Modular track mobile beam trolley control system and method for safe low voltage power supply

Abstract

The present application relates to the technical field of mobile beam forming, and discloses a modular track mobile beam forming trolley control system and method with safe low-voltage power supply. The present application performs primary power isolation, secondary low-voltage conversion and partition power supply processing on the external power supply of the target trolley. The track lateral deviation is identified and corrected, and the height buffer adjustment of track butt joint is performed to complete butt joint, locking and power supply with the track. The track foundation unevenness is identified, and the compensation adjustment control of horizontal correction is performed. It is judged whether the target trolley is close to the preset target process area. The target trolley is directly driven and positioned to walk, and the running state is monitored and abnormally handled in emergency. The target trolley can be subjected to primary power isolation, secondary low-voltage conversion and partition power supply processing of the external power supply, avoiding the existence of exposed or semi-exposed high-voltage lines in the operation area, reducing the risk of accidental contact by personnel, and effectively reducing the risk of electric leakage and short circuit accidents.

Description

Technical Field

[0001] This invention belongs to the field of mobile beam fabrication technology, and particularly relates to a modular track-based mobile beam fabrication trolley control system and method with safe low-voltage power supply. Background Technology

[0002] Mobile beam fabrication is a beam fabrication method that uses mobile beam fabrication equipment or platforms to move between different work positions during the construction of bridges, rail transit, or prefabricated structures, thereby completing beam forming, assisting construction, or coordinating operations. It typically uses tracks, sliding structures, or wheeled walking mechanisms as the basis for movement, enabling the beam fabrication equipment to move flexibly within the beam fabrication yard or on the construction site according to the needs of the construction organization.

[0003] During the mobile beam fabrication process, the beam fabrication equipment typically integrates a walking mechanism, a load-bearing support structure, beam fabrication work units, and a control system. After completing the work at one beam fabrication station, it can automatically or semi-automatically move to the next station to continue the work, thereby achieving continuous connection of the beam fabrication process.

[0004] In existing technologies, mobile beam fabrication equipment typically uses 380V AC or 220V AC power supply and supplies power to the mobile trolley through exposed cables, drag chains, or temporary wiring. This results in exposed or semi-exposed high-voltage lines in the work area, posing a high risk of accidental contact by personnel. Furthermore, due to the humid and dusty environment at the construction site, there is a significant risk of leakage and short circuit accidents. Summary of the Invention

[0005] The purpose of this invention is to provide a control system and method for a modular track-based beam-making trolley with safe low-voltage power supply, aiming to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions: A control method for a modular track-based beam-making trolley with safe low-voltage power supply, the method specifically includes the following steps: Identify the target vehicle and perform primary power isolation, secondary low-voltage conversion, and zoned power supply processing on the target vehicle. In the track interface area, the lateral deviation of the track is identified and corrected, and the height buffer adjustment of the track docking is performed to complete the docking, locking and power supply of the target trolley to the track; Collect key attitude data of the target vehicle, identify unevenness of the track foundation, and perform compensation and adjustment control for horizontal correction; Obtain the positioning data of the target vehicle and determine whether the target vehicle is close to the preset target process area; The system obtains the judgment results, performs direct walking drive and positioning walking drive on the target vehicle, and monitors its operating status and handles emergency abnormalities.

[0007] As a further limitation of the technical solution of this embodiment of the invention, the step of determining the target vehicle and performing primary power isolation, secondary low-voltage conversion and zoned power supply processing on the target vehicle specifically includes the following steps: Identify the target vehicle and power supply; The power supply is rectified and isolated at the first stage. A two-stage low-voltage conversion is performed to form multiple independent low-voltage power supply units in different zones; A first DC power supply is configured for the movement and hydraulic control of the target vehicle; A second DC power supply is configured for the sensing and communication of the target vehicle.

[0008] As a further limitation of the technical solution of this invention, the steps of identifying and correcting the lateral deviation of the track in the track interface area, and performing height buffer adjustment for track docking, to complete the docking, locking, and power supply of the target trolley and the track, specifically include the following steps: Obtain track structure parameters to determine whether the target vehicle meets the access conditions; When the target vehicle meets the access conditions, track morphology data is collected in the track interface area; Based on the track morphology data, identify and correct the lateral deviation of the track; The height buffer adjustment for track docking is carried out to complete the docking, locking, and power supply of the target trolley to the track.

[0009] As a further limitation of the technical solution of this invention, the height buffer adjustment for track docking, and the completion of docking, locking, and power supply of the target trolley and the track, specifically includes the following steps: During track docking, the floating roller assembly of the target vehicle adaptively buffers the height difference to absorb the impact of unevenness. Perform the connection, positioning, and alignment of the male and female interfaces; The wedge-shaped locking buckle and pneumatic locking mechanism are automatically triggered to complete the track docking; The power supply sliding contact line terminals are automatically connected, and the rail power supply is simultaneously turned on.

[0010] As a further limitation of the technical solution of this invention, the compensation and adjustment control for collecting key attitude data of the target vehicle, identifying uneven track foundations, and performing horizontal correction specifically includes the following steps: Collect key attitude data of the target vehicle; Analyze key attitude data to identify track foundation unevenness and plan horizontal correction parameters; Control the extension and retraction of the hydraulic leveling outriggers according to the aforementioned horizontal correction parameters; After completing the leveling correction of the uneven track foundation, lock the leveling state.

[0011] As a further limitation of the technical solution of this embodiment of the invention, the step of obtaining the positioning data of the target vehicle and determining whether the target vehicle is close to the preset target process area specifically includes the following steps: Obtain the location data of the target vehicle; Based on the positioning data, the relative distance between the target vehicle and the preset target process area is determined; The relative distance is compared with a preset distance threshold; If the relative distance is less than the distance threshold, the target trolley is determined to be close to the target process area; If the relative distance is not less than the distance threshold, the target trolley is determined to be far away from the target process area.

