Intelligent analysis system and method for construction load of aerial corridor hanging basket

Abstract

The application relates to an intelligent analysis system and method for aerial corridor hanging basket construction load, and relates to the technical field of building construction safety monitoring. The original multi-source sensing data stream output by a hanging basket bottom plate pressure resistance sensing array and an inertial measurement unit is subjected to analog-digital conversion and extended Kalman filtering noise reduction processing to obtain a hanging basket bottom plate discrete stress characteristic matrix and a hanging basket space attitude Euler angle sequence. A direction cosine rotation matrix is constructed based on the attitude Euler angle to perform non-inertial system gravity projection decoupling on each node force vector to eliminate the pseudo-gravity error introduced by wind-induced swinging. Then, the decoupled pressure matrix is subjected to transient three-dimensional centroid inversion through discrete static moment integration, and the centroid offset is mapped into a corridor node eccentric torsional moment through space outer product operation. Finally, ratio determination is performed on the construction period required torsional buckling threshold to realize real-time early warning of the local instability risk of the structure.

Description

Technical Field

[0001] This application relates to the field of building construction safety monitoring technology, specifically to an intelligent analysis system and method for construction load of suspended scaffolding in aerial corridors. Background Technology

[0002] With the intensive development of urban complexes and super high-rise building clusters, sky bridges have become widely used as a key structural form for connecting pedestrian traffic between adjacent towers. Their main structure typically employs a large-span steel truss system, requiring suspended scaffolds as high-altitude work platforms for node welding and bolt tightening during construction. During scaffold operations, the frequent movement of workers inside the scaffold, the random placement of welding equipment, and the continuous consumption of materials result in a highly unsteady load distribution within the scaffold. The system's center of mass continuously shifts three-dimensionally relative to the suspension geometric center, generating additional eccentric torsional moments at the suspension nodes of the sky bridge's steel truss. However, existing construction mechanics analysis methods generally simplify the scaffold load as a symmetrical static concentrated force acting on the suspension point, failing to capture the dynamic evolution of the internal load spatial distribution. This leads to a severe underestimation of the actual asymmetric torsional effect experienced by the sky bridge nodes, resulting in potential safety hazards such as localized buckling instability during construction.

[0003] To address the issue of accurately sensing the dynamic shift of the center of mass, existing technical solutions suffer from two bottlenecks: First, relying solely on the scalar total weight information obtained from the suspension end tension sensor presents a mathematical degradation problem, failing to reverse-engineer the continuous mass spatial distribution field inside the basket. Second, the suspended platform inevitably sways and tilts under wind loads, causing the horizontal pseudo-gravity component introduced by the attitude tilt angle to be superimposed in the normal measurement value of the base plate. Direct static integration will lead to a systematic dynamic drift error in the center of mass coordinates. Therefore, there is an urgent need for an intelligent analysis method that can acquire the discrete load distribution inside the suspended platform in real time under harsh high-altitude construction environments and effectively decouple wind-induced attitude interference, in order to accurately reconstruct the transient three-dimensional center of mass coordinates and assess the risk of eccentric torsional instability at the connecting corridor nodes. Summary of the Invention

[0004] This application provides an intelligent analysis system and method for construction load of suspended scaffolding in aerial corridors, in order to at least solve the above-mentioned technical problems existing in the prior art.

[0005] According to a first aspect of this application, a method for intelligent analysis of construction loads of suspended scaffolding for aerial corridors is provided, comprising: S1, performing analog-to-digital conversion and extended Kalman filtering noise reduction on the acquired original multi-source sensor data stream to obtain a discrete force characteristic matrix of the scaffolding base and an Euler angle sequence of the scaffolding spatial attitude; S2, based on the Euler angle sequence of the scaffolding spatial attitude, performing non-inertial gravity projection decoupling on the force vectors of each node in the discrete force characteristic matrix of the scaffolding base to eliminate the horizontal pseudo-gravity component error introduced by wind-induced swaying and tilting, to obtain an attitude-decoupled gravity projection pressure matrix; S3, performing attitude decoupling... S4. The transient three-dimensional centroid inversion of the gravity projection pressure matrix is ​​performed to obtain the transient three-dimensional centroid coordinates of the suspended platform; S5. Based on the suspension topology geometric parameters, the eccentricity vector of the transient three-dimensional centroid coordinates of the suspended platform relative to the geometric symmetry center of the suspended platform and the equivalent total gravity vector of the system are transformed into the additional eccentric moment under the geometric topology mapping of the connecting corridor to obtain the eccentric torsional moment vector of the connecting corridor node; S6. The ratio of the magnitude of the eccentric torsional moment vector of the connecting corridor node to the preset torsional buckling threshold for the construction period of the connecting corridor steel truss is determined, and when the ratio exceeds the safety red line threshold, a local instability risk warning instruction is generated.

[0006] According to a second aspect of this application, an intelligent analysis system for construction load of suspended scaffolding in an aerial corridor is provided, comprising: a data preprocessing module for performing analog-to-digital conversion and extended Kalman filtering noise reduction on the acquired raw multi-source sensor data stream to obtain a discrete force characteristic matrix of the scaffolding base and an Euler angle sequence of the scaffolding spatial attitude; an attitude decoupling module for performing non-inertial frame gravity projection decoupling on the force vectors of each node in the discrete force characteristic matrix of the scaffolding base based on the Euler angle sequence of the scaffolding spatial attitude to eliminate the horizontal pseudo-gravity component error introduced by wind-induced swaying and tilting, thereby obtaining an attitude decoupling gravity projection pressure matrix; and a centroid inversion module for performing attitude... The transient three-dimensional centroid inversion of the decoupled gravity projection pressure matrix is ​​used to obtain the transient three-dimensional centroid coordinates of the suspended platform. The moment mapping module is used to convert the eccentricity vector of the transient three-dimensional centroid coordinates of the suspended platform relative to the geometric symmetry center of the suspended platform and the equivalent total gravity vector of the system under the geometric topology mapping of the connecting corridor to obtain the eccentric torsional moment vector of the connecting corridor node. The instability early warning module is used to determine the ratio of the magnitude of the eccentric torsional moment vector of the connecting corridor node to the preset torsional buckling threshold for the construction period of the connecting corridor steel truss. When the ratio exceeds the safety red line threshold, a local instability risk early warning command is generated.

[0007] Compared with existing technologies, the intelligent load analysis system and method for construction of suspended scaffolding in the aerial corridor provided in this application have the following technical effects: 1. By replacing the traditional single-point weighing at the suspension end with full-coverage discrete sampling of the base plate piezoresistive sensor array, the load perception dimension is improved from scalar total weight to a two-dimensional force field distribution with spatial topological properties, fundamentally eliminating the degradation problem of unobservable internal load distribution information. 2. By performing inverse decoupling and restoration of the normal force of each node through the direction cosine rotation matrix driven by attitude Euler angles, the horizontal pseudo-gravity coupling error introduced by wind-induced swaying in the non-inertial reference frame is effectively isolated, resulting in a significant improvement in the accuracy of centroid calculation compared to the uncompensated scheme in dynamic working conditions with continuous wind below level 5. 3. By directly mapping the three-dimensional centroid offset to the torsional moment at the corridor node level through spatial outer product operation and performing real-time buckling threshold judgment, the safety assessment is advanced from the traditional offline overall verification to the online node-level dynamic early warning level, significantly shortening the response time window from the occurrence of off-center loading to risk identification. Attached Figure Description

