A large-volume track beam delivery vehicle wind self-adaptive hydraulic stability control system

Abstract

The application discloses a large-volume track beam delivery vehicle wind self-adaptive hydraulic stability control system and relates to the technical field of engineering component transportation equipment control. After the large-volume track beam is positioned and supported by the left hydraulic support and the right hydraulic support, the left hydraulic support feedback, the right hydraulic support feedback and the bearing beam transverse posture feedback are read according to the sampling serial number, the hydraulic difference sheet sequence and the posture difference sheet sequence are obtained, and the bearing folding track is arranged. According to the folding type, the hydraulic page direction and the posture page direction in the static folding track, the starting folding track and the walking folding track, the static starting superimposed page pattern, the free folding track and the return page are obtained. According to the front missing posture folding page, the rear same direction folding page, the first code bit and the second code bit in the return page, the wind-caused free return code is obtained, and the left hydraulic support or the right hydraulic support is controlled to execute the folding page maintaining action, the folding page following action or the maintaining current transportation control state.

Description

Technical Field

[0001] This invention relates to the field of control technology for engineering component transportation equipment, specifically to a wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle. Background Technology

[0002] In the field of engineering component transportation equipment control technology, the on-site transfer, factory transfer, and pre-shipment movement of large-volume engineering components such as bridge segments, track beams, and box girders typically require the joint support of multi-axle transport vehicles, hydraulic bearing platforms, and lateral support mechanisms. During operation, the transport vehicle for large-volume track beams must simultaneously bear the beam's own weight, changes in road surface posture, starting and stopping inertia, and lateral wind loads. The support status of the left and right hydraulic supports directly affects the lateral stability of the load-bearing beam. Therefore, establishing a wind-adaptive hydraulic stability control method for large-volume track beam transport vehicles is a crucial aspect of engineering component transportation equipment control technology.

[0003] Existing wind-adaptive hydraulic stabilization control systems often rely on single control criteria, such as differences in feedback between left and right hydraulic supports, the lateral tilt of the beam, or the vehicle's movement. These systems lack continuous state transition judgments between the stationary, starting, and continuous movement phases. Especially with large-volume track beams transitioning from a stationary to a starting phase, the differences in left and right supports caused by wind loads may overlap with the hydraulic adjustments made at the moment of starting. Ordinary control methods struggle to distinguish between support biases left over from the stationary phase, support biases formed during the starting phase, and newly emerging free-floating biases during the movement phase. This easily leads to the conflation of short-term attitude discrepancies, support side differences, and actual wind-induced offsets, resulting in inconsistencies between hydraulic support actions and changes in the beam's lateral force. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle, which solves the problems mentioned in the background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: a wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle, comprising a load sampling module, a static start-up and overlap module, a free reconnection module, and a support control module;

[0006] The load sampling module reads the feedback of the left and right hydraulic supports and the lateral attitude feedback of the load-bearing beam according to the sampling sequence number, and compares them to obtain the hydraulic differential sequence and the attitude differential sequence. After page segmentation, hydraulic side page and attitude side page are formed. The load fold page is synthesized according to the hydraulic page direction and the attitude page direction, and is divided into static fold page shadow track, starting fold page shadow track and traveling fold page shadow track.

[0007] The static start overlapping module uses the end bearing fold of the static folding track and the front bearing fold of the starting folding track as a reference. It extracts bearing folds with the same folding type and hydraulic direction according to the page position order, forming static reverse page column and starting forward page column. It then compares the overlapping page column position by position to obtain the overlapping page column. When there are overlapping pages in the overlapping page column, it is determined to be a static start overlapping page pattern.

[0008] The free reconnection module uses the overlapping page type and overlapping page direction in the static overlapping page pattern as the reference page type and reference page direction, respectively. It removes the carrying pages in the walking folding shadow track that are consistent with the reference page type and reference page direction to obtain the free folding shadow track. After segmenting the carrying pages in the free folding shadow track, it extracts the front missing pose folds and the rear same direction folds in each segment and arranges them as reconnection pages according to the page position order.

