A Method and System for Assembling and Leveling Bridge Steel Structure Components Based on Multi-Electric Cylinder Array

Abstract

This invention discloses a method and system for assembling and leveling bridge steel structure components based on a multi-electric cylinder array, belonging to the field of bridge construction technology. The method includes: acquiring component model and spatial data of the electric cylinder array, determining the bottom contour of the component and the position of the electric cylinders, and establishing a unified positioning relationship; constructing an effective support set based on the unified positioning relationship, and determining the target support height corresponding to each participating electric cylinder; coordinating and determining the target adjustment amount according to the support height and the target posture of the component, within the allowable stroke limit of the electric cylinders; controlling the coordinated adjustment of each participating electric cylinder according to the target adjustment amount, and dynamically updating the effective support set according to changes in the support state during the adjustment process, until the component reaches the target posture. This invention, through the construction and dynamic reconstruction of the effective support set, achieves adaptive adjustment of the support relationship while maintaining the target posture of the component, improving the stability and automation of multi-electric cylinder coordinated leveling.

Description

Technical Field

[0001] This invention relates to the field of bridge construction technology, and more specifically, to a method and system for assembling and leveling bridge steel structure components based on a multi-electric cylinder array. Background Technology

[0002] As bridge steel structures develop towards larger spans and heavier tonnages, multi-cylinder arrays are widely used in component assembly and leveling due to their flexible support and high precision. Existing leveling methods typically calculate the target lifting amount of each electric cylinder based on the design posture or preset support points, and control synchronous adjustment.

[0003] However, existing technologies have the following shortcomings: First, there is a lack of a mechanism for screening the effectiveness of support points. The bottom of bridge steel structure components typically has complex geometric features such as stiffening ribs, diaphragms, and weld bevels, resulting in significant differences in local load-bearing capacity at different locations. Existing methods often treat all electric cylinders within the coverage area as support points without screening them based on the actual load-bearing conditions at the bottom of the component. This leads to some electric cylinders being located in non-effective load-bearing areas, affecting support stability and potentially causing local stress concentration in the component.

[0004] Secondly, there is a lack of dynamic reconfiguration capability for support relationships. Electric cylinders are limited by physical stroke, and the target adjustment amount of some cylinders may exceed the allowable stroke. Existing technologies typically involve lowering the overall target height or manual rearrangement, but lack a mechanism for dynamically adjusting the electric cylinders involved in support while maintaining the target orientation of the component. When some cylinders withdraw from support, the remaining support relationships are difficult to reconfigure, and support requirements cannot be redistributed. This often necessitates interrupting the leveling process for manual intervention, reducing construction efficiency and leveling accuracy.

[0005] Therefore, how to establish an effective support point screening mechanism in the leveling of multi-electric cylinder arrays, and realize the dynamic reconstruction of support relationships and the redistribution of support requirements under stroke constraints, so as to maintain the target posture of the components and improve the leveling stability, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a method and system for assembling and leveling bridge steel structure components based on a multi-electric cylinder array. By establishing a unified positioning relationship between the components and the electric cylinder array, an effective support set corresponding to the components is constructed. Under the constraint of the electric cylinder stroke, the effective support set is dynamically updated, the support relationship is reconstructed, the component support requirements are redistributed, and the target adjustment amount is re-coordinated and determined. This achieves closed-loop control of the assembly and leveling process of bridge steel structure components, thereby solving the technical problems in the prior art of lacking a support point effectiveness screening mechanism and being unable to dynamically reconstruct the support relationship and maintain the target posture of the components when the electric cylinder stroke is limited.

[0007] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a method for assembling and leveling bridge steel structure components based on a multi-electric cylinder array, comprising the following steps: acquiring component model and spatial data of the electric cylinder array, determining the bottom contour of the component and the position of the electric cylinders; establishing a unified positioning relationship based on the bottom contour and the position of the electric cylinders; constructing an effective support set corresponding to the component based on the unified positioning relationship; determining the target support height corresponding to each participating electric cylinder based on the effective support set; coordinating and determining the target adjustment amount of each participating electric cylinder based on the support height and the target posture of the component, within the allowable stroke limit of the electric cylinders; controlling the coordinated adjustment of each participating electric cylinder based on the target adjustment amount, and dynamically updating the effective support set according to the change of support state during the adjustment process, until the component reaches the target posture.