[0008] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. Several embodiments of this application are illustrated in the drawings by way of example and not limitation, wherein: in the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0009] Figure 1 This is an overall flowchart of the intelligent analysis method for construction load of suspended scaffolding in aerial corridors according to an embodiment of this application; Figure 2 This is a data flow diagram illustrating the intelligent analysis method for construction load of suspended scaffolding in aerial corridors according to an embodiment of this application. Figure 3 A schematic flowchart of step S1 in the intelligent analysis method for construction load of aerial corridor suspended platform according to an embodiment of this application is shown. Figure 4 A schematic flowchart of step S2 in the intelligent analysis method for construction load of aerial corridor suspended platform according to an embodiment of this application is shown; Figure 5 A schematic flowchart of step S3 in the intelligent analysis method for construction load of suspended scaffolding in the aerial corridor according to an embodiment of this application is shown. Figure 6 A schematic flowchart of step S4 in the intelligent analysis method for construction load of aerial corridor suspended platform according to an embodiment of this application is shown. Figure 7 A schematic flowchart of step S5 in the intelligent analysis method for construction load of aerial corridor suspended platform according to an embodiment of this application is shown. Figure 8 This is a schematic block diagram of the intelligent analysis system for construction load of suspended scaffolding in an aerial corridor according to an embodiment of this application. Detailed Implementation

[0010] To further illustrate the technical means and effects adopted by this application in order to achieve the intended purpose, the following detailed description of the specific implementation methods, structures, features and effects of this application is provided in conjunction with the accompanying drawings and preferred embodiments.

[0011] Figure 1 This is an overall flowchart of the intelligent analysis method for construction load of suspended scaffolding in aerial corridors according to an embodiment of this application. Figure 2 This is a schematic diagram of the data flow in the intelligent load analysis method for the construction of suspended scaffolding in an aerial corridor according to an embodiment of this application. Figure 1 and Figure 2 As shown, this application provides an intelligent load analysis method for the construction of suspended scaffolding for aerial corridors, including: S1. The acquired raw multi-source sensor data stream is subjected to analog-to-digital conversion and extended Kalman filtering for noise reduction to obtain the discrete force characteristic matrix of the suspended platform base and the Euler angle sequence of the suspended platform's spatial attitude. It should be understood that during the construction of the suspended platform for the aerial corridor, the base plate bears various dynamic loads such as personnel walking, welding equipment placement, and material stacking. Simultaneously, the suspended platform itself inevitably sways and tilts under high-altitude wind loads. Without accurate perception of the actual force state at each point on the base plate and synchronous tracking of the suspended platform's spatial attitude, subsequent centroid inversion and eccentric moment calculations will lack a reliable input data foundation. Therefore, the force distribution information of the base plate with clear spatial topological properties is extracted from the raw electrical signals of the physical sensors, and high-precision spatial attitude angle information after noise reduction is simultaneously acquired.

[0012] In one embodiment of this application, the original multi-source sensing data stream includes two types of signal sources. The first type is the transient voltage signals of each node output by the armored piezoresistive sensing array of the suspended platform base plate. This array consists of multiple piezoresistive sensing units uniformly arranged in a matrix below the suspended platform base plate. Each sensing unit is encapsulated and protected by a high-temperature resistant metal protective layer and an elastic force transmission isolation layer, which can resist damage from welding slag spatter and impacts from heavy components. Each sensing unit outputs an analog voltage signal corresponding to the vertical pressure it is subjected to. The second type is the triaxial angular velocity signal and triaxial acceleration signal output by an inertial measurement unit fixed to the rigid frame of the suspended platform. This inertial measurement unit is rigidly mounted on the main beam of the suspended platform structure and can sense the rotational angular velocity and linear acceleration of the suspended platform body in three-dimensional space in real time.

[0013] In one embodiment of this application, such as Figure 3As shown, step S1 includes: S11, based on the analog-to-digital converter and the pre-calibrated piezoresistive-stress nonlinear mapping curve, performing nonlinear correction and transformation on the transient voltage signals of each node and assembling the bottom plate coordinate topology matrix to obtain the discrete force characteristic matrix of the suspended platform bottom plate; S12, based on the extended Kalman filter, performing gyro drift suppression and measurement correction fusion on the three-axis angular velocity signals and three-axis acceleration signals to obtain the Euler angle sequence of the suspended platform spatial attitude.

[0014] Specifically, the transient voltage signals at each node are first sampled and quantized by an analog-to-digital converter (ADC) to convert the analog voltage into a digital voltage value. Then, a nonlinear correction conversion is performed on the digital voltage value based on a pre-calibrated piezoresistive-stress nonlinear mapping curve. This mapping curve is obtained during the laboratory calibration phase by applying a known gradient load to each sensing unit and recording the corresponding output voltage. Its mathematical expression is as follows:

[0015] in, This represents the local normal physical force value at the sensor unit node in the i-th row and j-th column, in N; This represents the digital voltage value of the corresponding node after analog-to-digital conversion; The gain coefficient is used for calibrating the voltage to force value. The parameter is a nonlinear exponential fitting parameter used to characterize the nonlinear response caused by the compression transfer characteristics of the armored protective layer. Its typical value range is 1.05 to 1.25. To calibrate the bias constant, used to compensate for system static noise floor or zero drift, the typical value range is... to After mapping the force values ​​of each node, the force values ​​of all nodes are assembled into a topological matrix according to their two-dimensional physical coordinate positions on the bottom plate of the suspended platform, forming a discrete force characteristic matrix of the bottom plate of the suspended platform.

[0016] The gyroscope in the inertial measurement unit outputs triaxial angular velocity signals, and the accelerometer outputs triaxial acceleration signals; both contain measurement noise and bias error. The extended Kalman filter uses quaternions as system state variables and utilizes the triaxial angular velocity signals to perform time-based prediction and updates of the system state using the Runge-Kutta method. Its state differential equation is:

[0017] in, The first derivative of the system state quaternion with respect to time is represented by... The optimal estimate quaternion for the current spatial attitude is represented as follows: , This represents quaternion multiplication. This represents the angular velocity vector in pure quaternion form constructed from the triaxial angular velocity signals. After completing the state prediction, the vector direction of the triaxial acceleration signal in the gravitational field is used as a measurement reference to perform measurement correction and update on the predicted state, thereby suppressing the cumulative drift error of the gyroscope and the high-frequency noise interference caused by the welding machine vibration. After the prediction and correction iterations converge, the optimal posterior quaternion estimate is output.

[0018] Finally, the posterior quaternion is converted to Euler angles. Taking pitch angle as an example, the conversion formula is as follows:

[0019] in, Indicates pitch angle, The real part of the quaternion. These are the three components of the imaginary part of the quaternion. The roll angle is extracted from each component of the quaternion using a similar inverse trigonometric function relationship. This yields a time series containing pitch and roll angles, i.e., the Euler angle sequence of the cradle space attitude.

[0020] In one specific embodiment of this application, the dimensions of the suspended platform base plate are 31670mm × 1280mm. The piezoresistive sensor array is arranged with a longitudinal spacing of 200mm and a transverse spacing of 160mm, forming a matrix of 1264 sensor nodes in a 158×8 matrix. The analog-to-digital converter uses a 16-bit precision, 100Hz sampling rate multi-channel synchronous acquisition module. The gyroscope range of the inertial measurement unit is set to ±500° / s, the accelerometer range is set to ±4g, and the data output frequency is 200Hz. The angular velocity noise component in the process noise covariance matrix Q of the extended Kalman filter is set to... The acceleration noise component in the measurement noise covariance matrix R is set as follows: After the above processing, the update period of the discrete force characteristic matrix of the suspended platform bottom plate is 10ms, and the output period of the Euler angle sequence of the suspended platform spatial attitude is 5ms. The two data are synchronized through a timestamp alignment mechanism.