[0009] The support control module extracts the front missing-position fold and the rear same-direction fold from the return page and constructs the first code position and the second code position. The first code position is arranged in front and the second code position is arranged behind to form the wind-induced free return code. The hydraulic control command is executed according to the wind-induced free return code.

[0010] Preferably, the bearing sampling module includes a feedback sampling unit, a differential stabilization unit, and a folding and track splitting unit;

[0011] The feedback sampling unit is used to enter the shipping load reaction sampling state after the large volume track beam is placed on the load-bearing part of the transport vehicle and both the left and right hydraulic supports are in the supporting state. The sampling unit marks the sampling sequence number according to the sampling order and reads the feedback of the left hydraulic support, the feedback of the right hydraulic support and the lateral attitude feedback of the load-bearing beam at each sampling point.

[0012] Based on the sampling sequence number, the hydraulic support feedback is processed by side differential processing to obtain the hydraulic differential sequence;

[0013] Side differential processing: Under the same sampling number, the left hydraulic support feedback and the right hydraulic support feedback are compared. If the sampling number of the left hydraulic support feedback is greater than that of the right hydraulic support feedback, the left hydraulic differential is obtained. If the sampling number of the right hydraulic support feedback is greater than that of the left hydraulic support feedback, the right hydraulic differential is obtained. If the sampling number of the left hydraulic support feedback and the right hydraulic support feedback are equal, the flat hydraulic differential is obtained.

[0014] The lateral attitude feedback is processed by lateral segmentation based on the sampling sequence number to obtain the attitude segmentation sequence.

[0015] Lateral image processing: The left attitude image is obtained when the lateral attitude feedback points to the left, the right attitude image is obtained when the lateral attitude feedback points to the right, and the horizontal attitude image is obtained when the lateral attitude feedback does not point to the left or the right.

[0016] Preferably, the differential stabilization unit, based on the hydraulic differential sequence and the attitude differential sequence, marks a single right differential between two left differentials as a left clipping clip, and marks a single left differential between two right differentials as a right clipping clip. The left clipping clip is merged into the adjacent left differential, and the right clipping clip is merged into the adjacent right differential, thus obtaining the hydraulic stabilization sequence and the attitude stabilization sequence. Then, the hydraulic differentials and attitude differentials with consecutive sampling numbers and the same side in the hydraulic stabilization sequence and the attitude stabilization sequence are merged to form hydraulic side pages and attitude side pages.

[0017] Preferably, the folding and track-splitting unit is used to organize the page segments based on the merging results of the hydraulic differential plates and the attitude differential plates to obtain the hydraulic page direction and the attitude page direction, as follows;

[0018] When a hydraulic side panel is formed by merging left hydraulic differential plates, the hydraulic direction is taken as the left hydraulic direction; when a hydraulic side panel is formed by merging right hydraulic differential plates, the hydraulic direction is taken as the right hydraulic direction; when a flat hydraulic differential plate is incorporated into a hydraulic side panel, the flat hydraulic differential plate follows the hydraulic direction of the incorporated hydraulic side panel and does not change the hydraulic direction of the hydraulic side panel.

[0019] When an attitude side page is formed by merging left attitude differentials, the attitude page orientation is taken from the left attitude page orientation; when an attitude side page is formed by merging right attitude differentials, the attitude page orientation is taken from the right attitude page orientation; when a horizontal attitude differential is incorporated into an attitude side page, the horizontal attitude differential follows the attitude page orientation of the attitude side page into which it is incorporated, without changing the attitude page orientation of the attitude side page.

[0020] Starting with the hydraulic side page, read the first attitude side page that is after the current hydraulic side page and before the next hydraulic side page from the attitude side page, and combine the current hydraulic side page and the first attitude side page into a load-bearing fold.

[0021] When the load-bearing hinge is composed of a hydraulic side panel and an attitude side panel, and the hydraulic side panel is aligned with the attitude side panel, the current load-bearing hinge type is a unidirectional hinge.

[0022] When the load-bearing hinge is composed of a hydraulic side panel and an attitude side panel, and the hydraulic side panel is oriented in the opposite direction to the attitude side panel, the current load-bearing hinge type is a reverse hinge.