[0008] Furthermore, the construction of the effective support set corresponding to the component based on the unified positioning relationship includes: determining the projection area of ​​the bottom contour of the component on the plane where the electric cylinder array is located, and determining the electric cylinders located in the projection area as candidate electric cylinders; selecting a reference electric cylinder from the candidate electric cylinders, using the reference electric cylinder as a unified reference, and establishing a point-by-point spatial mapping relationship between each candidate electric cylinder and the bottom contour of the component; determining the first intersection point between each candidate electric cylinder and the bottom of the component according to the point-by-point spatial mapping relationship, and screening effective support electric cylinders according to the local bearing continuity of the area corresponding to the first intersection point, and forming an effective support set from the effective support electric cylinders.

[0009] Furthermore, the step of screening effective supporting electric cylinders based on the local load-bearing continuity of the region corresponding to the first intersection point includes: obtaining the local neighborhood range corresponding to each first intersection point on the bottom curved surface of the component; determining whether a continuous load-bearing surface is formed within the local neighborhood range as a first condition; when the first condition is met, further determining whether there are at least two intersecting continuous load-bearing directions within the local neighborhood range as a second condition; when both the first and second conditions are met, determining that the candidate electric cylinder corresponding to the first intersection point is an effective supporting electric cylinder.

[0010] Furthermore, the coordination to determine the target adjustment amount for each participating electric cylinder includes: determining the initial adjustment amount based on the target support height and the current support height of each participating electric cylinder; determining the support priority based on the degree of influence of the corresponding support position of each participating electric cylinder on the target attitude of the component; checking the adjustment amount of each participating electric cylinder in sequence according to the support priority, so that all adjustment amounts meet the allowable stroke of the corresponding electric cylinder; and determining the checked adjustment amount as the target adjustment amount.

[0011] Furthermore, when the target adjustment amount of a participating support electric cylinder exceeds the allowable stroke, according to the support priority, the participating support electric cylinder with the least impact on the target attitude of the component is selected as the release support electric cylinder; the participation support state of the release support electric cylinder is cancelled, and the effective support set is updated.

[0012] Furthermore, the component support requirements are redistributed based on the updated effective support set; the support relationship between the remaining participating electric cylinders and the bottom of the component is re-established; the target support height corresponding to the remaining participating electric cylinders is re-determined based on the redistributed support requirements to keep the component in the target posture; and the target adjustment amount of the remaining participating electric cylinders is re-coordinated and determined.

[0013] Furthermore, the control of the coordinated adjustment of each participating support electric cylinder includes: dividing the participating support electric cylinders into multiple adjustment groups according to the target adjustment amount; adjusting synchronously in sequence according to the adjustment groups, and re-acquiring the component posture after completing each adjustment group.

[0014] Furthermore, after reacquiring the component's posture, the process includes: determining whether the effective support set has changed; when the effective support set changes, re-determining the participating electric cylinders based on the updated effective support set, recalculating the target support height, re-coordinating and determining the target adjustment amount, and controlling the participating electric cylinders to continue coordinated adjustment until the component reaches the target posture.

[0015] Secondly, the present invention also provides a bridge steel structure component assembly and leveling system based on a multi-electric cylinder array, comprising: a data acquisition module for acquiring component model and electric cylinder array spatial data; an effective support set construction module for establishing a unified positioning relationship and constructing an effective support set; a target support height determination module for determining the target support height corresponding to the participating electric cylinders; a coordination determination module for coordinating and determining the target adjustment amount of each participating electric cylinder according to the target support height corresponding to each participating electric cylinder and the target posture of the component; and a collaborative control module for controlling the collaborative adjustment of each participating electric cylinder and dynamically updating the effective support set.

[0016] The technical effects and advantages of the present invention regarding the assembly and leveling method and system for bridge steel structure components based on a multi-electric cylinder array are as follows: 1. This invention constructs an effective support set, selecting electric cylinders from the electric cylinder array to participate in the support, ensuring that leveling calculations are performed only within the selected effective support set. Compared to the prior art that uses all electric cylinders within the coverage area as support points, this invention avoids the problems of insufficient support stability and local stress concentration in components caused by electric cylinders being supported in non-effective load-bearing areas such as reinforcing ribs, partitions, and weld bevels, thus improving the effectiveness and safety of the support system.