[0012] As a further limitation of the technical solution of this invention embodiment, the step of performing direct walking drive and positioning walking drive on the target vehicle, and monitoring its operating status and handling abnormal emergencies specifically includes the following steps: When the target trolley is far away from the target process area, a high-speed walking mode is adopted, and the target trolley is directly driven to walk at the preset first walking speed; When the target trolley approaches the target process area, a low-speed positioning mode is adopted, and the target trolley is driven to position and move according to the preset second walking speed. Perform walking status monitoring and obtain walking status data; The walking status data is identified to determine whether there are any abnormalities. In the event of an abnormal condition, the main power supply is cut off and an independent backup battery is activated for emergency braking.

[0013] A modular track-based beam-making trolley control system with safe low-voltage power supply, comprising a zoned power supply processing unit, a track docking control unit, a horizontal correction and compensation unit, a trolley positioning analysis unit, and a positioning drive monitoring unit, wherein: The partitioned power supply processing unit is used to determine the target vehicle and perform primary power isolation, secondary low-voltage conversion and partitioned power supply processing on the target vehicle. The track docking control unit is used to identify and correct the lateral deviation of the track in the track interface area, and to perform height buffer adjustment for track docking, thereby completing the docking, locking and power supply of the target trolley to the track. The horizontal correction and compensation unit is used to collect key attitude data of the target vehicle, identify unevenness of the track foundation, and perform horizontal correction and compensation adjustment control. The vehicle positioning analysis unit is used to acquire the positioning data of the target vehicle and determine whether the target vehicle is close to the preset target process area. The positioning drive monitoring unit is used to obtain the judgment results, drive the target vehicle to move directly and drive it to move in a positioning manner, and monitor its operating status and handle any abnormalities in an emergency.

[0014] As a further limitation of the technical solution of this embodiment of the invention, the track docking control unit specifically includes: The access condition judgment module is used to obtain track structure parameters and determine whether the target vehicle meets the access conditions. The track morphology data acquisition module is used to collect track morphology data in the track interface area when the target vehicle meets the access conditions. The lateral deviation correction module is used to identify and correct the lateral deviation of the track based on the track shape data. The track docking control module is used for height buffer adjustment during track docking, and to complete the docking, locking, and power supply of the target trolley to the track.

[0015] As a further limitation of the technical solution of this embodiment of the invention, the horizontal correction compensation unit specifically includes: The vehicle attitude acquisition module is used to collect key attitude data of the target vehicle. The horizontal correction planning module is used to analyze key attitude data, identify unevenness in the track foundation, and plan horizontal correction parameters. The leveling control module is used to control the extension and retraction of the hydraulic leveling outriggers according to the level correction parameters. The leveling state locking module is used to lock the leveling state after the track foundation has been completely leveled to correct any unevenness.

[0016] Compared with the prior art, the beneficial effects of the present invention are: (1) The invention has high safety: it can perform primary power isolation, secondary low voltage conversion and zoned power supply for the target vehicle, avoid the presence of exposed or semi-exposed high voltage lines in the work area, reduce the risk of accidental contact by personnel, and effectively reduce the risk of leakage and short circuit accidents, thus solving the electrical safety hazards in field construction. (2) The invention is highly operable: it is applicable to temporary prefabrication yards, dispersed construction of bridges in mountainous areas, etc., reducing the investment in large fixed platforms, reducing investment in fixed infrastructure, and improving site utilization. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention.

[0018] Figure 1 A flowchart of the method provided by an embodiment of the present invention is shown.

[0019] Figure 2 The flowchart illustrates the process of primary power isolation, secondary low-voltage conversion, and zoned power supply processing of an external power source in the method provided by an embodiment of the present invention.

[0020] Figure 3 A flowchart illustrating the method for correcting lateral deviations of a track provided in an embodiment of the present invention is shown.

[0021] Figure 4 The flowchart illustrates the process of docking, locking, and powering the target vehicle with the track in the method provided by the embodiments of the present invention.

[0022] Figure 5 A flowchart of the compensation adjustment for horizontal correction in the method provided by an embodiment of the present invention is shown.

[0023] Figure 6 A flowchart of the target vehicle localization analysis in the method provided by an embodiment of the present invention is shown.

[0024] Figure 7 A flowchart of the operation status monitoring and emergency handling of anomalies in the method provided by the embodiments of the present invention is shown.

[0025] Figure 8 An application architecture diagram of the system provided in an embodiment of the present invention is shown.

[0026] Figure 9 A structural block diagram of the track docking control unit in the system provided by an embodiment of the present invention is shown.

[0027] Figure 10 A structural block diagram of the horizontal correction and compensation unit in the system provided by an embodiment of the present invention is shown. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0029] Understandably, in existing technologies, mobile beam fabrication equipment typically uses 380V AC or 220V AC power supply and supplies power to the mobile trolley through exposed cables, drag chains, or temporary wiring. This results in exposed or semi-exposed high-voltage lines in the work area, posing a high risk of accidental contact by personnel. Furthermore, due to the humid and dusty environment at the construction site, there is a significant risk of leakage and short circuit accidents.

[0030] To address the aforementioned issues, this invention identifies a target vehicle and performs primary power isolation, secondary low-voltage conversion, and zoned power supply for it. In the track interface area, it identifies and corrects lateral track deviations and performs height buffering adjustments for track docking, completing the docking, locking, and power supply of the target vehicle to the track. It collects key attitude data of the target vehicle, identifies uneven track foundations, and performs level correction and compensation adjustments. It acquires the target vehicle's positioning data to determine if it is close to a preset target work area. Based on the determination results, it provides direct and positioning-based driving for the target vehicle, and monitors its operational status and handles any abnormalities. This system enables primary power isolation, secondary low-voltage conversion, and zoned power supply for the target vehicle, avoiding exposed or semi-exposed high-voltage lines in the work area, reducing the risk of accidental contact, and effectively minimizing the risk of leakage and short circuits, thus resolving electrical safety hazards in field construction.

[0031] Figure 1 A flowchart of the method provided by an embodiment of the present invention is shown.

