4: Step C1: Obtain the first time; the first time is the time the pump pipe is left to stand after being cut off.

[0072] Specifically, after the flow channel is reconstructed, the first time is obtained by collecting the settling time of the pump tube break recorded by the built-in timer.

[0073] Step C2: Determine the first pressure based on the first time and temperature data; the first pressure is the static yield pressure of the fluid inside the broken pipe.

[0074] Specifically, the static yield pressure of the fluid inside the broken pipe is determined based on the first time and temperature data, thus obtaining the first pressure.

[0075] Furthermore, the relationship between temperature data and static yield stress is as follows: the lower the temperature, the faster the concrete sets and the higher the viscosity, resulting in a faster rise in static yield stress; the higher the temperature, the slower the rise in static yield stress, but localized clumping may occur due to moisture evaporation.

[0076] Step C3: Determine the pumping signal based on the first pressure.

[0077] Specifically, the flowability of concrete is determined based on the first pressure obtained, the pumping sequence of concrete is generated based on the obtained flowability, and a pumping signal is generated based on the pumping sequence.

[0078] The pumping sequence can be: forward slow push 1.0 second. Rapid reverse suction for 0.5 seconds Pause and hold pressure for 1.0 second.

[0079] The purpose of forward slow pushing is to avoid excessive local pressure on the fluid caused by rapid pushing, and at the same time to reserve fluid space for subsequent reverse pumping operations, so that the fluid will not be "compacted" in bends or narrow parts due to rapid pushing, which would aggravate the blockage.

[0080] The purpose of rapid reverse suction is to create a negative pressure inside the pipe instantaneously, triggering a transient negative pressure water hammer effect. The essence of the water hammer effect is the interaction between fluid inertia and elasticity. Here, the negative pressure water hammer will generate strong pressure fluctuations inside the pipe. These fluctuations propagate in the form of sound waves and act directly on the weak points of the coarse aggregate arch bridge, mechanically breaking down the supporting structure between the aggregates, dispersing the coarse aggregates, and relieving the blockage in the flow channel.

[0081] The purpose of pausing and holding pressure is twofold: first, to allow the water hammer effect generated by the reverse suction to fully diffuse, ensuring that the blockages in bends and narrow sections (coarse aggregate arch bridges) are completely broken up; and second, to allow the sheared and disturbed concrete fluid a short period of time to adjust its state, preparing for the next round of forward slow pushing, and avoiding excessive pressure fluctuations in the pipe caused by continuous vibration.

[0082] The physical mechanism of the above pumping sequence is as follows: rapid back-pull induces transient negative pressure water hammer in the pipe, mechanically shattering the coarse aggregate arch bridge at the bend; the subsequent slow forward push provides a continuous fluid shear rate, forcing the concrete with a flocculated network structure to undergo shear thinning, causing a sharp decrease in apparent viscosity. When the system detects that the continuous pulse pressure peak of the main pump truck's hydraulic master cylinder has fallen back to a stable low level, it determines that thixotropic liquefaction has been completely completed in the flow channel, and then the flow restriction is lifted, smoothly transitioning to continuous rated high-displacement pumping according to an S-shaped acceleration curve.

[0083] Step C4: Control the pump pipe to pour concrete for the building according to the pumping signal.

[0084] Specifically, the concrete is delivered according to the pumping signal. The main pump truck outputs positive, low-rate pumping power to push the fluid in the pipe to flow slowly forward for 1.0 second. Then, the main pump truck performs rapid reverse suction for 0.5 seconds. After reverse suction, the system pauses pumping and maintains the current pressure in the pipe for 1.0 second to induce shear thinning effect. The system then determines whether the hydraulic main cylinder pressure of the main pump truck meets the requirements and delivers the concrete according to the determination result to achieve the pouring of the building.

[0085] Further, to determine whether the hydraulic main cylinder pressure of the main pump truck meets the requirements, and to transport concrete according to the judgment result, the following steps are taken: monitor the hydraulic main cylinder pressure of the main pump truck, that is, whether the continuous pulse peak value drops back to a stable low level. If not, it is assumed that physical blockage still exists, and the pumping signal is continued to be issued to clear the blockage until the main cylinder pressure requirement is met; if so, the liquid gate of the upper intelligent shut-off valve is completely withdrawn, and a command to release the flow restriction is issued to the main pump truck, which then smoothly accelerates to continuous rated large displacement pumping according to the S-shaped acceleration curve.

[0086] Optionally, at least one processing logic of the third processing mode includes steps D1-D4: Step D1: Obtain the first distance; the first distance is the distance between the heavy-duty tubing and the flange assembly.