[0017] 2. This invention coordinates and determines the target adjustment amount within the allowable stroke limit of the electric cylinder, and dynamically updates the effective support set according to the changes in the support state during the collaborative adjustment process. This enables the electric cylinders participating in the support to adaptively adjust when their stroke is limited, realizing closed-loop control of the leveling process. This avoids the defects in the prior art where some electric cylinders cause leveling interruption due to stroke exceeding the limit and require manual intervention, thus improving construction efficiency and leveling accuracy. Attached Figure Description

[0018] Figure 1 A flowchart illustrating an assembly and leveling method for bridge steel structure components based on a multi-electric cylinder array, provided in this embodiment of the invention. Figure 2 A structural block diagram of a bridge steel structure component assembly and leveling system based on a multi-electric cylinder array provided in an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the effective support set construction process provided in the embodiments of the present invention; Figure 4 This is a schematic diagram illustrating the dynamic update process of the effective support set provided in an embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1, Figure 1 This invention presents a method for assembling and leveling bridge steel structure components based on a multi-electric cylinder array, comprising the following steps: S1, acquire the component model and electric cylinder array spatial data, and determine the bottom outline of the component and the position of the electric cylinder; In this embodiment, the step of acquiring the component model and electric cylinder array spatial data, and determining the bottom contour of the component and the position of the electric cylinder, specifically includes the following steps: S11. Obtain the three-dimensional model data of the steel structure components of the bridge to be assembled. The three-dimensional model data is used to describe the geometric shape and spatial dimensions of the components. The three-dimensional model data can be derived from bridge design models, building information models (BIM), three-dimensional scanned reconstruction models, or other data files that can characterize the geometric shape of the components.

[0021] 3D model data is typically stored as mesh models (such as OBJ and STL formats) or solid models (such as STEP and IGES formats). The specific method for parsing 3D model data is as follows: Based on the format of the 3D model data, the corresponding data reading interface is invoked to obtain the geometric entities and topological relationships in the model. For solid models, the faces, edges, and vertices are read to identify the bottom faces of the component. The identification method is as follows: traverse all faces in the model, extract the normal vector direction of each face, and mark the faces whose normal vector direction is consistent with or nearly consistent with the vertically downward direction as the bottom faces of the component. For mesh models, the normal vector direction of each triangle is extracted by reading the triangular facet data in the mesh. Triangular facets whose normal vector direction is consistent with or nearly consistent with the vertically downward direction are marked as the bottom mesh region of the component, and these triangular facets constitute the bottom surface of the component. "Consistent with or nearly consistent" means that the angle between the normal vector direction and the vertically downward direction is less than a preset angle threshold. This threshold can be 10 or 15, and can be adjusted according to the geometric characteristics and accuracy requirements of the component. The vertically downward direction is the opposite direction of gravity in the unified reference coordinate system.

[0022] The method for extracting the bottom contour data of a component is as follows: After determining the bottom surface or bottom mesh region of the component, the boundary information of that region is extracted. For solid models, the outer loop and inner loop of the bottom surface are extracted. Each loop is formed by connecting multiple edges end to end, constituting the geometric boundary of the bottom contour. For mesh models, the boundary edges of the bottom mesh region are extracted. These boundary edges are edges contained by only one triangular facet, and the polygonal boundary of the bottom contour is formed by connecting these boundary edges end to end. For internal holes on the bottom surface (such as bolt holes, weight-reduction holes, clearance notches, etc.), their corresponding boundary information is also extracted and included in the component's bottom contour data.

[0023] The extracted component bottom contour data includes the outer contour of the component bottom and the contour information of internal openings, notches or local avoidance areas, which are used to characterize the geometric boundary range of the component bottom.

[0024] S12, Obtain spatial data of the electric cylinder array. Obtain spatial data of the multi-electric cylinder array at the construction site. The spatial data includes the unique number, planar position, bottom base elevation, and initial support height of each electric cylinder.

[0025] The electric cylinders are arranged in a predetermined array. The spatial position of each electric cylinder can be obtained through construction layout drawings, on-site measurement data, data collected by positioning devices, or building information models. A correspondence between the electric cylinder number and its corresponding spatial position is established to form complete electric cylinder array spatial data.

[0026] S13, determine the bottom contour of the component and the position of the electric cylinder. Based on the bottom contour data of the component obtained from the analysis, determine the spatial range of the bottom contour of the component, and based on the spatial data of the electric cylinder array, determine the spatial position of each electric cylinder, and output the bottom contour data of the component and the position data of the electric cylinder respectively.

[0027] The component bottom contour is used to characterize the geometric boundary range of the component bottom; the electric cylinder position is used to characterize the distribution position of each electric cylinder in the array. The component bottom contour data and electric cylinder position data serve as input data for subsequently establishing a unified positioning relationship between the component bottom contour and the electric cylinder position, providing basic data for subsequently establishing a unified positioning relationship and constructing an effective support set.