[0021] S2, based on the Euler angle sequence of the suspended platform's spatial attitude, decouples the force vectors of each node in the discrete force characteristic matrix of the suspended platform's base plate using non-inertial frame gravity projection to eliminate the horizontal pseudo-gravity component error introduced by wind-induced swaying and tilting, thus obtaining the attitude-decoupled gravity projection pressure matrix. It should be understood that during high-altitude operations of the suspended platform in the aerial corridor, the platform is suspended by steel cables from electric suspension mechanisms on both sides of the corridor, spanning across the bottom of the corridor. Since the suspended platform is installed at a height of 52.65m in an open high-altitude environment, wind loads cause it to sway and tilt. When the platform tilts, the normal direction of the base plate sensor array no longer coincides with the absolute vertical direction. At this time, the normal force measured by each sensor node is actually the projection component of the real gravity load on the normal direction of the tilted base plate, rather than the actual vertical gravity value of the load. This measurement deviation introduced by the tilt of the reference frame is the horizontal pseudo-gravity component error. If not corrected, it will cause systematic drift in subsequent centroid inversion calculations. Therefore, by utilizing the acquired spatial attitude information of the suspended platform, the measured force values ​​of each node of the base plate are reversed to perform dynamic reconstruction, and the projected force values ​​in the inclined coordinate system are corrected to the true vertical gravity components in the absolute vertical coordinate system.

[0022] In one embodiment of this application, such as Figure 4 As shown, step S2 includes: S21, constructing a three-dimensional direction cosine rotation matrix based on the pitch and roll angles in the Euler angle sequence of the suspended platform's spatial attitude; S22, based on the three-dimensional direction cosine rotation matrix, performing inverse division to decouple and restore the normal forces of each node in the discrete force characteristic matrix of the suspended platform's bottom plate to obtain the attitude decoupled gravity projection pressure matrix.

[0023] Specifically, pitch and roll angles, strictly aligned with the current pressure matrix sampling timestamp, are extracted from the Euler angle sequence of the gondola's spatial attitude. In the gravity projection decoupling scenario of this step, the yaw angle does not affect the projection of the gravity component in the vertical direction; therefore, only the pitch and roll angles are used. Based on these two angles, a three-dimensional direction cosine rotation matrix is ​​constructed from the gondola's tilted local coordinate system to the absolute vertical global coordinate system according to the Euler angle rotation theorem. Its mathematical expression is as follows:

[0024] in, The pitch angle is extracted from the Euler angle sequence of the cradle's spatial attitude, and the tilt angle of the cradle about its horizontal axis is represented by the forward and backward tilt angle. The real-time roll angle is extracted from the Euler angle sequence of the gondola's spatial attitude, representing the left and right tilt angles of the gondola about its longitudinal axis. The element in the third row and third column of this rotation matrix... Its physical meaning is the projection cosine of the local normal direction of the suspended platform bottom plate onto the global vertical direction, that is, the gravity projection attenuation coefficient.

[0025] When the suspended platform is tilted, the local normal force measured by the sensor nodes on the base plate... In reality, this is equal to the actual vertical gravity load at that node multiplied by the gravity projection attenuation coefficient. To restore the actual vertical gravity components at each node, the measured local normal force needs to be divided by this attenuation coefficient, performing inverse division decoupling. For each node with coordinates (i,j) in the discrete force characteristic matrix of the suspended platform bottom plate, the following calculation is performed:

[0026] in, This represents the true absolute vertical gravity component of the node in the i-th row and j-th column after decoupling, in N. This represents the local normal force value of the node in the i-th row and j-th column extracted from the discrete force characteristic matrix of the suspended platform floor. By performing the above division operation on each node in the matrix, the systematic attenuation of the measured values ​​caused by the inclination of the floor can be eliminated, restoring the force values ​​of each node from the inclination non-inertial reference frame to the absolute vertical reference frame. After completing the decoupling operation for all nodes, all... Reassemble and encapsulate according to the original base plate mesh topology to form an attitude-decoupled gravity projection pressure matrix.

[0027] To prevent significant swaying of the suspended platform due to wind loads during construction, ropes are typically used to secure the platform to fixed structures on the building during on-site construction, thus stabilizing the platform. After the platform is raised to the working position, it is secured to the building on both sides using ropes, with the connection points being the left and right sides of the platform's resting position. Despite these anti-sway measures, the suspended platform may still experience small-amplitude transient swaying due to sudden gusts of wind during actual construction, with the pitch and roll angles typically fluctuating within the range of ±3° to ±8°. Within this angular range, the gravity projection attenuation coefficient... The value is approximately between 0.98 and 0.99. Without decoupling correction, the measurement error of the single-node force value is approximately 1% to 2%. However, since the base plate sensor array contains thousands of nodes, this systematic deviation will be amplified during the accumulation and integration process, which will have a significant impact on the calculation of the centroid coordinates.

[0028] In one specific embodiment of this application, the discrete force characteristic matrix of the suspended platform's bottom plate has a dimension of 158×8, meaning it contains force value data for 1264 nodes. At a certain sampling moment, the pitch angle is extracted from the Euler angle sequence of the suspended platform's spatial attitude. Roll angle Then the gravitational projection attenuation coefficient is For the local normal force measured at a certain node The true vertical gravity component obtained after reverse decoupling is All 1264 nodes of the entire matrix undergo unified decoupling calculations using the same pitch and roll angle values ​​at the same time. After the calculations are completed, the output is a 158×8 attitude decoupling gravity projection pressure matrix with the same dimensions as the input matrix. The execution cycle of this decoupling calculation is consistent with the update cycle of the discrete force characteristic matrix of the suspended platform bottom plate, which is 10ms, ensuring real-time tracking and response to changes in the suspended platform's attitude.

[0029] S3. A transient 3D centroid inversion is performed on the attitude-decoupled gravity projection pressure matrix to obtain the transient 3D centroid coordinates of the suspended platform. It should be understood that during the construction of the suspended platform for the aerial corridor, the load distribution inside the platform is highly non-uniform and time-varying. The platform is 31670mm long and 1280mm wide, and contains construction personnel, welding equipment, and various materials. These loads are not uniformly distributed in space and continuously change with the construction progress. Obtaining only the two-dimensional pressure distribution field of the base plate is insufficient to fully describe the mechanical state of the system. It is necessary to further transform this pressure field information into centroid coordinates that can characterize the overall load offset, thus providing a 3D spatial anchor point for subsequent eccentric moment calculations. Therefore, a spatial integral inversion is performed on the attitude-decoupled pure pressure matrix to solve for the comprehensive 3D spatial centroid position of all loads inside the suspended platform at the current moment.

[0030] In one embodiment of this application, such as Figure 5 As shown, step S3 includes: S31, obtaining the two-dimensional transient centroid coordinates of the horizontal plane by performing two-dimensional discrete static moment integration and plane centroid inversion on the pressure values ​​of each node in the attitude decoupled gravity projection pressure matrix and the corresponding physical coordinates of the base plate; S32, performing load density height mapping on the pressure characteristics of each node in the attitude decoupled gravity projection pressure matrix, and performing three-dimensional vector assembly with the two-dimensional transient centroid coordinates of the horizontal plane to obtain the transient three-dimensional centroid coordinates of the suspended basket.