[0032] Specifically, a control method for a modular track-based beam-making trolley with safe low-voltage power supply includes the following steps: Step S101: Determine the target vehicle and perform primary power isolation, secondary low-voltage conversion, and zoned power supply processing on the target vehicle.

[0033] In this embodiment of the invention, the target vehicle and power supply are determined. The 380V / 50Hz AC power supply of the construction site is connected to the power supply system. Through the centralized distribution cabinet, the power supply is rectified and isolated at the first level to ensure that the high voltage exists only in the fixed and closed distribution area and to prevent the high voltage from directly entering the work area. Then, 24V isolation transformers are arranged at the edge of each process area to perform secondary low voltage transformation, forming multiple independent low voltage power supply units in different areas. This achieves electrical isolation between different process areas and reduces the impact range of single-point failures. Afterward, according to the power consumption characteristics of different functional modules inside the target vehicle, a 36V DC power supply is configured for the vehicle's movement and hydraulic control, and a 12V DC power supply is configured for the vehicle's sensing and communication. An independent 12V backup battery is also configured for emergency braking.

[0034] It is understood that, in this embodiment of the invention, the target trolley chassis is designed with a U-shaped closed guide groove, 45mm deep and 50mm wide, with an internal insulating PE gasket. All power supply cables and signal cables are laid inside the guide groove. Waterproof sealing joints are provided at both ends of the guide groove. A removable maintenance cover is provided at the bottom of the guide groove. A sliding contact line safety enclosure is arranged at 1.2m intervals. The sliding contact line on the side of the track is embedded in a T-shaped insulating groove, leaving only a 2mm contact gap. The non-working area sliding contact line is automatically de-energized. The power supply area is triggered by the proximity switch on the target trolley. Double leakage protection is set up: 30mA leakage protection for the main circuit + 15mA leakage protection for each zone.

[0035] Specifically, Figure 2 The flowchart illustrates the process of primary power isolation, secondary low-voltage conversion, and zoned power supply processing of an external power source in the method provided by an embodiment of the present invention.

[0036] In a preferred embodiment of the present invention, determining the target vehicle and performing primary power isolation, secondary low-voltage conversion, and zoned power supply processing on the target vehicle specifically includes the following steps: Step S1011: Determine the target vehicle and power supply; Step S1012: Perform power rectification and primary isolation on the power supply; Step S1013: Perform a two-stage low-voltage conversion to form multiple independent low-voltage power supply units in different zones; Step S1014: Configure a 36V DC power supply for the movement and hydraulic control of the target vehicle; Step S1015: Configure a 12V DC power supply for the sensing and communication of the target vehicle.

[0037] Specifically, a first DC power supply is configured for the movement and hydraulic control of the target vehicle. The specific steps are as follows: Obtain the rated voltage of the target trolley's travel motor and the minimum starting voltage of the hydraulic pump, and take the higher of the two values ​​as the minimum power supply voltage; obtain the maximum operating current of the target trolley's travel motor and the maximum starting current of the hydraulic pump, and add the maximum operating current of the travel motor and the maximum starting current of the hydraulic pump to obtain the maximum power supply current value. Obtain the nominal voltage and continuous discharge current of a single power supply unit; divide the minimum power supply voltage by the nominal voltage of a single power supply unit and round up to obtain the number of power supplies connected in series; divide the maximum power supply current by the continuous discharge current of a single power supply unit and round up to obtain the number of power supply groups connected in parallel; configure the power supply groups according to the number of power supplies connected in series and the number of power supply groups in parallel to obtain the configured power supply groups. After connecting the configured power supply to the power supply terminal of the speed controller of the walking motor using a wire, the speed controller controls the movement of the target trolley; after connecting the configured power supply to the solenoid valve coil terminal of the hydraulic pump using a wire, the solenoid valve controls the hydraulic pressure of the target trolley.

[0038] Furthermore, by precisely matching the voltage and current requirements of the walking motor and the hydraulic pump, and rationally calculating the configuration of the series and parallel power supply groups, this invention achieves stable and reliable power supply for the trolley's walking and hydraulic systems from a single power source. This avoids the risks of insufficient power supply or overload, and improves the safety and energy efficiency of the entire machine.

[0039] Furthermore, the control method for the modular track-based beam-making trolley with safe low-voltage power supply also includes the following steps: Step S102: In the track interface area, identify and correct the lateral deviation of the track, and perform height buffer adjustment for track docking to complete the docking, locking and power supply of the target trolley and the track.

[0040] In this embodiment of the invention, track structure parameters such as track unit length, interface type, and power supply terminal status are acquired to determine whether the target trolley meets the access conditions. If the target trolley meets the access conditions, track morphology data is collected in the track interface area. Based on the track morphology data, the lateral deviation of the track is identified and corrected to ensure that the target trolley enters the docking area in the correct direction. Then, through the floating roller group of the target trolley, adaptive buffering of height difference is performed during the track docking process to absorb the impact of unevenness and provide a stable posture for precise docking. Then, the male and female interfaces are aligned and positioned. After that, the wedge-shaped locking buckle and pneumatic locking mechanism are automatically triggered to realize the mechanical locking and plane height calibration of the track, ensuring the continuity and load-bearing stability of the track and completing the track docking. At the same time, the power supply sliding contact line terminal is automatically connected, and the track power supply is synchronously turned on.

[0041] It is understood that in the embodiments of the present invention, standardized track units are used, with a basic unit length of 3m, a weight of ≤200kg / section, and can be carried by one person; the cross-section adopts an I-shaped steel structure with a top width of 120mm and a bottom width of 200mm.

[0042] Specifically, Figure 3 A flowchart illustrating the method for correcting lateral deviations of a track provided in an embodiment of the present invention is shown.

[0043] In a preferred embodiment of the present invention, the steps of identifying and correcting the lateral deviation of the track in the track interface area, and adjusting the height buffer of the track docking to complete the docking, locking, and power supply of the target trolley to the track specifically include the following steps: Step S1021: Obtain track structure parameters and determine whether the target vehicle meets the access conditions; Step S1022: When the target vehicle meets the access conditions, track morphology data is collected in the track interface area; Step S1023: Identify and correct the lateral deviation of the track based on the track morphology data; Step S1024: Perform height buffer adjustment for track docking, and complete the docking, locking and power supply of the target trolley to the track.