[0028] S2, establish a unified positioning relationship based on the bottom contour and the position of the electric cylinder; construct the effective support set corresponding to the component based on the unified positioning relationship; like Figure 3 As shown, the construction of an effective support set specifically includes the following steps: S21, establish a unified positioning relationship based on the bottom contour and the position of the electric cylinder. Specifically, this includes: S21-1, Determine candidate electric cylinders. Specifically: Project the bottom contour of the component vertically onto the plane where the electric cylinder array is located to obtain the projection area of ​​the bottom contour of the component on the plane of the electric cylinder array; determine whether the planar coordinates of each electric cylinder fall into the projection area one by one, and if they do, mark the electric cylinder as a candidate electric cylinder.

[0029] S21-2, Select a reference electric cylinder and establish a unified positioning relationship.

[0030] Select a reference electric cylinder from the candidate electric cylinders. Using the reference electric cylinder as a unified reference, translate the component model as a whole so that the preset positioning point of the bottom contour of the component is aligned with the position of the reference electric cylinder on the horizontal plane. Then, rotate the component model according to the design posture requirements of the component so that the posture of the component model is consistent with the design posture of the construction site, thus completing the establishment of a unified positioning relationship.

[0031] The selection method for the reference electric cylinder is as follows: based on the spatial relationship between each candidate electric cylinder and the preset positioning point of the component, the candidate electric cylinder with the smallest spatial distance from the preset positioning point of the component is selected as the reference electric cylinder. The preset positioning point of the component can be the projection point of the component's geometric center on the horizontal plane, the corner point of the component's bottom contour, or the midpoint of the component's bottom edge.

[0032] S22, constructing the effective support set corresponding to the component based on the unified positioning relationship. Specifically, this includes: S22-1, Establish point-to-point spatial correspondence. Based on the unified positioning relationship, determine the corresponding position of each candidate electric cylinder on the bottom contour of the component, and establish the point-to-point spatial correspondence between each candidate electric cylinder and the bottom contour of the component.

[0033] Specifically: Based on the spatial positional relationship between the component model and the electric cylinder array in a unified reference coordinate system, for any candidate electric cylinder, determine the spatial point position corresponding to its planar coordinates on the bottom contour surface of the component. When the planar coordinates of the candidate electric cylinder have the same planar coordinates on the horizontal plane as a certain spatial point on the bottom contour of the component, that spatial point is the bottom position of the component corresponding to the candidate electric cylinder.

[0034] S22-2, Based on the point-by-point spatial mapping relationship, determine the first intersection point between each candidate electric cylinder and the bottom of the component.

[0035] Specifically: For each candidate electric cylinder, a ray is established along its axial direction, and the intersection point of this ray with the bottom contour surface of the component is calculated. This intersection point is the first intersection point. If the ray does not intersect with the bottom contour surface of the component, the candidate electric cylinder does not have a first intersection point and will not participate in subsequent screening. The axial direction of the electric cylinder is its extension and retraction direction, which is usually vertical.

[0036] For example, the ray parameter equation is: (1) In equation (1), This represents the position vector of any point on the ray in a unified reference coordinate system. This represents the position vector of the ray's origin in a unified reference coordinate system. Let be the unit vector along the axis of the electric cylinder. Let be the distance parameter along the axis from the starting point of the ray. Substitute the ray equation into the equation of the bottom contour surface of the component to solve for the first intersection point.

[0037] S22-3, based on the local load continuity of the area corresponding to the first intersection point, select effective support electric cylinders, and form an effective support set by the effective support electric cylinders.

[0038] Specifically, for each first intersection point, the following determination is performed: (1) Obtain the local neighborhood range. Based on the first intersection point, determine the local neighborhood range corresponding to the first intersection point on the bottom curved surface of the component. The local neighborhood range can be determined according to the position of the first intersection point and according to a preset range, such as by using a circular region, a polygonal region or a curved surface neighborhood.

[0039] Taking a circular region as an example, the neighborhood is defined with the first intersection point as the center and a preset radius. The preset radius is determined based on the radius of curvature of the bottom surface of the component or the grid density.

[0040] (2) Determine whether a continuous bearing surface is formed, as the first condition. Determine whether a continuous bearing surface is formed within the local neighborhood. The continuous bearing surface, as the second condition, refers to a continuous curved surface at the bottom of the component within the local neighborhood that is simply connected and without holes or breaks. In specific determination, it can be made based on the continuity of the surface, curvature change, normal vector change, mesh topology relationship, or other methods that can reflect the continuity of the local bearing.