[0031] First, a two-dimensional discrete static moment integral and planar centroid inversion are performed on the pressure values ​​of each node in the attitude-decoupled gravity projection pressure matrix and the corresponding physical coordinates of the base plate to obtain the two-dimensional transient centroid coordinates on the horizontal plane. Specifically, the pressure values ​​of all discrete nodes in the attitude-decoupled gravity projection pressure matrix are first summed over the entire domain to calculate the total effective gravity load currently borne inside the suspended platform. Then, the solidified physical position coordinates of each node of the base plate piezoresistive sensor array in the geometric base plate coordinate system of the suspended platform are retrieved. The vertical pressure component after decoupling at each node is multiplied by the corresponding axial coordinate value to obtain the discrete first-order static moments of the system about the Y and X axes. Finally, the static moments in each axis are divided by the total effective gravity load to normalize and inversely determine the position of the center of gravity of the current load in the XY plane. Its mathematical expression is as follows:

[0032] in, This represents the position of the centroid in the local transverse coordinate system of the suspended platform in two-dimensional transient centroid coordinates on the horizontal plane, in meters. The unit represents the position of the centroid in the local longitudinal coordinate system of the suspended platform in the two-dimensional transient centroid coordinates of the horizontal plane, in meters; This represents the actual effective vertical pressure value at the node in the i-th row and j-th column of the attitude decoupling gravity projection pressure matrix, in N. This represents the absolute geometric position of the physical center of the sensing unit in the i-th row and j-th column of the base plate in the X-axis direction of the coordinate system, in meters. The value represents the absolute geometric position of the physical center of the sensing unit in the i-th row and j-th column of the base plate in the Y-axis direction of the coordinate system, in meters; I and J represent the total number of rows and columns of the sensor grid matrix on the base plate, respectively.

[0033] Then, the load density height is mapped to the pressure characteristics of each node in the attitude decoupled gravity projection pressure matrix, and a three-dimensional vector assembly is performed with the two-dimensional transient centroid coordinates on the horizontal plane to obtain the transient three-dimensional centroid coordinates of the suspended platform. Since the bottom plate sensing array is only distributed on a two-dimensional plane, it is impossible to directly measure the centroid height information of the load in the vertical (Z-axis) direction. Therefore, it is necessary to estimate the vertical centroid component through indirect methods. In the construction scenario of the suspended platform in the aerial corridor, the load types borne by the suspended platform bottom plate are highly complex and the configurations vary significantly. For example, a vertically placed CO2 gas shielded welding machine is a typical tall and narrow heavy object. Its bottom contact area with the bottom plate is extremely small, but its actual centroid height is far from the bottom plate surface, usually located at 0.6 to 0.8m. Conversely, a group of horizontally stacked thick steel plates or H-beam cut parts is a typical wide and flat heavy object. Its contact area with the bottom plate is extremely large, but its actual centroid is almost touching the bottom plate, only about 0.05 to 0.15m.

[0034] To address the aforementioned problem of estimating the vertical centroid height, two implementation methods are provided below. The first implementation employs a node-by-node independent mapping strategy. This strategy performs independent nonlinear feature classification on the pressure values ​​of each grid node in the attitude-decoupled gravity projection pressure matrix, and then independently maps the classification results to a Z-axis height contribution factor. Specifically, the contact pressure magnitude of each grid node on the base plate is independently determined using nonlinear features. Nodes with concentrated loads of localized high pressure represent heavy metal machinery or stockpiled materials, while nodes with uniformly distributed medium pressure represent standing workers. Using the system's embedded empirical height mapping equation for conventional loads in high-altitude operations, the pressure strength characteristics of each node are independently mapped to the effective Z-axis centroid height contribution factor corresponding to that local load. Load-weighted statistics are performed on the effective Z-axis centroid height contribution factors of all nodes to calculate the equivalent load's vertical centroid coordinates. Its mathematical expression is as follows:

[0035] in, The equivalent vertical centroid height coordinates of the load system inside the suspended platform are shown in meters. The structural foundation height constant is the surface of the suspended platform bottom plate relative to the reference zero height plane, in meters; The height constant of the centroid of the foot support foundation for lightly loaded workers is an empirical value in meters (m), typically ranging from 0.9 to 1.1 meters, corresponding to the height of the human body's center of gravity when standing. This is the logarithmic scaling gain factor for mapping load density to center height. It is dimensionless and typically ranges from 0.05 to 0.15. It is used to control the degree to which the pressure affects the height estimation. The normalized sensitivity coefficient for contact pressure has dimensions of . The typical value is between 0.001 and 0.005, ensuring that the true value of the logarithmic function is always greater than 1 and appropriately represents the pressure gradient.

[0036] However, the first embodiment has a flaw: it only focuses on the pressure scalar value of a single node, completely ignoring the crucial topological relationship of whether adjacent nodes form a continuous spatial cluster. The direct consequence is that when a tall, narrow welding machine (a high-pressure cluster formed by a few tightly clustered nodes) and a wide, flat steel plate stack (a high-pressure band formed by a large-area dispersed distribution of nodes) happen to have similar single-node pressure values, the first embodiment cannot distinguish the essential difference in their spatial footprint, thus mapping them to similar vertical center-of-gravity heights. This systematic bias leads to an underestimation of the center-of-gravity height of the tall, narrow load and an overestimation of the center-of-gravity height of the wide, flat load, ultimately resulting in a non-negligible estimation error in the Z-axis component of the three-dimensional centroid coordinate system, directly affecting the accuracy of subsequent eccentric moment calculations and the reliability of construction safety warnings.

[0037] The second embodiment addresses the shortcomings of the first embodiment by proposing a vertical centroid height estimation method based on pressure footprint spatial clustering and segmentation with adaptive geometric compactness correction. Before height mapping, this method first establishes spatial boundary awareness of each independent load entity on the base plate, and then uses the contact footprint geometry of each load entity to infer its true vertical centroid height.

[0038] In one embodiment of this application, the load density height is mapped to the pressure characteristics of each node in the attitude decoupled gravity projection pressure matrix, and a three-dimensional vector assembly is performed with the two-dimensional transient centroid coordinates on the horizontal plane to obtain the transient three-dimensional centroid coordinates of the suspended basket. This includes: performing spatial clustering and independent cluster labeling on each loaded node in the attitude decoupled gravity projection pressure matrix to obtain a pressure footprint spatial clustering label matrix; determining a geometric compactness index based on the pressure footprint spatial clustering label matrix, and using the geometric compactness index and the average pressure of the cluster as adaptive gain factors to correct the vertical centroid height of each cluster and perform load-weighted statistics to obtain a load-weighted corrected vertical centroid height; and assembling the two-dimensional transient centroid coordinates on the horizontal plane and the load-weighted corrected vertical centroid height into a three-dimensional spatial column vector to obtain the transient three-dimensional centroid coordinates of the suspended basket.

[0039] First, adaptive threshold binarization is applied to the vertical pressure value of each node in the attitude decoupling gravity projection pressure matrix to filter and separate the nodes that actually bear the effective load (i.e., loaded nodes) from the large number of unloaded blank areas on the base plate. Then, an eight-neighbor connected component labeling algorithm is performed on all loaded nodes. This involves checking the eight adjacent positions of each loaded node in the top, bottom, left, right, and four diagonal directions, grouping spatially adjacent loaded nodes into the same cluster and assigning them a unique integer number. This identifies the discrete pressure region formed by each independent object on the base plate (such as the contact projection of a welding machine, the projection of a worker's feet, or the bottom projection of a pile of materials) as an independent spatial entity. The cluster number to which each node belongs is written into a label matrix with the same dimensions as the original pressure matrix, generating a pressure footprint spatial clustering label matrix.