[0044] Specifically, based on the track morphology data, the lateral deviation of the track is identified and corrected. The specific steps are as follows: Step 301: Obtain the relative positional relationship between the target vehicle and the track interface through track morphology data, and obtain the actual spatial position at the track interface; Step 302: Preset the standard interface shape of the track through the track structure parameters; compare the actual spatial position of the track interface with the standard interface shape of the track in the horizontal dimension one by one, and obtain the lateral deviation value of the track by calculating the coordinate difference. Step 303: Convert the lateral deviation value of the track into a control command for the target vehicle's travel drive system to generate a lateral travel drive correction command; Step 304: Send the lateral travel drive correction command to the travel drive system of the target vehicle to control the target vehicle to move laterally along the track. During the lateral movement, the real-time positioning data of the target vehicle is continuously acquired by the positioning sensor. The real-time positioning data is then compared with the target position contained in the lateral travel drive correction command in real time to complete the adjustment of the lateral position of the target vehicle. Step 305: After adjusting the lateral position of the target trolley, track morphology data is collected again to obtain updated track morphology data; the updated track morphology data is compared with the track standard interface morphology a second time to obtain the updated track lateral deviation value; the updated track lateral deviation value is verified with the preset docking tolerance threshold to obtain the lateral correction compliance verification result. 306. When the updated track lateral deviation value in the lateral correction compliance verification result is less than the docking tolerance threshold, it is determined that the verification standard has been met, and a track lateral docking ready signal is generated; otherwise, repeat steps 301 to 305 until the verification standard is met; complete the identification and correction of track lateral deviation.

[0045] Furthermore, this invention achieves closed-loop dynamic correction of the trolley position by collecting track data in real time, automatically calculating lateral deviation, and generating drive commands. Combined with continuous positioning feedback and secondary verification, it ensures that the lateral adjustment is accurate to the preset tolerance standard, thereby improving the automation level, position accuracy, and operational reliability of track docking.

[0046] Specifically, Figure 4The flowchart illustrates the process of docking, locking, and powering the target vehicle with the track in the method provided by the embodiments of the present invention.

[0047] In a preferred embodiment of the present invention, the height buffer adjustment for track docking, completing the docking, locking, and power supply of the target vehicle to the track, specifically includes the following steps: Step S10241: During the track docking process, the floating roller group of the target trolley performs adaptive buffering of the height difference to absorb the impact of unevenness. Step S10242: Perform the connection positioning and alignment of the male and female interfaces; Step S10243: The wedge-shaped latch and the pneumatic locking mechanism are automatically triggered to complete the track docking; In step S10244, the power supply sliding contact line terminal is automatically connected, and the rail power supply is simultaneously turned on.

[0048] Specifically, the wedge-shaped locking buckle and the pneumatic locking mechanism are automatically triggered to complete the track docking. The specific steps are as follows: The relative position parameters between the male and female interfaces are collected in real time by the sensors and communication on the target vehicle; the relative position parameters between the male and female interfaces are compared with the preset docking coordinate range; when the relative position parameters between the male and female interfaces are within the preset docking coordinate range, a docking completion signal is generated. The interface connection completion signal is used as the start condition to execute the preset "lock start" routine and generate a locking mechanism trigger command containing timing and logic levels; According to the locking mechanism trigger command containing timing and logic levels, the power element of the wedge lock is controlled to generate a linear wedging force according to a preset curve. At the same time, the drive interface of the locking mechanism is activated to control the switching of the starting circuit to obtain a real-time status feedback data stream. Real-time displacement and pressure values ​​are obtained through real-time status feedback data streams; the real-time displacement and pressure values ​​are compared with preset minimum displacement and minimum pressure thresholds respectively on a cycle-by-cycle basis; when the real-time displacement value is greater than the minimum displacement threshold and the real-time pressure value is greater than the minimum pressure threshold, a completion confirmation signal is generated. By completing the confirmation signal association and activating the subsequent functional modules, the subsequent functional modules calculate and generate electrical connection control commands based on the preset motion path parameters. Drive the torque motor according to the electrical connection control command, and drive the sliding contact line terminal to move along the guide rail. At the same time, continuously monitor the servo motor current value of the sliding contact line terminal. When the servo motor current value exceeds the preset servo current threshold and remains stable, generate a power supply terminal connection confirmation signal. The power supply terminal connection confirmation signal is used as a safety interlock condition, and the electronic switch of the main power supply circuit is closed to complete the track docking.

[0049] Furthermore, this invention is based on position perception to automatically trigger the locking and connection process. Through real-time monitoring of displacement and pressure and current feedback, a closed-loop control is formed. Under a strict safety interlocking mechanism, the entire process from mechanical locking to electrical connection is automated and reliably connected.

[0050] Furthermore, the control method for the modular track-based beam-making trolley with safe low-voltage power supply also includes the following steps: Step S103: Collect key attitude data of the target vehicle, identify uneven track foundation, and perform horizontal correction compensation and adjustment control.

[0051] In this embodiment of the invention, by collecting key attitude data such as the four corner heights and longitudinal and transverse tilt angles of the target vehicle, and analyzing the key attitude data, unevenness of the track foundation is identified, horizontal correction parameters are planned, and then the extension and retraction of the hydraulic leveling outriggers are controlled according to the horizontal correction parameters. After completing the horizontal correction of the unevenness of the track foundation, the leveling state is locked to prevent attitude drift during subsequent movement or operation.

[0052] Specifically, Figure 5 A flowchart of the compensation adjustment for horizontal correction in the method provided by an embodiment of the present invention is shown.