[0041] For example, multiple sampling points can be selected within a local neighborhood, and the continuity of the surface can be determined by the change in the normal vector direction of each sampling point. For any two adjacent sampling points... and Their normal vectors are respectively and Calculate the angle between the two. : (2) When the angle between the normal vectors of all adjacent sampling points All do not exceed the preset threshold When the surface is determined to be continuous within a local neighborhood, a continuous bearing surface is formed; when the angle between the normal vectors of any adjacent sampling points is... Exceeding the preset threshold If the surface exhibits an abrupt change or break at that location, it is determined that the continuous bearing surface requirement is not met. (Preset threshold) The value can be determined based on the material properties and precision requirements of the component; for example, 15 to 30 can be selected.

[0042] (3) Determine whether a continuous bearing direction exists as a second condition. When a continuous bearing surface is formed within a local neighborhood, satisfying the first condition, further determine whether at least two intersecting continuous bearing directions exist within the local neighborhood. The continuous bearing direction refers to a direction that extends continuously along the curved surface without breaks or abrupt changes within the local neighborhood. Specifically, the continuity of the curved surface can be analyzed along multiple directions. When at least two intersecting directions are continuous along the curved surfaces of these directions, the candidate electric cylinder corresponding to the first intersection point is determined to be an effective supporting electric cylinder. Otherwise, the candidate electric cylinder corresponding to the first intersection point is determined to be an ineffective supporting electric cylinder.

[0043] The candidate electric cylinder corresponding to the first intersection point is determined to be an effective support electric cylinder only when the first and second conditions mentioned above are met simultaneously.

[0044] The significance of selecting a continuous bearing direction for judgment is that a support point with a single continuous bearing direction has insufficient bearing capacity in the direction perpendicular to that direction; while a support point with at least two intersecting continuous bearing directions can form a bidirectional bearing capacity within the local curved surface, ensuring that the supporting force can be effectively transmitted and diffused in at least two directions on the bottom curved surface of the component.

[0045] All effective support electric cylinders are grouped together to form an effective support set. The electric cylinders in the effective support set are considered as participating support electric cylinders.

[0046] S3, determine the target support height for each participating electric cylinder based on the effective support set; In this embodiment, determining the target support height for each participating electric cylinder based on the effective support set specifically includes the following steps: S31, Based on the effective support set, determine the participating electric cylinders for this component leveling and obtain the first intersection point corresponding to each participating electric cylinder. Since the component model has been translated and rotated to align according to the component's design posture requirements when establishing the unified positioning relationship, making the component model's posture in the unified reference coordinate system consistent with the actual construction target posture, the vertical coordinate value of each first intersection point is the theoretical contact elevation of the corresponding support position when the component is in the target posture.

[0047] Specifically: extract the vertical coordinates of the first intersection point of each participating electric cylinder in the effective support set in a unified reference coordinate system, and use them as the theoretical contact elevation of each participating electric cylinder.

[0048] S32, based on the acquired spatial data of the electric cylinder array, read the elevation of the bottom base of each supporting electric cylinder in a unified reference coordinate system, and use it as the bottom base elevation of each corresponding electric cylinder. Due to the possible height differences in the terrain or the foundation of the jig at the construction site, the bottom base elevations of each electric cylinder may not be completely consistent, and it is necessary to read them one by one.

[0049] S33, subtract the bottom base elevation of each participating electric cylinder from the theoretical contact elevation of that electric cylinder to calculate the target support height of each participating electric cylinder.

[0050] It should be noted that, in some embodiments, when a fixed mounting accessory is provided on the top of the electric cylinder, the calculation result can be corrected according to the fixed height of the fixed mounting accessory in order to obtain the target support height corresponding to the electric cylinder.

[0051] S4. Based on the support height and the target posture of the component, the target adjustment amount of each electric cylinder involved in the support is determined in a coordinated manner within the allowable stroke limit of the electric cylinder. like Figure 4As shown, when the initial adjustment of the electric cylinder exceeds the allowable stroke during the verification, a dynamic reconfiguration process is triggered: (a) Initial effective support set → (b) Stroke verification → (c) Cancel the electric cylinder with unsupported bearings → (d) Re-establish support relationships → (e) Reallocate support requirements → (f) Generate a new effective support set and proceed to the next round of leveling. Specifically, this includes the following steps: In this embodiment, the step of coordinating and determining the target adjustment amount of each participating electric cylinder based on the support height and the target posture of the component, within the allowable stroke limit of the electric cylinder, specifically includes the following steps: S41, determine the initial adjustment amount of each participating electric cylinder based on the target support height corresponding to each participating electric cylinder and the current support height of each participating electric cylinder.

[0052] Specifically, the initial adjustment amount is calculated as follows: subtract the current support height of each participating electric cylinder from the target support height to obtain the theoretical displacement required by the electric cylinder to make the component reach the target posture, which is the initial adjustment amount.