[0040] Then, based on the cluster numbers in the pressure footprint spatial clustering label matrix, the corresponding node subsets are extracted from the attitude decoupled gravity projection pressure matrix for each cluster, and the total number of nodes in each cluster (equivalent to the cluster contact area) and the total number of nodes on the outer contour of the boundary (equivalent to the cluster contact perimeter) are counted respectively. Based on this, the geometric compactness index of each cluster is calculated using the area-perimeter ratio formula:

[0041] in, Let be the geometric compactness index of the k-th cluster, which is dimensionless and takes values ​​in the range (0,1]. The total number of loaded nodes contained in the k-th cluster represents the equivalent contact area of ​​the cluster on the base plate. The total number of boundary nodes of the outer contour of the k-th cluster represents the equivalent perimeter of the contact projection of the cluster. When the contact footprint of a cluster approaches a compact circle or square, its compactness approaches 1. This corresponds to vertical equipment with a small base area and a tall body (such as upright gas cylinders or vertical welding machines), indicating that its center of gravity is far from the base plate. Conversely, when the contact footprint presents a narrow or large-area diffuse shape, the compactness approaches 0. This corresponds to flat materials with a large base area and a very low height (such as flat steel plates or scattered welding rods), indicating that its center of gravity is close to the base plate.

[0042] Based on the above compactness index, the vertical centroid height of each cluster is adaptively corrected and calculated:

[0043] in, The equivalent vertical centroid height of the k-th cluster after adaptive correction for geometric compactness, in meters; The empirical centroid height constant of the foot support foundation for workers at heights, in meters; This is the compactness-height coupling amplification factor, in m / N, used to control the sensitivity of compactness to height mapping, typically ranging from 0.001 to 0.003. This is an index of the geometric compactness of the cluster; This is the arithmetic mean of the vertical pressure values ​​of all loaded nodes within the cluster, expressed in N. (Introduction) The purpose is to further distinguish the differentiated contributions of lightly loaded personnel and heavy-load machinery to height correction. Even with similar compactness, heavy equipment receives a higher correction amount because its average pressure is much greater than the pressure on the soles of the human feet, thus more accurately reflecting the physical fact that the center of gravity of large vertical equipment is higher.

[0044] After completing the independent height correction for each cluster, the corrected equivalent centroid height of all clusters is statistically weighted using the proportion of the total load of each cluster to the total load of the system as the weight:

[0045] in, The vertical centroid height coordinates are adjusted for weighted correction of the global load, in meters. It is the sum of the vertical pressure values ​​of all loaded nodes in the k-th cluster, that is, the total effective load borne by the cluster, in N; The equivalent vertical centroid height of the k-th cluster after compactness correction is given; K is the total number of valid clusters identified on the base plate by the connected component labeling algorithm at the current sampling time. By using load-weighted statistics instead of a simple arithmetic average, the decisive contribution of major loads with a large bearing ratio to the overall height is reasonably amplified, avoiding excessive disturbance of the overall vertical centroid by scattered small objects.

[0046] Regardless of whether the first or second embodiment is used to obtain the vertical centroid height Subsequently, the same three-dimensional spatial column vector splicing and assembly operation is performed on all. This involves assembling the two-dimensional transient centroid coordinates in the horizontal plane. and Components, relative to the height of the vertical centroid As the Z-axis component, it is assembled by concatenating column vectors in three-dimensional space:

[0047] The final output is the transient three-dimensional centroid coordinates of the suspended basket. .

[0048] In one specific embodiment of this application, the discrete force characteristic matrix of the suspended platform's bottom plate has a dimension of 158×8, and the origin of the coordinate system is set at the geometric center of the bottom plate. At a certain sampling moment, two welders (each weighing approximately 75 kg) stand at the left end of the basket, a CO2 gas shielded welding machine (weighing approximately 60 kg) is placed in the middle of the basket, and a set of H-beam steel cut pieces (total weight approximately 120 kg) are stacked at the right end. Calculations are performed using two-dimensional static moment integration. (Offset to the right relative to the center of the base plate) (Approaching the longitudinal centerline of the base plate). Using the method of the second embodiment, after eight-neighbor connected domain labeling, four effective clusters were identified (two clusters formed by the two welders' respective feet, one cluster formed by the bottom of the welding machine, and one cluster formed by the steel plate stack). The welding machine cluster compactness... Furthermore, the average pressure is relatively high, resulting in a larger... Correction value; steel plate cluster compactness Although the average pressure is relatively high, the area is diffuse, resulting in... The correction value is relatively low. The final result was obtained through load-weighted statistics. The transient three-dimensional centroid coordinates of the suspended basket were obtained through assembly. .

[0049] S4. Based on the suspension topological geometric parameters, the eccentricity vector of the cradle's transient three-dimensional centroid coordinates relative to the cradle's geometric symmetry center and the system's equivalent total gravity vector are transformed under the geometric topological mapping of the connecting corridor to obtain the eccentric torsional moment vector of the connecting corridor nodes. It can be understood that in the construction scenario of the suspended cradle in the aerial connecting corridor, the cradle is suspended by electric suspension mechanisms on both sides of the connecting corridor via steel wire ropes. The suspension mechanisms are installed on both sides of the connecting corridor, and a long cradle is suspended across the bottom of the connecting corridor for construction. The cradle's suspension consists of two working ropes and two safety ropes. The working steel wire ropes are used to suspend the working platform. When the uneven load distribution inside the cradle causes the system's centroid to deviate from the geometric center, this eccentric load is transmitted upwards through the suspension steel wire ropes to the anchorage nodes of the connecting corridor's main truss, generating an additional eccentric torsional moment at the node. If this additional moment exceeds the allowable torsional resistance of the structure during construction, it may cause local buckling instability of the connecting corridor's steel truss. Therefore, the centroid offset information obtained in the previous steps is transformed into torsional moment values ​​that directly act on the nodes of the connecting corridor structure through spatial mechanics calculations, thereby providing mechanical input for subsequent safety threshold determination.

[0050] In one embodiment of this application, such as Figure 6 As shown, step S4 includes: S41, performing spatial vector geometric difference between the transient three-dimensional centroid coordinates of the suspended platform and the preset geometric symmetry center coordinates of the suspended platform to obtain the three-dimensional spatial eccentricity vector, and constructing the total gravity characteristic vector of the system in the vertical direction based on the total effective load of the system; S42, performing spatial extraproduct of the eccentricity vector and the total gravity characteristic vector of the system with the topological mapping of the connecting corridor node to obtain the eccentricity torsional moment vector of the connecting corridor node.

[0051] First, a spatial vector geometric difference is performed between the transient three-dimensional centroid coordinates of the suspended platform and the preset geometric symmetry center coordinates to obtain the three-dimensional spatial eccentricity vector. Then, based on the total effective load of the system, a total gravity characteristic vector of the system is constructed in the vertical direction. Specifically, the transient three-dimensional centroid coordinates of the suspended platform output from the previous steps are first extracted. This vector accurately describes the actual mass convergence point of the current non-uniform construction load. Then, the preset three-dimensional geometrically symmetric centroid coordinates of the suspended platform are retrieved from the system configuration library. This coordinate represents the ideal center of gravity position under the condition that the suspended platform is unloaded and the load is assumed to be completely uniformly distributed; it is a fixed structural constant. Using spatial vector subtraction, the ideal three-dimensional geometrically symmetric center of gravity coordinates are subtracted from the transient three-dimensional spatial center of gravity coordinates to calculate the lever arm offset caused by the non-uniform load distribution, i.e., the three-dimensional spatial eccentricity vector.

[0052] in, It is a three-dimensional spatial eccentricity vector, in the form of a column vector. The unit is meters (m). The coordinates of the centroid of the suspended platform in transient three-dimensional space; The coordinates of the centroid of the three-dimensional geometric symmetry of the suspended platform are given.

[0053] Simultaneously, based on the total effective load of the system calculated in the two-dimensional discrete static moment integration process in the previous step (i.e., the global summation of the pressure values ​​of all nodes in the attitude decoupling gravity projection pressure matrix), a total gravity characteristic vector of the system along the negative Z-axis is constructed in the absolute vertical coordinate system:

[0054] in, This is the characteristic vector of the total gravity of the system, in N; The absolute value of the total effective gravity scalar obtained by adding all loads inside and outside the current suspended platform system is given by the sum of all loads inside and outside the system. Its vector direction always points to the Earth's center, i.e., the negative direction of the Z-axis.