[0087] Specifically, after the pouring is completed, the heavy-duty pipe column is lowered, and the distance between the heavy-duty pipe column and the flange assembly is obtained to obtain the first distance.

[0088] Step D2: Determine the second state based on the first distance and the preset distance; the second state is the state of the hydraulic cylinder when the heavy-duty tubing is lowered.

[0089] Specifically, the first distance is compared with the preset distance. If the first distance is greater than the preset distance, the second state is a uniform descent state; if the first distance is less than or equal to the preset distance, the second state is a critical state.

[0090] The uniform descent state refers to the state of the hydraulic cylinder when the heavy-load tubing descends smoothly and at a uniform speed.

[0091] The critical state is the state of the hydraulic cylinder when the tip of the tapered positioning guide pin penetrates the limit critical zone of the hole below.

[0092] Step D3: Determine the first lifting force based on the second state; the first lifting force is used to characterize the constant upward lifting force of the hydraulic cylinder.

[0093] Specifically, if the second state is a uniform descent state, then the first lifting force is 0; if the second state is a critical state, then the system instantly cuts off the rigid position control loop and seamlessly switches to the torque control mode of virtual impedance. The high-frequency adjustment proportional servo pressure reducing valve sets a constant upward lifting force equation for the vertical lifting hydraulic cylinder, thus obtaining the first lifting force.

[0094] Furthermore, the first lifting force can be expressed as: .

[0095] Step D4: Control the heavy-duty tubing according to the first lifting force.

[0096] Specifically, the initial lifting force is applied to the vertical lifting hydraulic cylinder to provide an upward lifting force for the heavy-duty tubing string, offsetting part of the gravity and ensuring a slow and smooth connection between the heavy-duty tubing string and the flange assembly. The appearance of the pressure unloading inflection point after connection is used to determine whether the flange end faces are seamlessly connected. Based on the assessment, the heavy-duty tubing string is then slowly adjusted.

[0097] Furthermore, the physical mechanism of the above steps is as follows: the heavy-duty tubing, weighing over ten tons, is instantly unloaded of 95% of its absolute weight, macroscopically manifesting as a micro-suspended and softened state with extremely low stiffness, subjected only to a slow downward pressure of 5% of its net weight. When the tapered guide pin of the lower flange contacts the bore wall, a weak lateral force is generated. Due to the system's low-stiffness compliant state, this lateral force is sufficient to overcome the lateral constraint, forcing the suspended heavy tubing to undergo millimeter-level lateral slippage. The tubing passively yaws like a soft spring, automatically sliding into the center of the flange. After the pressure reaches the unloading inflection point, it slowly and completely depressurizes and tightens the clamps, achieving a perfect docking with zero mechanical damage.

[0098] Optionally, the second state is determined based on the first distance and the preset distance, including steps E1-E2: Step E1: If the first distance is greater than the preset distance, the second state is the uniform descent state; the uniform descent state is the state of the hydraulic cylinder when the heavy-load tubing descends smoothly and at a constant speed.

[0099] The preset distance can be set as follows: .

[0100] Specifically, if the first distance is greater than the preset distance, the system maintains high-rigidity position closed-loop control, and the hydraulic cylinder descends quickly, smoothly, and at a constant speed. In this case, the second state is a constant speed descent state.

[0101] Step E2: If the first distance is less than or equal to the preset distance, the second state is the critical state; the critical state is the state of the hydraulic cylinder when the tip of the conical positioning guide pin enters the extreme critical zone of the hole below.

[0102] Specifically, if the first distance is less than or equal to the preset distance, that is, when the tip of the conical positioning guide pin is about to penetrate the critical zone of the hole below, then the second state is the critical state.

[0103] The technical solution of this embodiment involves determining a first state; matching a corresponding processing mode from candidate processing modes based on the first state to obtain a target processing mode. Candidate processing modes are generated based on the actual operating state of the pump pipe, providing control strategies for different operating states; and controlling the pump pipe according to the target processing mode. This application matches the corresponding control strategy to the current operating stage of the pump pipe, enabling timely adjustments when extreme operating conditions occur, thus ensuring the safety of the construction process and the pump pipe.