[0053] When the initial adjustment is positive, it means that the electric cylinder needs to be extended; when the initial adjustment is negative, it means that the electric cylinder needs to be shortened.

[0054] S42, determine the support priority of each participating electric cylinder based on the degree of influence of the corresponding support position of each participating electric cylinder on the target attitude of the component.

[0055] The degree of influence is used to characterize the relative magnitude of the effect of each support position on maintaining the target attitude of the component. The degree of influence of a support position on the target attitude of the component can be determined based on the spatial relationship between the support position and the geometric center of the component, the sensitivity of the support position to changes in the component's attitude, or the position of the support position within the bottom support system of the component. A greater degree of influence indicates that the support position is more important for maintaining the target attitude of the component, and the corresponding support priority is higher; a smaller degree of influence indicates that the support position is less important for maintaining the target attitude of the component, and the corresponding support priority is lower.

[0056] For example, in one embodiment, the degree of influence can be determined based on the horizontal distance between the corresponding support position of each participating electric cylinder and the center of gravity of the component. Specifically, let the center of gravity of the component be... The projection point on the horizontal plane is The planar coordinates of each support position are: The horizontal distance between the support location and the center of gravity of the component. for: (3) In equation (3), The coordinates of the projection point of the centroid of the component are given.

[0057] Calculate the horizontal distance between each support location and the center of gravity of the component. The smaller the value, the closer the support is to the component's center of gravity, the greater its impact on maintaining the component's attitude, and the higher the support priority; distance The larger the value, the farther the support is from the component's center of gravity, the less impact it has on maintaining the component's attitude, and the lower the support priority.

[0058] In another embodiment, the degree of influence can be determined based on the position of each participating electric cylinder's corresponding support location within the support polygon at the bottom of the component. Specifically, all the support locations of the participating electric cylinders are connected on a horizontal plane to form a support polygon. The area coordinates or centroid coordinates of each support location within the support polygon are calculated. The closer a support location is to the geometric center of the support polygon (i.e., closer to the average position of all support locations), the greater its influence on maintaining the component's attitude, and the higher its support priority. Conversely, the closer a support location is to the edge of the support polygon (i.e., farther from the average position), the smaller its influence on maintaining the component's attitude, and the lower its support priority.

[0059] For example, the geometric center of the support polygon at each support location The planar coordinates are the arithmetic mean of the planar coordinates of each support position: (4) Then calculate the distance from each support location to the geometric center. distance : (5) distance The smaller the value, the closer the support is to the center of the supporting polygon, the greater its influence, and the higher its priority; distance The larger the value, the closer the support is to the edge of the support polygon, the smaller its influence, and the lower its priority.

[0060] S43, according to the support priority from high to low, the initial adjustment amount of each supporting electric cylinder is checked in turn to determine whether the initial adjustment amount of each supporting electric cylinder meets the allowable stroke of the corresponding electric cylinder.

[0061] The allowable stroke refers to the maximum range of extension and retraction that each electric cylinder is allowed to extend in terms of its physical structure, that is, the range between the minimum allowable extension and the maximum allowable extension of the electric cylinder.

[0062] If the initial adjustment of a supporting electric cylinder is within its allowable stroke range (e.g., 300mm within the 0-500mm range), the check is considered passed, and the initial adjustment is retained. If the initial adjustment of a supporting electric cylinder exceeds its allowable stroke range (e.g., 600mm exceeding the 0-500mm range), the check is considered failed, and the subsequent dynamic reconfiguration step is triggered.

[0063] S44, determine whether, after verification by S43, all initial adjustment amounts of the supporting electric cylinders meet the allowable stroke of the corresponding electric cylinders.

[0064] If all conditions are met, the initial adjustment amount of each participating electric cylinder is determined as the target adjustment amount, and the process proceeds to S5 to perform coordinated adjustment. If there are any participating electric cylinders that do not meet the requirements, then S45 is executed.

[0065] S45, when the initial adjustment amount of a participating electric cylinder exceeds the allowable stroke of the corresponding electric cylinder, according to the support priority determined in S42, the electric cylinder with the least impact on the target attitude of the component is selected from the currently participating electric cylinders as the electric cylinder to be released from support. The purpose of selecting the electric cylinder with the least impact on the target attitude of the component as the release target is: when it is necessary to cancel the support of some electric cylinders to solve the problem of stroke exceeding the limit, priority is given to canceling the electric cylinder with the least impact on maintaining the overall attitude of the component, thereby minimizing the disturbance to the target attitude of the component.

[0066] Cancel the participation of the electric cylinder in the support state and update the effective support set.