[0053] In a preferred embodiment of the present invention, the compensation and adjustment control for collecting key attitude data of the target vehicle, identifying uneven track foundations, and performing horizontal correction specifically includes the following steps: Step S1031: Collect key attitude data of the target vehicle; Step S1032: Analyze the key attitude data, identify unevenness of the track foundation, and plan the horizontal correction parameters; Step S1033: Control the extension and retraction of the hydraulic leveling outriggers according to the horizontal correction parameters; Step S1034: After completing the horizontal correction of the unevenness of the track foundation, lock the leveling state.

[0054] Furthermore, the control method for the modular track-based beam-making trolley with safe low-voltage power supply also includes the following steps: Step S104: Obtain the positioning data of the target vehicle and determine whether the target vehicle is close to the preset target process area.

[0055] In this embodiment of the invention, the positioning data of the target vehicle is obtained, and then the relative distance between the target vehicle and the preset target process area is determined based on the positioning data. The relative distance is compared with a preset distance threshold to determine whether the relative distance is less than the distance threshold. Specifically, if the relative distance is less than the distance threshold, it is determined that the target vehicle is close to the target process area; if the relative distance is not less than the distance threshold, it is determined that the target vehicle is far away from the target process area.

[0056] Specifically, Figure 6 A flowchart of the target vehicle localization analysis in the method provided by an embodiment of the present invention is shown.

[0057] In a preferred embodiment of the present invention, obtaining the positioning data of the target vehicle and determining whether the target vehicle is close to the preset target process area specifically includes the following steps: Step S1041: Obtain the positioning data of the target vehicle; Step S1042: Determine the relative distance between the target trolley and the preset target process area based on the positioning data; Step S1043: Compare the relative distance with a preset distance threshold; Step S1044: If the relative distance is less than the distance threshold, it is determined that the target trolley is close to the target process area; Step S1045: If the relative distance is not less than the distance threshold, then it is determined that the target trolley is far away from the target process area.

[0058] Furthermore, the control method for the modular track-based beam-making trolley with safe low-voltage power supply also includes the following steps: Step S105: Obtain the judgment result, perform direct walking drive and positioning walking drive on the target vehicle, and perform operation status monitoring and emergency handling of abnormalities.

[0059] In this embodiment of the invention, when the target vehicle is far from the target process area, a high-speed walking mode is adopted, and the target vehicle is directly driven to walk at a preset first walking speed; when the target vehicle is close to the target process area, a low-speed positioning mode is adopted, and the target vehicle is driven to position and walk at a preset second walking speed. At the same time, the walking status is monitored for changes in current, speed, track status and attitude, walking status data is acquired, and the walking status data is identified to determine whether there is a status abnormality. If a status abnormality is determined, a protection mode is entered, the main power supply is cut off and an independent backup battery is activated for emergency braking to ensure that the target vehicle stops safely.

[0060] It is understandable that the first walking speed is greater than the second walking speed.

[0061] Specifically, Figure 7A flowchart of the operation status monitoring and emergency handling of anomalies in the method provided by the embodiments of the present invention is shown.

[0062] In a preferred embodiment of the present invention, the steps of directly driving and positioning-driven driving of the target vehicle, and monitoring its operational status and handling any abnormalities include the following: Step S1051: When the target trolley is far away from the target process area, adopt the high-speed walking mode and drive the target trolley directly according to the preset first walking speed. Step S1052: When the target trolley approaches the target process area, a low-speed positioning mode is adopted, and the target trolley is driven to position and move according to the preset second walking speed. Step S1053: Perform walking status monitoring and acquire walking status data; Step S1054: Identify the walking status data and determine whether there is any status abnormality; Step S1055: In the event of an abnormal state, the main power supply is cut off and an independent backup battery is activated for emergency braking.

[0063] Specifically, when the target trolley approaches the target process area, a low-speed positioning mode is adopted, and the target trolley is driven to position and move according to the preset second traveling speed. The specific steps are as follows: Step 701: Obtain the current coordinates of the target vehicle in real time through the position sensor on the target vehicle; obtain the reference coordinates of the target process area through the preset target process area; calculate the straight-line distance between the current coordinates of the target vehicle and the reference coordinates of the target process area; when the straight-line distance is within the preset distance threshold, confirm that the target vehicle is close to the target process area. Step 702: When the target trolley approaches the target process area, the controller of the target trolley calls the parameters of the low-speed positioning mode from the stored mode configuration to override the current operating parameters, so as to enable the low-speed positioning mode. Step 703: Obtain the low-speed positioning mode identifier through the low-speed positioning mode; under the condition of enabling the low-speed positioning mode, according to the low-speed positioning mode identifier, the controller of the target vehicle obtains the speed parameters associated with the low-speed positioning mode from the parameter storage area to obtain the second walking speed. Step 704: Based on the second walking speed, the controller of the target vehicle generates a data packet containing the speed value and direction vector; the data packet is encapsulated according to a predetermined communication protocol to generate positioning and walking drive commands; Step 705: The target vehicle's walking drive mechanism receives and parses the speed value in the positioning walking drive command, and converts it into a corresponding current signal output, so that the target vehicle moves at the second walking speed. Step 706: During the process of the target trolley traveling at the second travel speed, the real-time coordinates of the target trolley are periodically collected by the position sensor to obtain the actual position sequence; the coordinate difference between each coordinate in the actual position sequence and the reference coordinates of the target process area is calculated to obtain the continuous deviation data sequence. Step 707: The position deviation value in the continuous deviation data sequence is used as input to the proportional-integral control algorithm to obtain the correction amount of the second walking speed; the correction amount of the second walking speed is added to the positioning walking drive command, and steps 705 to 707 are repeated. When the absolute value of the position deviation value is less than the preset position tolerance, the loop stops, and the target car is accurately positioned to the target process area; the positioning walking drive of the target car is completed.

[0064] Furthermore, by automatically switching to a low-speed positioning mode and continuously collecting position feedback, combined with proportional-integral closed-loop control to dynamically adjust the walking speed, the present invention achieves gradual deceleration and precise stopping of the target trolley when approaching the process area, effectively improving positioning accuracy, running stability and work efficiency.

[0065] Furthermore, Figure 8 An application architecture diagram of the system provided in an embodiment of the present invention is shown.