[0104] Figure 6 This is a schematic diagram of a horizontal-to-vertical conversion device for a high-rise building concrete pump pipe, provided by an embodiment of the present invention. This embodiment is applicable to situations requiring pump pipe adjustment. The horizontal-to-vertical conversion device for a high-rise building concrete pump pipe can be implemented in hardware and / or software, and can be configured in any electronic device with network communication capabilities. Figure 6 As shown, the device includes: a first state determination module 210, a target processing mode determination module 220, and a control module 230, wherein: First state determination module 210: used to determine the first state; the first state is the concrete pouring stage reached by the pump pipe; The target processing mode determination module 220 is used to match the corresponding processing mode from the candidate processing modes according to the first state to obtain the target processing mode. The candidate processing modes include: a first processing mode, a second processing mode, and a third processing mode. The first processing mode is used to compensate for the tilt angle caused by the pump pipe rotating to a horizontal suspended state through adaptive pre-compensation. The second processing mode is used to control the pump pipe to pour the building based on the fluid thixotropy. The third processing mode is used to control the soft landing of the heavy-duty pipe column based on the first lifting force. The first lifting force is the relationship between the torque and the motion state constructed based on the virtual impedance characteristics of the pump pipe. The soft landing is to control the heavy-duty pipe column to land by deceleration or switching. Control module 230: Used to control the pump pipe according to the target processing mode.

[0105] Optionally, the target processing mode determination module 220 includes: The first equation determination unit is used to generate the first equation based on the first data and the second data. The first data is the pressure difference between the two chambers of the variable amplitude cylinder when the pump pipe section flips downward. The second data is used to characterize the properties of the cylinder. The first equation is used to characterize the law that the torques generated by all external forces cancel each other out when the pipe section moves at a constant speed under stress. The first rotation angle determination unit is used to determine the first rotation angle according to the first equation; the first rotation angle is the angle of the pipe segment's sag. The adjustment unit is used to adjust the pipe section according to the first rotation angle.

[0106] Optionally, the first turning angle determining unit includes: The first mass determination sub-unit is used to derive the first equation and obtain the first mass; the first mass is the total mass of the pipe section and the residual concrete inside. The second rotation angle determination sub-unit is used to determine the second rotation angle based on the first mass; the second rotation angle is the downward deflection angle generated after the pipe section is laid flat. The first turning angle determination sub-unit is used to determine the first turning angle based on the second turning angle.

[0107] Optionally, the target processing mode determination module 220 includes: The first time determination unit is used to obtain the first time; the first time is the time during which the pump pipe is left to stand after the pipe is cut off. The first pressure determination unit is used to determine the first pressure based on the first time and temperature data; the first pressure is the static yield pressure of the fluid inside the broken pipe. A pumping signal determination unit is used to determine a pumping signal based on a first pressure. The pouring unit is used to control the pump pipe to pour concrete for the building according to the pumping signal.

[0108] Optionally, the target processing mode determination module 220 includes: The first distance determination unit is used to obtain the first distance; the first distance is the distance between the heavy-duty tubing string and the flange assembly; The second state determination unit is used to determine the second state based on the first distance and the preset distance; the second state is the state of the hydraulic cylinder when the heavy-duty tubing is lowered. The first lifting force determination unit is used to determine the first lifting force based on the second state; the first lifting force is used to characterize the constant upward lifting force of the hydraulic cylinder. The control unit is used to control the heavy-duty tubing based on the first lifting force.

[0109] Optionally, the second state determination unit includes: The uniform descent state determination subunit is used to determine the second state as uniform descent state if the first distance is greater than the preset distance; the uniform descent state is the state of the hydraulic cylinder when the heavy-load tubing descends smoothly and at a uniform speed. The critical state determination subunit is used to determine the second state as a critical state if the first distance is less than or equal to a preset distance. The critical state is the cylinder state corresponding to the extreme critical zone when the tip of the conical positioning guide pin penetrates the lower hole.

[0110] The high-rise building concrete pump pipe horizontal-vertical conversion device provided in the embodiments of the present invention can perform the high-rise building concrete pump pipe horizontal-vertical conversion method provided in any of the embodiments of the present invention, and has the corresponding functions and beneficial effects of performing the high-rise building concrete pump pipe horizontal-vertical conversion method. For detailed process, please refer to the relevant operations of the high-rise building concrete pump pipe horizontal-vertical conversion method in the foregoing embodiments.

[0111] Figure 7This is a schematic diagram of the electronic device used to implement the method for converting concrete pump pipes from horizontal to vertical orientation in high-rise buildings, as described in this embodiment of the invention. The electronic device is intended to represent various forms of digital computers, such as laptops, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0112] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0113] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0114] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for converting concrete pump pipes from horizontal to vertical in high-rise buildings.

[0115] In some embodiments, the method for converting high-rise building concrete pump pipes from horizontal to vertical orientation can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the high-rise building concrete pump pipe conversion method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the high-rise building concrete pump pipe conversion method by any other suitable means (e.g., by means of firmware).