[0067] S5 controls the coordinated adjustment of each participating electric cylinder according to the target adjustment amount, and dynamically updates the effective support set according to the changes in the support state during the adjustment process until the component reaches the target posture.

[0068] In this embodiment, the step of controlling the coordinated adjustment of each participating electric cylinder according to the target adjustment amount, and dynamically updating the effective support set according to the changes in the support state during the adjustment process until the component reaches the target posture, specifically includes the following steps: S51, based on the target adjustment amount determined in S4, divide each participating electric cylinder into multiple adjustment groups.

[0069] Specifically, the electric cylinders involved in the support are sorted according to the magnitude of their target adjustment amounts, and those with similar target adjustment amounts are grouped into the same adjustment group. The electric cylinders within the same adjustment group have similar stroke requirements and can operate synchronously during the same adjustment phase.

[0070] The adjustment sequence between groups is executed sequentially according to the magnitude of the target adjustment amount. The group with the smaller adjustment amount can be adjusted first, or the group with the larger adjustment amount can be adjusted first. The specific sequence can be determined according to the component's posture change characteristics and construction requirements.

[0071] S52 controls the adjustment groups divided according to S51 to perform synchronous adjustments in sequence. Within the same adjustment group, each participating electric cylinder operates simultaneously according to its corresponding target adjustment amount, achieving synchronous lifting and lowering of each support point within the group.

[0072] Specifically, when an adjustment group is performing an adjustment, each electric cylinder within that group extends and retracts synchronously according to its respective target adjustment amount, causing the component's posture to gradually approach the target posture. Different adjustment groups are executed sequentially, with the next group's adjustment only beginning after each group has completed its adjustment.

[0073] By adjusting in groups, drastic changes in component posture caused by simultaneous large-amplitude movements of all electric cylinders are avoided, thus improving the safety and stability of the leveling process.

[0074] S53: After each adjustment group is completed, the current actual attitude of the component is reacquired.

[0075] Specifically, the current attitude data of the component can be obtained through attitude sensors (such as inclinometers, inertial measurement units, etc.) installed on the component or through measuring equipment (such as total stations, laser trackers, etc.) installed at the construction site. The attitude data includes information such as the component's spatial position, levelness, and tilt angle.

[0076] The current actual attitude is compared with the target attitude to determine whether the component has reached the target attitude. If the target attitude has been reached, the leveling process ends; otherwise, the subsequent steps are executed.

[0077] S54, based on the reacquired component posture, determine whether the effective support set has changed.

[0078] Specifically, when the orientation of the component changes, the contact state between the electric cylinder that originally participated in the support and the bottom of the component may change as follows: Some electric cylinders may lose contact with the bottom of the component due to the lifting of the component, and such electric cylinders are no longer suitable to continue to participate in the support; some electric cylinders that were not originally involved in the support may make new contact with the bottom of the component due to changes in the orientation of the component, and such electric cylinders may be suitable to be added to the support system.

[0079] Therefore, it is necessary to reassess which electric cylinders should participate in the support and which should not, based on the actual contact state between each electric cylinder and the bottom of the component under the current component posture.

[0080] The judgment method can adopt the method described in S2, that is, to re-determine based on the first intersection point between each electric cylinder and the bottom of the component under the current component posture and the local load continuity. If the set of electric cylinders participating in the support is consistent with the current effective support set, it is determined that the effective support set has not changed, and the next adjustment group is executed; if they are inconsistent, it is determined that the effective support set has changed.

[0081] When the effective support set is determined to have changed, the electric cylinders participating in the support and the corresponding target support height are re-determined based on the changed effective support set, the target adjustment amount is re-coordinated and determined, and the adjustment continues until the component reaches the target posture.

[0082] Specifically, when the effective support set changes, return to S3 to redetermine the target support height corresponding to each participating electric cylinder, and then execute the relevant steps of S4 and S5 in sequence, that is, recalculate the target adjustment amount and continue to perform adjustment until the component reaches the target posture.

[0083] Example 2: A bridge steel structure component assembly and leveling system based on a multi-electric cylinder array, comprising: The data acquisition module is used to acquire spatial data of the component model and the electric cylinder array; The effective support set construction module is used to establish a unified positioning relationship and construct an effective support set; The target support height determination module is used to determine the target support height corresponding to the electric cylinder involved in supporting the cylinder. The coordination and determination module is used to coordinate and determine the target adjustment amount of each participating electric cylinder based on the target support height and the target posture of the component. The collaborative control module is used to control the coordinated adjustment of each participating electric cylinder and dynamically update the effective support set.