[0066] In another preferred embodiment of the present invention, the modular track-mounted beam-making trolley control system with safe low-voltage power supply includes: The partitioned power supply processing unit 101 is used to determine the target vehicle and perform primary power isolation, secondary low-voltage conversion and partitioned power supply processing on the target vehicle.

[0067] In this embodiment of the invention, the partitioned power supply processing unit 101 determines the target vehicle and the power supply, connects the 380V / 50Hz AC power supply of the construction site to the power supply system, and performs power rectification and primary isolation on the power supply through the centralized distribution cabinet to ensure that high voltage exists only in the fixed and closed distribution area and avoids high voltage from directly entering the work area. Then, 24V isolation transformers are arranged at the edge of each process area to perform secondary low voltage transformation, forming multiple partitioned independent low voltage power supply units to achieve electrical isolation between different process areas and reduce the impact range of single-point faults. After that, according to the power consumption characteristics of different functional modules inside the target vehicle, 36V DC power supply is configured for the target vehicle's movement and hydraulic control, and 12V DC power supply is configured for the target vehicle's sensing and communication. An independent 12V backup battery is configured for emergency braking.

[0068] The track docking control unit 102 is used to identify and correct the lateral deviation of the track in the track interface area, and to perform height buffer adjustment for track docking, thereby completing the docking, locking and power supply of the target trolley and the track.

[0069] In this embodiment of the invention, the track docking control unit 102 acquires track structure parameters such as track unit length, interface type, and power supply terminal status, determines whether the target trolley meets the access conditions, and, if the target trolley meets the access conditions, collects track morphology data in the track interface area. Based on the track morphology data, it identifies and corrects the track lateral deviation to ensure that the target trolley enters the docking area in the correct direction. Then, through the floating roller group of the target trolley, it performs adaptive buffering of height difference during the track docking process, absorbs uneven impact, and provides a stable posture for precise docking. Then, it performs the access positioning and alignment of the male and female interfaces. After that, it automatically triggers the wedge-shaped locking buckle and pneumatic locking mechanism to realize the mechanical locking and plane height calibration of the track, ensuring track continuity and load-bearing stability, and completing the track docking. At the same time, the power supply sliding contact line terminal is automatically connected, and the track power supply is synchronously turned on.

[0070] Specifically, Figure 9 A structural block diagram of the track docking control unit 102 in the system provided by an embodiment of the present invention is shown.

[0071] In a preferred embodiment provided by the present invention, the track docking control unit 102 specifically includes: The access condition judgment module 1021 is used to obtain track structure parameters and determine whether the target vehicle meets the access conditions. The track morphology data acquisition module 1022 is used to acquire track morphology data in the track interface area when the target vehicle meets the access conditions; Lateral deviation correction module 1023 is used to identify and correct the lateral deviation of the track based on the track shape data; The track docking control module 1024 is used for height buffer adjustment during track docking, and to complete the docking, locking and power supply of the target trolley and the track.

[0072] Furthermore, the modular track-based beam-making trolley control system with safe low-voltage power supply also includes: The horizontal correction compensation unit 103 is used to collect key attitude data of the target vehicle, identify unevenness of the track foundation, and perform horizontal correction compensation and adjustment control.

[0073] In this embodiment of the invention, the horizontal correction compensation unit 103 collects key attitude data such as the four corner heights and longitudinal and transverse tilt angles of the target trolley, analyzes the key attitude data, identifies unevenness of the track foundation, plans horizontal correction parameters, and then controls the extension and retraction of the hydraulic leveling outriggers according to the horizontal correction parameters. After completing the horizontal correction of the unevenness of the track foundation, the leveling state is locked to prevent attitude drift during subsequent movement or operation.

[0074] Specifically, Figure 10A structural block diagram of the horizontal correction and compensation unit 103 in the system provided in an embodiment of the present invention is shown.

[0075] In a preferred embodiment provided by the present invention, the horizontal correction compensation unit 103 specifically includes: The vehicle attitude acquisition module 1031 is used to acquire key attitude data of the target vehicle. The horizontal correction planning module 1032 is used to analyze key attitude data, identify unevenness of the track foundation, and plan horizontal correction parameters. The leveling control module 1033 is used to control the extension and retraction of the hydraulic leveling outriggers according to the level correction parameters. The leveling state locking module 1034 is used to lock the leveling state after the track foundation has been completely leveled to correct any unevenness.

[0076] Furthermore, the modular track-based beam-making trolley control system with safe low-voltage power supply also includes: The vehicle positioning analysis unit 104 is used to acquire the positioning data of the target vehicle and determine whether the target vehicle is close to the preset target process area.

[0077] In this embodiment of the invention, the vehicle positioning analysis unit 104 acquires the positioning data of the target vehicle, and then determines the relative distance between the target vehicle and the preset target process area based on the positioning data. By comparing the relative distance with a preset distance threshold, it is determined whether the relative distance is less than the distance threshold. Specifically, if the relative distance is less than the distance threshold, it is determined that the target vehicle is close to the target process area; if the relative distance is not less than the distance threshold, it is determined that the target vehicle is far away from the target process area.

[0078] The positioning drive monitoring unit 105 is used to obtain the judgment result, drive the target vehicle to travel directly and drive it to travel in a positioning manner, and monitor its operating status and handle any abnormalities in an emergency.

[0079] In this embodiment of the invention, when the target vehicle is far from the target process area, the positioning drive monitoring unit 105 adopts a high-speed walking mode and directly drives the target vehicle according to a preset first walking speed; when the target vehicle is close to the target process area, the positioning drive monitoring unit 105 adopts a low-speed positioning mode and drives the target vehicle according to a preset second walking speed. At the same time, it monitors the walking status changes of current, speed, track status and attitude, acquires walking status data, identifies the walking status data, and determines whether there is a status abnormality. If a status abnormality is determined, it enters the protection mode, cuts off the main power supply and activates the independent backup battery for emergency braking to ensure that the target vehicle stops safely.