[0116] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0118] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0119] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0120] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0121] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0122] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0123] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for converting concrete pump pipes from horizontal to vertical orientation in high-rise buildings, characterized in that, include: Determine the first state; The first state is the concrete pouring stage reached by the pump pipe; Based on the first state, the corresponding processing mode is matched from the candidate processing modes to obtain the target processing mode; The candidate processing modes include: a first processing mode, a second processing mode, and a third processing mode; the first processing mode is used to compensate for the tilt angle caused by the pump pipe rotating to a horizontal suspended state through adaptive pre-compensation; the second processing mode is used to control the pump pipe to pour concrete for the building based on fluid thixotropy; the third processing mode is used to control the soft landing of the heavy-duty pipe column based on a first lifting force; the first lifting force is the correlation between torque and motion state constructed based on the virtual impedance characteristics of the pump pipe; the soft landing is controlled by deceleration or switching to control the heavy-duty pipe column to land; The pump tube is controlled according to the target processing mode.

2. The method according to claim 1, characterized in that, At least one processing logic of the first processing mode includes: A first equation is generated based on the first data and the second data; the first data is the pressure difference between the two chambers of the variable amplitude cylinder when the pump pipe section flips downward; the second data is used to characterize the properties of the cylinder; the first equation is used to characterize the law that the torques generated by all external forces cancel each other out when the pipe section moves at a constant speed under stress. The first turning angle is determined according to the first equation; the first turning angle is the angle of the pipe segment sagging. The pipe section is adjusted according to the first rotation angle.

3. The method according to claim 2, characterized in that, Determining the first turning angle based on the first equation includes: The first mass is derived from the first equation; the first mass is the total mass of the pipe section and the residual concrete inside. The second rotation angle is determined based on the first mass; the second rotation angle is the downward deflection angle generated after the pipe section is laid flat. The first turning angle is determined based on the second turning angle.

4. The method according to claim 1, characterized in that, At least one processing logic of the second processing mode includes: The first time is the time the pump pipe was left to stand after the pipe was cut off; The first pressure is determined based on the first time and temperature data; the first pressure is the static yield pressure of the fluid inside the broken pipe. The pumping signal is determined based on the first pressure; The pump pipe is controlled to pour concrete for the building according to the pumping signal.

5. The method according to claim 1, characterized in that, At least one processing logic of the third processing mode includes: Obtain the first distance; the first distance is the distance between the heavy-duty tubing string and the flange assembly; The second state is determined based on the first distance and the preset distance; the second state is the state of the hydraulic cylinder when the heavy-duty tubing is lowered. The first lifting force is determined based on the second state; the first lifting force is used to characterize the constant upward lifting force of the hydraulic cylinder; The heavy-duty tubing is controlled based on the first lifting force.

6. The method according to claim 5, characterized in that, Determining the second state based on the first distance and the preset distance includes: If the first distance is greater than the preset distance, the second state is a uniform descent state; the uniform descent state is the state of the hydraulic cylinder when the heavy-load tubing descends smoothly and at a uniform speed. If the first distance is less than or equal to the preset distance, the second state is a critical state; the critical state is the cylinder state corresponding to the extreme critical zone when the tip of the conical positioning guide pin penetrates the lower hole.

7. A horizontal-to-vertical conversion device for concrete pump pipes in high-rise buildings, characterized in that, include: The first state determination module is used to determine the first state; The first state is the concrete pouring stage reached by the pump pipe; The target processing mode determination module is used to match the corresponding processing mode from the candidate processing modes according to the first state to obtain the target processing mode. The candidate processing modes include: a first processing mode, a second processing mode, and a third processing mode; the first processing mode is used to compensate for the tilt angle caused by the pump pipe rotating to a horizontal suspended state through adaptive pre-compensation; the second processing mode is used to control the pump pipe to pour concrete for the building based on fluid thixotropy; the third processing mode is used to control the soft landing of the heavy-duty pipe column based on a first lifting force; the first lifting force is the correlation between torque and motion state constructed based on the virtual impedance characteristics of the pump pipe; the soft landing is controlled by deceleration or switching to control the heavy-duty pipe column to land; The control module is used to control the pump pipe according to the target processing mode.

8. The apparatus according to claim 7, characterized in that, The target processing mode determination module includes: The first equation determination unit is used to generate the first equation based on the first data and the second data; the first data is the pressure difference between the two chambers of the variable amplitude cylinder when the pump pipe section flips downward; the second data is used to characterize the properties of the cylinder; the first equation is used to characterize the law that the torques generated by all external forces cancel each other out when the pipe section moves at a constant speed under stress. The first turning angle determination unit is used to determine the first turning angle according to the first equation; the first turning angle is the angle of pipe segment drooping. An adjustment unit is used to adjust the pipe section according to the first rotation angle.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for converting the horizontal to vertical concrete pump pipe of a high-rise building as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the method for converting the horizontal to vertical concrete pump pipe of any one of claims 1-6.

Images