[0055] Then, the spatial cross product of the eccentricity vector and the system's total gravity characteristic vector is performed with the corridor node topological mapping to obtain the corridor node's eccentric torsional moment vector. In mechanical principles, when the line of action of a force does not pass through a reference point, the force generates a moment relative to the reference point, the magnitude of which is equal to the cross product of the force and the lever arm. In this scenario, the system's total gravity acts through the center of mass, while the suspension reference point is the geometric center of symmetry. The deviation between the two is the eccentricity vector. Therefore, the additional moment generated by the system's total gravity relative to the geometric center of symmetry can be obtained through the vector cross product operation. The eccentricity vector and the gravity vector are then subjected to a three-dimensional spatial cross product operation:

[0056] in, The vector of localized additional rotational torque caused by non-uniform eccentric loading at the geometric center of the suspended platform body is expressed in N·m. The outer product operator represents a three-dimensional vector; These represent the components of the three-dimensional spatial eccentricity vector on the X, Y, and Z axes, respectively. These represent the components of the system's total gravitational characteristic vector along the X, Y, and Z axes, respectively. Since the system's total gravitational characteristic vector only has a Z-axis component in the absolute coordinate system... The above outer product can be simplified to .

[0057] The above calculations yielded This describes the moment in the coordinate system of the suspended platform. To obtain the actual torsional effect of this moment transmitted to the anchorage node of the main truss of the overhead connecting corridor, topological mapping of the connecting corridor node is required. The connecting corridor has a span of 31.67 meters and a width of 27.56 meters. The suspended platform is suspended from the bottom of the connecting corridor along its length by suspension mechanisms at both ends. The length of the suspended platform is 31670 mm, which matches the longitudinal span of the connecting corridor. The spacing between the suspension mechanisms at both ends is equal to the length of the suspended platform (allowing a deviation of ±5 cm). Light steel rails are installed under the suspended platform supports, and the rails are placed on a concrete ring beam. The suspension mechanism moves on the rails via a traveling trolley. There is a defined geometric transfer relationship between the four corner suspension wire rope attachment points of the suspended platform and the anchorage node of the main truss of the connecting corridor. This relationship is determined by the spatial angle of the suspension wire ropes, the outward extension length of the boom, and the distribution width of the connecting corridor nodes. The suspension topology transfer coefficient matrix representing the above geometric transfer relationship is retrieved from the system configuration library. Perform a linear matrix multiplication operation between the local additional rotational torque of the suspended platform body and this matrix:

[0058] in, This is the final output eccentric torsional moment characteristic vector of the connecting corridor node, in N·m; Here is the suspended topology transfer coefficient matrix, with dimension 1. This matrix, determined by the distribution width of the main truss nodes of the aerial corridor, the spatial angle of the suspended steel wire ropes, and the mechanical transmission mechanism of the boom, is used to distribute and map the torque of the lower suspended platform to the upper rigid mounting nodes. The values ​​of each element in this matrix are determined by the actual geometric dimensions and suspension configuration of the corridor, and are obtained and stored in the system during the initialization phase through on-site measurement and finite element calibration.

[0059] In one specific embodiment of this application, the coordinates of the geometric symmetry center of the suspended basket are... (With the center of the base plate as the origin, the Z-axis distance of 0.35m corresponds to the unloaded center of gravity height). At a certain sampling moment, the transient three-dimensional spatial coordinates of the suspended platform's center of mass. Then the eccentricity vector in three-dimensional space The current total system payload is (Including the weight of the basket itself and the total weight of personnel, equipment and materials inside the basket, approximately 357 kg), then the total gravity characteristic vector of the system is... The local additional rotational torque vector of the suspended platform body is obtained through spatial outer product calculation. After mapping using the suspension topology transfer coefficient matrix, the eccentric torsional moment characteristic vector of the connecting corridor node is obtained. Its mold length This refers to the magnitude of the combined eccentric torsional moment acting at the nodes of the main truss of the connecting corridor.

[0060] S5 compares the magnitude of the eccentric torsional moment vector at the connecting corridor node with the preset torsional buckling threshold for the construction period of the connecting corridor steel truss. When the ratio exceeds the safety red line threshold, a local instability risk warning is generated. It should be understood that during the construction of the aerial connecting corridor suspended platform, the preceding steps have completed the entire calculation chain from base plate pressure acquisition, attitude decoupling, centroid inversion to eccentric moment mapping, obtaining the eccentric torsional moment acting at the nodes of the main truss of the connecting corridor. However, the moment value itself cannot directly characterize the structural safety state; it must be compared with the structure's bearing capacity to determine whether the current eccentric loading condition has approached or exceeded the structural safety boundary. During construction, the horizontal connecting members of the connecting corridor steel truss have not yet been fully installed and welded, and the overall torsional stiffness of the structure is in a weak stage of incomplete development, making it far more sensitive to eccentric torsional loads than during the service stage. The construction plan clearly stipulates risk classification standards, with Level 1 major risks being situations that directly threaten personal safety and require immediate rectification; Level 2 significant risks being situations that require rectification within a specified timeframe while ensuring safety and controllability; and Level 3 general risks being situations that require continuous monitoring to avoid the accumulation of risks. Therefore, a quantitative comparison mechanism between measured torque values ​​and allowable structural thresholds is established to achieve online quantitative assessment and graded early warning of local structural instability risks.

[0061] In one embodiment of this application, such as Figure 7 As shown, step S5 includes: S51, performing modulus mapping and instability risk probability index evaluation on the eccentric torsional moment vector of the connecting corridor node to obtain the structural local instability risk probability index; S52, performing Boolean judgment on the structural local instability risk probability index and the preset safety red line threshold to determine the over-limit state, wherein when the over-limit is determined, a local instability risk warning instruction is encapsulated and generated.

[0062] First, modulus mapping and instability risk probability index assessment are performed on the eccentric torsional moment vector of the connecting corridor nodes to obtain the structural local instability risk probability index. Specifically, the eccentric torsional moment feature vector of the connecting corridor nodes output from the previous steps is extracted first. Calculate the L2 norm (or L2 norm) of the three-dimensional vector to obtain the magnitude of the combined eccentric torsional moment acting at the node:

[0063] in, The modulus of the characteristic vector of the eccentric torsional moment at the connecting corridor node is expressed in N·m. These represent the components of the eccentric torsional moment characteristic vector of the connecting corridor node on the X-axis, Y-axis, and Z-axis, respectively.

[0064] Subsequently, the equivalent section torsional modulus of the aerial walkway steel truss node corresponding to the current construction progress was retrieved from the systems engineering database. Dividing the total eccentric torsional moment by the torsional modulus, the actual structural torsional shear stress induced by the eccentric loading of the suspended platform is calculated:

[0065] in, The actual structural torsional shear stress at the hanging node of the steel truss of the connecting corridor caused by the eccentricity of the suspended basket load is expressed in MPa. The equivalent section torsional modulus of the steel structure hanging point of the connecting corridor is given in mm. 3 This parameter is a geometrical physical constant reflecting the torsional resistance of the component section, and is determined by the cross-sectional form and size of the steel truss node.

[0066] Then, the allowable torsional buckling threshold of the aerial corridor steel truss during the construction transition period was retrieved from the finite element pre-analysis. This threshold takes into account the adverse effect of reduced torsional stiffness of the structure when horizontal connecting members are not yet fully in place during construction. The calculated ratio of the actual torsional shear stress to this allowable torsional buckling threshold is used, and a nonlinear penalty shape function exponent is introduced to generate a standardized probability index representing the current degree of structural instability.