[0084] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0085] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0086] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0087] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0088] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0089] In conclusion, 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, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for assembling and leveling bridge steel structure components based on a multi-electric cylinder array, characterized in that, Includes the following steps: Acquire component model and electric cylinder array spatial data to determine the bottom outline of the component and the position of the electric cylinder; Establish a unified positioning relationship based on the bottom contour and the position of the electric cylinder; Construct a set of effective supports corresponding to the components based on a unified positioning relationship; The target support height for each participating electric cylinder is determined based on the effective support set. Based on the support height and the target posture of the component, the target adjustment amount of each electric cylinder involved in the support is determined in a coordinated manner within the allowable stroke limit of the electric cylinder. The control system adjusts each participating electric cylinder in a coordinated manner according to the target adjustment amount, and dynamically updates the effective support set based on changes in the support status during the adjustment process until the component reaches the target posture.

2. The method according to claim 1, characterized in that, The effective support set corresponding to the component constructed based on the unified positioning relationship includes: Determine the projection area of ​​the bottom contour of the component onto the plane where the electric cylinder array is located, and identify the electric cylinders located within the projection area as candidate electric cylinders. Select a reference electric cylinder from the candidate electric cylinders, and use the reference electric cylinder as a unified reference to establish a point-by-point spatial mapping relationship between each candidate electric cylinder and the bottom contour of the component. The first intersection point between each candidate electric cylinder and the bottom of the component is determined based on the point-to-point spatial mapping relationship. Effective supporting electric cylinders are selected based on the local load continuity of the area corresponding to the first intersection point, and the effective supporting electric cylinders constitute an effective support set.

3. The method according to claim 2, characterized in that, The method of selecting effective support electric cylinders based on the local load-bearing continuity of the region corresponding to the first intersection point includes: Obtain the local neighborhood range of each first intersection point on the bottom surface of the component; Determine whether a continuous bearing surface is formed within the local neighborhood as the first condition; When the first condition is met, it is further determined whether there are at least two intersecting continuous bearing directions within the local neighborhood, which serves as the second condition. When both the first and second conditions are met, the candidate electric cylinder corresponding to the first intersection point is determined to be an effective support electric cylinder.

4. The method according to claim 3, characterized in that, The coordination determines the target adjustment amount for each participating electric cylinder, including: The initial adjustment amount is determined based on the target support height and the current support height of each participating electric cylinder; The support priority is determined based on the degree of influence of the corresponding support position of each participating electric cylinder on the target attitude of the component. The adjustment amounts of each electric cylinder involved in the support are checked in sequence according to the support priority, so that all adjustment amounts meet the allowable stroke of the corresponding electric cylinder. The adjusted amount after verification is determined as the target adjustment amount.

5. The method according to claim 4, characterized in that, When the target adjustment amount of the participating electric cylinder exceeds the allowable stroke, the participating electric cylinder with the least impact on the target attitude of the component is selected as the release electric cylinder according to the support priority. Cancel the participation of the electric cylinder in the support process and update the effective support set.

6. The method according to claim 5, characterized in that, The component support requirements are reallocated based on the updated set of valid supports; Re-establish the support relationship between the remaining supporting electric cylinders and the bottom of the components; Based on the redistributed support requirements, the target support height corresponding to the remaining electric cylinders participating in the support is re-determined to keep the components in the target posture. The remaining target adjustment amounts for supporting electric cylinders were re-coordinated and determined.

7. The method according to claim 6, characterized in that, The control of the coordinated adjustment of each participating electric cylinder includes: The electric cylinders supporting the system are divided into multiple adjustment groups according to the target adjustment amount. Adjust the components synchronously in sequence according to the adjustment groups, and reacquire the component attitude after completing each adjustment group.

8. The method according to claim 7, characterized in that, After reacquiring the component's attitude, the process includes: Determine whether the effective support set has changed; When the effective support set changes, the participating electric cylinders are re-determined based on the updated effective support set, the target support height is recalculated, the target adjustment amount is re-coordinated and determined, and the participating electric cylinders are controlled to continue to adjust in coordination until the component reaches the target posture.

9. A bridge steel structure component assembly and leveling system based on a multi-electric cylinder array, characterized in that, include: The data acquisition module is used to acquire spatial data of the component model and the electric cylinder array; The effective support set construction module is used to establish a unified positioning relationship and construct an effective support set; The target support height determination module is used to determine the target support height corresponding to the electric cylinder involved in supporting the cylinder. The coordination and determination module is used to coordinate and determine the target adjustment amount of each participating electric cylinder based on the target support height and the target posture of the component. The collaborative control module is used to control the coordinated adjustment of each participating electric cylinder and dynamically update the effective support set.

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