[0080] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0081] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0082] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for a modular track-mounted beam-making trolley with safe low-voltage power supply, characterized in that, The method specifically includes the following steps: Identify the target vehicle and perform primary power isolation, secondary low-voltage conversion, and zoned power supply processing on the target vehicle. In the track interface area, the lateral deviation of the track is identified and corrected, and the height buffer adjustment of the track docking is performed to complete the docking, locking and power supply of the target trolley to the track; Collect key attitude data of the target vehicle, identify unevenness of the track foundation, and perform compensation and adjustment control for horizontal correction; Obtain the positioning data of the target vehicle and determine whether the target vehicle is close to the preset target process area; The system obtains the judgment results, performs direct walking drive and positioning walking drive on the target vehicle, and monitors its operating status and handles emergency abnormalities.

2. The control method for a modular track-based beam-making trolley with safe low-voltage power supply according to claim 1, characterized in that, The process of identifying the target vehicle and performing primary power isolation, secondary low-voltage conversion, and zoned power supply on the target vehicle specifically includes the following steps: Identify the target vehicle and power supply; The power supply is rectified and isolated at the first stage. A two-stage low-voltage conversion is performed to form multiple independent low-voltage power supply units in different zones; A first DC power supply is configured for the movement and hydraulic control of the target vehicle; A second DC power supply is configured for the sensing and communication of the target vehicle; The first DC power supply is configured for the movement and hydraulic control of the target vehicle. The specific steps are as follows: Obtain the rated voltage of the target trolley's travel motor and the minimum starting voltage of the hydraulic pump, and take the higher of the two values ​​as the minimum power supply voltage; obtain the maximum operating current of the target trolley's travel motor and the maximum starting current of the hydraulic pump, and add the maximum operating current of the travel motor and the maximum starting current of the hydraulic pump to obtain the maximum power supply current value. Obtain the nominal voltage and continuous discharge current of a single power supply unit; divide the minimum power supply voltage by the nominal voltage of a single power supply unit and round up to obtain the number of power supplies connected in series; divide the maximum power supply current by the continuous discharge current of a single power supply unit and round up to obtain the number of power supply groups connected in parallel; configure the power supply groups according to the number of power supplies connected in series and the number of power supply groups in parallel to obtain the configured power supply groups. After connecting the configured power supply to the power supply terminal of the speed controller of the walking motor using a wire, the speed controller controls the movement of the target trolley; after connecting the configured power supply to the solenoid valve coil terminal of the hydraulic pump using a wire, the solenoid valve controls the hydraulic pressure of the target trolley.

3. The control method for a modular track-based beam-making trolley with safe low-voltage power supply according to claim 1, characterized in that, In the track interface area, identifying and correcting the lateral deviation of the track, and performing height buffer adjustment for track docking, to complete the docking, locking, and power supply of the target trolley to the track, specifically includes the following steps: Obtain track structure parameters to determine whether the target vehicle meets the access conditions; When the target vehicle meets the access conditions, track morphology data is collected in the track interface area; Based on the track morphology data, identify and correct the lateral deviation of the track; Perform height buffer adjustment for track docking to complete the docking, locking, and power supply of the target trolley to the track; The specific steps for identifying and correcting lateral deviations of the track based on the track morphology data are as follows: Step 301: Obtain the relative positional relationship between the target vehicle and the track interface through track morphology data, and obtain the actual spatial position at the track interface; Step 302: Preset the standard interface shape of the track through the track structure parameters; compare the actual spatial position of the track interface with the standard interface shape of the track in the horizontal dimension one by one, and obtain the lateral deviation value of the track by calculating the coordinate difference. Step 303: Convert the lateral deviation value of the track into a control command for the target vehicle's travel drive system to generate a lateral travel drive correction command; Step 304: Send the lateral travel drive correction command to the travel drive system of the target vehicle to control the target vehicle to move laterally along the track. During the lateral movement, the real-time positioning data of the target vehicle is continuously acquired by the positioning sensor. The real-time positioning data is then compared with the target position contained in the lateral travel drive correction command in real time to complete the adjustment of the lateral position of the target vehicle. Step 305: After adjusting the lateral position of the target trolley, track morphology data is collected again to obtain updated track morphology data; the updated track morphology data is compared with the track standard interface morphology a second time to obtain the updated track lateral deviation value; the updated track lateral deviation value is verified with the preset docking tolerance threshold to obtain the lateral correction compliance verification result. Step 306: When the updated track lateral deviation value in the lateral correction compliance verification result is less than the docking tolerance threshold, it is determined that the verification standard has been met, and a track lateral docking ready signal is generated; otherwise, steps 301 to 305 are repeated until the verification standard is met; the identification and correction of track lateral deviation is completed.

4. The control method for a modular track-based beam-making trolley with safe low-voltage power supply according to claim 3, characterized in that, The height buffer adjustment for track docking, which completes the docking, locking, and power supply of the target trolley to the track, specifically includes the following steps: During track docking, the floating roller assembly of the target vehicle adaptively buffers the height difference to absorb the impact of unevenness. Perform the connection, positioning, and alignment of the male and female interfaces; The wedge-shaped locking buckle and pneumatic locking mechanism are automatically triggered to complete the track docking; The power supply sliding contact line terminals are automatically connected, and the rail power supply is simultaneously turned on.