[0067] in, This is a probability index for the risk of local structural instability, with its value range normalized to a percentage form. The allowable torsional buckling threshold, or safety critical shear stress, for the steel truss of the aerial corridor under the current construction conditions is expressed in MPa. This is a nonlinear penalty shape function exponent, a dimensionless constant, typically ranging from 1.5 to 2.5. It is used to exponentially amplify the risk index when the stress approaches the critical value, thereby inducing a sensitive response in the safety system earlier. When When the value is 1, it degenerates into a linear ratio relationship; when... When the value is greater than 1, the risk index grows at a significantly faster rate in the range where the stress ratio is close to 1, thus enabling early warning of critical states.

[0068] Then, a Boolean judgment is performed on the probability index of local structural instability risk and the preset safety threshold to determine if the risk exceeds the limit. When the risk exceeds the limit, a local instability risk warning instruction is generated. Specifically, a step function is used as a logical discriminant operator to compare and evaluate the probability index of local structural instability risk with the system's preset safety threshold.

[0069] in, This is a Boolean state trigger flag for system alarms and interventions, with a value of 0 indicating safety or a value of 1 indicating danger triggering. It is a step function used to directly map continuous physical differences into two-state control logic; The preset safety threshold represents the maximum permissible risk boundary point.

[0070] when When an over-limit condition is detected as causing a risk of local instability, the system triggers an interrupt. The current risk index value, the over-limit node number, and the control shutdown flag are encoded and concatenated into a data packet according to the industrial control communication protocol, and a local instability risk warning command is generated. This warning command is sent to the on-site audible and visual alarms for immediate alert, and simultaneously to the programmable logic controller (PLC) of the suspended platform's lifting motor to restrict the platform's continued operation or prevent personnel from gathering further towards the off-center load direction. The construction plan stipulates that daily safety inspections and periodic checks will be strengthened during operation. Any hazards discovered will result in immediate work stoppage and rectification according to the "three-fixed" principle (fixed personnel, fixed time, fixed measures). The warning command generated in this step corresponds to the automated implementation of "immediately stopping work upon discovering a hazard" in the aforementioned management process.

[0071] In one specific embodiment of this application, the equivalent section torsional modulus of the connecting corridor steel truss mounting node is... Permissible torsional buckling threshold during construction period Nonlinear penalty shape function exponent Safety red line threshold At a certain sampling moment, the magnitude of the eigenvector of the eccentric torsional moment at the connecting corridor node is... The actual structural torsional shear stress The stress ratio is 34 / 85 = 0.4, and the probability index of local structural instability is... It is far below the safety red line threshold of 85%, Boolean flag bit The system is in a safe state and does not generate any warning commands. However, in another extreme scenario, if multiple construction workers carrying heavy equipment are concentrated at one end of the suspended platform, the moment modulus increases to... ,but The stress ratio is Exceeding the safety threshold by 85%, Boolean flag bit The system immediately encapsulates and generates a warning command for local instability risk and issues it for execution.

[0072] In summary, the intelligent load analysis system for the construction of the suspended scaffolding in the aerial corridor, based on the embodiments of this application, is explained. Starting from the spatial distribution field of the load on the bottom plate of the scaffolding, it directly acquires the discrete force data of each node by deploying a high-density piezoresistive sensor array on the bottom plate, and synchronously couples an inertial measurement unit to capture the spatial attitude change of the scaffolding under wind load in real time. Then, it uses extended Kalman filtering to achieve noise reduction and fusion of multi-source signals. On this basis, it constructs a gravity projection decoupling mechanism in a non-inertial frame to remove the pseudo-gravity component interference introduced by attitude tilt, thereby obtaining a pure vertical load distribution field. Furthermore, it achieves accurate inversion of the transient three-dimensional centroid coordinates by mapping discrete static moment integral with load density height. Finally, it uses spatial outer product operation to translate the centroid offset into the eccentric torsional moment at the steel truss node of the corridor through the topological geometry of the suspension, and performs real-time ratio determination with the allowable torsional buckling threshold during construction to trigger an instability warning.

[0073] Figure 8 This is a schematic block diagram of the intelligent analysis system for construction load of suspended scaffolding in an aerial corridor according to an embodiment of this application, such as... Figure 8 As shown, the intelligent load analysis system 800 for the construction of the suspended platform in the aerial corridor includes: a data preprocessing module 810, used to perform analog-to-digital conversion and extended Kalman filtering noise reduction on the acquired raw multi-source sensor data stream to obtain the discrete force characteristic matrix of the suspended platform bottom plate and the Euler angle sequence of the suspended platform spatial attitude; an attitude decoupling module 820, used to perform non-inertial frame gravity projection decoupling on the force vectors of each node in the discrete force characteristic matrix of the suspended platform bottom plate based on the Euler angle sequence of the suspended platform spatial attitude to eliminate the horizontal pseudo-gravity component error introduced by wind-induced swaying and tilting, and obtain the attitude decoupled gravity projection pressure matrix; and a centroid inversion module 830, used for attitude decoupling... The gravity projection pressure matrix is ​​used to perform transient three-dimensional centroid inversion to obtain the transient three-dimensional centroid coordinates of the suspended platform; the moment mapping module 840 is used to perform additional eccentric moment transformation on the eccentricity vector of the transient three-dimensional centroid coordinates of the suspended platform relative to the geometric symmetry center of the suspended platform and the equivalent total gravity vector of the system under the geometric topology mapping of the connecting corridor, based on the suspension topology geometric parameters, to obtain the eccentric torsional moment vector of the connecting corridor node; the instability early warning module 850 is used to determine the ratio of the magnitude of the eccentric torsional moment vector of the connecting corridor node to the preset torsional buckling threshold for the construction period of the connecting corridor steel truss, wherein when the ratio exceeds the safety red line threshold, a local instability risk early warning command is generated.

[0074] In one embodiment of this application, the data preprocessing module includes: a force matrix construction unit, used to perform nonlinear correction transformation and assembly of the transient voltage signals of each node with the bottom plate coordinate topology matrix based on the analog-to-digital converter and the pre-calibrated piezoresistive-stress nonlinear mapping curve to obtain the discrete force characteristic matrix of the bottom plate of the suspended platform; and an attitude calculation and fusion unit, used to perform gyro drift suppression and measurement correction fusion of the three-axis angular velocity signals and three-axis acceleration signals based on the extended Kalman filter to obtain the Euler angle sequence of the spatial attitude of the suspended platform.

[0075] Here, those skilled in the art will understand that the specific operations of each step in the above-mentioned intelligent analysis method for construction loads of suspended scaffolding for aerial corridors have been referenced above. Figures 1 to 7 The description of the intelligent analysis system for construction load of the suspended platform for the aerial corridor is detailed here, and therefore, its repeated description will be omitted.

[0076] The terms "first," "second," etc., are used only to distinguish different technical features and do not imply their importance or number. The designation of a feature as "first" or "second" does not preclude the possibility of additional similar features. The scope of protection of this application shall be determined by the claims; any modifications, substitutions, or combinations that do not depart from the core idea of ​​this application shall fall within the scope of protection of this application.

[0077] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. Although this application has been disclosed above with reference to preferred embodiments, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A method for intelligent analysis of construction loads during the construction of suspended scaffolding for aerial corridors, characterized in that, include: S1, perform analog-to-digital conversion and extended Kalman filtering noise reduction on the acquired raw multi-source sensor data stream to obtain the discrete force feature matrix of the suspended platform bottom plate and the Euler angle sequence of the suspended platform spatial attitude; S2, based on the Euler angle sequence of the spatial attitude of the suspended basket, the force vectors of each node in the discrete force characteristic matrix of the suspended basket bottom plate are decoupled by non-inertial gravity projection to eliminate the horizontal pseudo-gravity component error introduced by wind-induced swaying and tilting, and the attitude decoupled gravity projection pressure matrix is ​​obtained. S3, perform transient three-dimensional centroid inversion on the attitude decoupled gravity projection pressure matrix to obtain the transient three-dimensional centroid coordinates of the cradle; S4. Based on the suspension topological geometric parameters, the eccentricity vector of the transient three-dimensional centroid coordinates of the suspended basket relative to the geometric symmetry center of the suspended basket and the equivalent total gravity vector of the system are transformed by the additional eccentric moment under the geometric topological mapping of the connecting corridor to obtain the eccentric torsional moment vector of the connecting corridor node. S5 determines the ratio of the magnitude of the eccentric torsional moment vector of the connecting corridor node to the preset torsional buckling threshold for the construction period of the connecting corridor steel truss. When the ratio exceeds the safety red line threshold, a local instability risk warning instruction is generated.

2. The intelligent load analysis method for construction of suspended scaffolding for aerial corridors according to claim 1, characterized in that, The original multi-source sensor data stream includes transient voltage signals from each node of the piezoresistive sensor array encapsulated in a high-temperature resistant metal protective layer on the bottom plate of the suspended platform, as well as triaxial angular velocity and triaxial acceleration signals output by the inertial measurement unit fixed to the rigid frame of the suspended platform.

3. The intelligent load analysis method for construction of suspended scaffolding for aerial corridors according to claim 2, characterized in that, Step S1 includes: Based on the analog-to-digital converter and the pre-calibrated piezoresistive-stress nonlinear mapping curve, the transient voltage signals of each node are nonlinearly corrected and transformed, and assembled with the bottom plate coordinate topology matrix to obtain the discrete force characteristic matrix of the suspended platform bottom plate. Based on the extended Kalman filter, gyroscope drift suppression and measurement correction are performed on the triaxial angular velocity signal and triaxial acceleration signal to obtain the Euler angle sequence of the basket's spatial attitude.

4. The intelligent load analysis method for construction of suspended scaffolding for aerial corridors according to claim 1, characterized in that, Step S2 includes: Based on the pitch and roll angles in the Euler angle sequence of the spatial attitude of the suspended basket, a three-dimensional direction cosine rotation matrix is ​​constructed. Based on the three-dimensional direction cosine rotation matrix, the normal forces of each node in the discrete force characteristic matrix of the suspended platform bottom plate are decoupled and restored by inverse division to obtain the attitude decoupled gravity projection pressure matrix.

5. The intelligent load analysis method for construction of suspended scaffolding for aerial corridors according to claim 1, characterized in that, Step S3 includes: Two-dimensional transient centroid coordinates of the horizontal plane are obtained by performing two-dimensional discrete static moment integration and plane centroid inversion on the pressure values ​​of each node in the attitude decoupled gravity projection pressure matrix and the corresponding physical coordinates of the base plate. Load density height mapping is performed on the pressure characteristics of each node in the attitude decoupled gravity projection pressure matrix, and three-dimensional vector assembly is performed with the two-dimensional transient centroid coordinates on the horizontal plane to obtain the transient three-dimensional centroid coordinates of the suspended basket.

6. The intelligent load analysis method for construction of suspended scaffolding for aerial corridors according to claim 1, characterized in that, Step S4 includes: The spatial vector geometric difference between the transient three-dimensional centroid coordinates of the suspended platform and the preset geometric symmetry center coordinates of the suspended platform is used to obtain the three-dimensional spatial eccentricity vector, and the total gravity characteristic vector of the system is constructed in the vertical direction based on the total effective load of the system. The spatial extraproduct of the eccentricity vector in three-dimensional space and the characteristic vector of the total gravity of the system is applied to the topological mapping of the eccentric torsional moment of the connecting corridor node to obtain the eccentric torsional moment vector of the connecting corridor node.

7. The intelligent load analysis method for construction of suspended scaffolding for aerial corridors according to claim 1, characterized in that, Step S5 includes: Modulus mapping and instability risk probability index assessment are performed on the eccentric torsional moment vector of the connecting corridor node to obtain the structural local instability risk probability index. The probability index of local structural instability risk is compared with the preset safety red line threshold to perform Boolean judgment on the over-limit state. When the over-limit is judged, a local instability risk warning instruction is generated.

8. The intelligent load analysis method for construction of suspended scaffolding for aerial corridors according to claim 5, characterized in that, Load density height mapping is performed on the pressure characteristics of each node in the attitude decoupled gravity projection pressure matrix, and then a three-dimensional vector assembly is performed with the two-dimensional transient centroid coordinates on the horizontal plane to obtain the transient three-dimensional centroid coordinates of the suspended basket, including: Spatial clustering and independent cluster labeling are performed on each loaded node in the attitude decoupled gravity projection pressure matrix to obtain the pressure footprint spatial clustering label matrix; Based on the pressure footprint spatial clustering label matrix, the geometric compactness index is determined, and the vertical centroid height of each cluster is corrected and the load is weighted statistically to obtain the load-weighted corrected vertical centroid height by using the geometric compactness index and the average pressure of the cluster as adaptive gain factors. The transient three-dimensional centroid coordinates of the suspended basket are obtained by splicing and assembling the two-dimensional transient centroid coordinates of the horizontal plane and the load-weighted corrected vertical centroid height into a three-dimensional space column vector.

9. A smart load analysis system for construction of suspended scaffolding for aerial corridors, characterized in that, include: The data preprocessing module is used to perform analog-to-digital conversion and extended Kalman filtering noise reduction on the acquired raw multi-source sensor data stream to obtain the discrete force feature matrix of the suspended platform bottom plate and the Euler angle sequence of the suspended platform spatial attitude. The attitude decoupling module is used to perform non-inertial gravity projection decoupling on the force vectors of each node in the discrete force characteristic matrix of the suspended platform bottom plate based on the Euler angle sequence of the spatial attitude of the suspended platform, so as to eliminate the horizontal pseudo-gravity component error introduced by wind-induced swaying and tilting, and obtain the attitude decoupling gravity projection pressure matrix. The centroid inversion module is used to perform transient three-dimensional centroid inversion on the attitude decoupled gravity projection pressure matrix to obtain the transient three-dimensional centroid coordinates of the scaffold. The torque mapping module is used to perform additional eccentric torque transformation on the eccentricity vector of the transient three-dimensional centroid coordinates of the suspended basket relative to the geometric symmetry center of the suspended basket and the equivalent total gravity vector of the system under the geometric topology mapping of the connecting corridor, based on the suspension topology geometry parameters, so as to obtain the eccentric torsional torque vector of the connecting corridor node. The instability early warning module is used to determine the ratio between the magnitude of the eccentric torsional moment vector of the connecting corridor node and the preset torsional buckling threshold for the construction period of the connecting corridor steel truss. When the ratio exceeds the safety red line threshold, a local instability risk early warning command is generated.

10. The intelligent load analysis system for construction of suspended scaffolding in aerial corridors according to claim 9, characterized in that, The data preprocessing module includes: The force matrix construction unit is used to perform nonlinear correction and transformation on the transient voltage signals of each node and assemble the bottom plate coordinate topology matrix based on the analog-to-digital converter and the pre-calibrated piezoresistive-stress nonlinear mapping curve to obtain the discrete force characteristic matrix of the suspended platform bottom plate. The attitude calculation and fusion unit is used to perform gyro drift suppression and measurement correction fusion on the three-axis angular velocity signal and the three-axis acceleration signal based on the extended Kalman filter to obtain the Euler angle sequence of the basket's spatial attitude.

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