5. The control method for a modular track-mounted beam-making trolley with safe low-voltage power supply according to claim 4, characterized in that, The wedge-shaped locking latch and pneumatic locking mechanism are automatically triggered to complete the track docking. The specific steps are as follows: The relative position parameters between the male and female interfaces are collected in real time by the sensors and communication on the target vehicle; the relative position parameters between the male and female interfaces are compared with the preset docking coordinate range; when the relative position parameters between the male and female interfaces are within the preset docking coordinate range, a docking completion signal is generated. The interface connection completion signal is used as the start condition to execute the preset "lock start" routine and generate a locking mechanism trigger command containing timing and logic levels; According to the locking mechanism trigger command containing timing and logic levels, the power element of the wedge lock is controlled to generate a linear wedging force according to a preset curve. At the same time, the drive interface of the locking mechanism is activated to control the switching of the starting circuit to obtain a real-time status feedback data stream. Real-time displacement and pressure values ​​are obtained through real-time status feedback data streams; the real-time displacement and pressure values ​​are compared with preset minimum displacement and minimum pressure thresholds respectively on a cycle-by-cycle basis; when the real-time displacement value is greater than the minimum displacement threshold and the real-time pressure value is greater than the minimum pressure threshold, a completion confirmation signal is generated. By completing the confirmation signal association and activating the subsequent functional modules, the subsequent functional modules calculate and generate electrical connection control commands based on the preset motion path parameters. Drive the torque motor according to the electrical connection control command, and drive the sliding contact line terminal to move along the guide rail. At the same time, continuously monitor the servo motor current value of the sliding contact line terminal. When the servo motor current value exceeds the preset servo current threshold and remains stable, generate a power supply terminal connection confirmation signal. The power supply terminal connection confirmation signal is used as a safety interlock condition, and the electronic switch of the main power supply circuit is closed to complete the track docking.

6. The control method for a modular track-based beam-making trolley with safe low-voltage power supply according to claim 5, characterized in that, The process of collecting key attitude data of the target vehicle, identifying uneven track foundations, and performing level correction and compensation control specifically includes the following steps: Collect key attitude data of the target vehicle; Analyze key attitude data to identify track foundation unevenness and plan horizontal correction parameters; Control the extension and retraction of the hydraulic leveling outriggers according to the aforementioned horizontal correction parameters; After completing the leveling correction of the uneven track foundation, lock the leveling state.

7. The control method for a modular track-based beam-making trolley with safe low-voltage power supply according to claim 6, characterized in that, The process of acquiring the positioning data of the target vehicle and determining whether the target vehicle is close to the preset target process area specifically includes the following steps: Obtain the location data of the target vehicle; Based on the positioning data, the relative distance between the target vehicle and the preset target process area is determined; The relative distance is compared with a preset distance threshold; If the relative distance is less than the distance threshold, the target trolley is determined to be close to the target process area; If the relative distance is not less than the distance threshold, the target trolley is determined to be far away from the target process area.

8. The control method for a modular track-based beam-making trolley with safe low-voltage power supply according to claim 7, characterized in that, The process of directly driving and positioning-driven the target vehicle, and monitoring its operational status and handling any emergencies, specifically includes the following steps: When the target trolley is far away from the target process area, a high-speed walking mode is adopted, and the target trolley is directly driven to walk at the preset first walking speed; When the target trolley approaches the target process area, a low-speed positioning mode is adopted, and the target trolley is driven to position and move according to the preset second walking speed. Perform walking status monitoring and obtain walking status data; The walking status data is identified to determine whether there are any abnormalities. In the event of an abnormal condition, the main power supply is cut off and an independent backup battery is activated for emergency braking.

9. The control method for a modular track-based beam-making trolley with safe low-voltage power supply according to claim 8, characterized in that, When the target trolley approaches the target process area, a low-speed positioning mode is adopted, and the target trolley is driven to position and move according to the preset second travel speed. The specific steps are as follows: Step 701: Obtain the current coordinates of the target vehicle in real time through the position sensor on the target vehicle; obtain the reference coordinates of the target process area through the preset target process area; calculate the straight-line distance between the current coordinates of the target vehicle and the reference coordinates of the target process area; when the straight-line distance is within the preset distance threshold, confirm that the target vehicle is close to the target process area. Step 702: When the target trolley approaches the target process area, the controller of the target trolley calls the parameters of the low-speed positioning mode from the stored mode configuration to override the current operating parameters, so as to enable the low-speed positioning mode. Step 703: Obtain the low-speed positioning mode identifier through the low-speed positioning mode; When the low-speed positioning mode is enabled, the controller of the target vehicle obtains the speed parameters associated with the low-speed positioning mode from the parameter storage area according to the low-speed positioning mode identifier to obtain the second walking speed. Step 704: Based on the second walking speed, the controller of the target vehicle generates a data packet containing the speed value and direction vector; the data packet is encapsulated according to a predetermined communication protocol to generate positioning and walking drive commands; Step 705: The target vehicle's walking drive mechanism receives and parses the speed value in the positioning walking drive command, and converts it into a corresponding current signal output, so that the target vehicle moves at the second walking speed. Step 706: During the process of the target trolley traveling at the second travel speed, the real-time coordinates of the target trolley are periodically collected by the position sensor to obtain the actual position sequence; the coordinate difference between each coordinate in the actual position sequence and the reference coordinates of the target process area is calculated to obtain the continuous deviation data sequence. Step 707: The position deviation value in the continuous deviation data sequence is used as input and fed into the proportional-integral control algorithm to obtain the correction amount for the second travel speed; The correction amount of the second walking speed is added to the positioning walking drive command, and steps 705 to 707 are repeated. When the absolute value of the position deviation is less than the preset position tolerance, the loop stops and the target car is accurately positioned in the target process area; the positioning walking drive of the target car is completed.

10. A modular track-based beam-making trolley control system with safe low-voltage power supply, characterized in that: The system employs the modular track-based beam-making trolley control method for safe low-voltage power supply as described in any one of claims 1 to 9, and the system includes: The partitioned power supply processing unit is used to determine the target vehicle and perform primary power isolation, secondary low-voltage conversion and partitioned power supply processing on the target vehicle. The track docking control unit is used to identify and correct the lateral deviation of the track in the track interface area, and to perform height buffer adjustment for track docking, thereby completing the docking, locking and power supply of the target trolley to the track. The horizontal correction and compensation unit is used to collect key attitude data of the target vehicle, identify unevenness of the track foundation, and perform horizontal correction and compensation adjustment control. The vehicle positioning analysis unit is used to acquire the positioning data of the target vehicle and determine whether the target vehicle is close to the preset target process area. The positioning drive monitoring unit is used to obtain the judgment results, drive the target vehicle to move directly and drive it to move in a positioning manner, and monitor its operating status and handle any abnormalities in an emergency.

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