[0023] When the bearing flap is synthesized by the hydraulic side page alone and no attitude side page is read after the current hydraulic side page and before the next hydraulic side page, the flap type of the current bearing flap is a pose-deficient flap;

[0024] Arrange each load-bearing hinge along the sampling sequence number of the hydraulic side page to obtain the load-bearing hinge image track, and then divide the load-bearing hinge image track into a stationary hinge image track, a starting hinge image track, and a traveling hinge image track.

[0025] Preferably, the static start-up overlapping module includes an end page column taking unit and an overlapping pattern unit;

[0026] The end-page retrieval unit is used to take the carrying fold at the end of the stationary folding track as the reference fold for the end page. Starting from the reference fold, it reads the carrying folds in the stationary folding track from back to front according to the page position order. It extracts the carrying folds whose fold type is the same as the reference fold and whose hydraulic page direction is the same as the reference fold. It arranges them according to the original page position order in the stationary folding track to obtain the stationary end page segment. Then, it arranges the carrying folds in the stationary end page segment in a back-to-forward order to form a stationary reverse page column. The first carrying fold in the stationary reverse page column is the reference fold for the end page.

[0027] Using the leading edge of the starting folding track as the reference fold for the first page, and taking the reference fold for the first page as the starting point, the reference folds in the starting folding track are read from front to back according to the page position order. The reference folds with the same fold type as the reference fold for the first page and the same hydraulic page direction as the reference fold for the first page are extracted and arranged according to the original page position order in the stationary folding track to obtain the starting first page segment.

[0028] The pages in the starting page section are arranged from front to back according to their page position order to form the starting forward page column; the first page in the starting forward page column is the homepage reference page.

[0029] Preferably, the overlapping pattern unit is used to mark the overlapping sequence number of the carrying folds in the stationary reverse page column and the starting forward page column respectively; wherein, the first carrying fold in the stationary reverse page column and the starting forward page column is marked as the first overlapping sequence number;

[0030] Using the overlap sequence number as an index, perform overlap processing on the stationary reverse page column and the starting forward page column;

[0031] Overlapping Process: The load-bearing fold at the current overlap sequence number in the stationary reverse page column is taken as the stationary fold to be overlapped, and its fold type and hydraulic orientation are extracted. At the same time, the load-bearing fold at the same overlap sequence number in the starting forward page column is taken as the starting fold to be overlapped, and its fold type and hydraulic orientation are extracted. When the stationary fold to be overlapped and the starting fold to be overlapped have the same fold type and the same hydraulic orientation, the stationary fold to be overlapped and the starting fold to be overlapped are combined into an overlapped page. The overlapping process is performed bit by bit according to the overlap sequence number to obtain the overlapped page column.

[0032] If there are overlapping pages in the overlapping page column, mark the current overlapping page column as a statically activated overlapping page pattern; otherwise, mark the overlapping page column as an empty statically activated overlapping page pattern.

[0033] The static opening overlapping page pattern includes overlapping page type, overlapping page direction, and overlapping page position;

[0034] Among them, the overlapping page type indicates the fold type shared by the stationary fold to be overlapped and the starting fold to be overlapped; the overlapping page direction indicates the hydraulic page direction shared by the stationary fold to be overlapped and the starting fold to be overlapped; the overlapping page position indicates the position of the current overlapping page in the stationary reverse page column and the starting forward page column.

[0035] Preferably, the free reconnection module includes a continuous rejection unit and a free regularization unit;

[0036] The continuation rejection unit is used to record the overlapping page pattern of the static overlapping page pattern as the reference page pattern, and read each carrying page in the walking folding shadow track according to the page position order. When the fold type of the carrying page is the same as the reference page pattern and the hydraulic page direction of the carrying page is the same as the reference page direction, the current carrying page is marked as an overlapping continuation page, all overlapping continuation pages are removed from the walking folding shadow track, and the carrying pages that are not marked as overlapping continuation pages are arranged according to the original page position order to obtain the free folding shadow track.

[0037] Preferably, the free-aligning unit is used to take the first load-bearing fold in the free-aligning fold track as the starting fold, and extract the load-bearing folds after the starting fold whose fold type is consistent with the current starting fold and whose hydraulic page direction is consistent with the current starting fold, and arrange them into free-aligning segments according to the page position order;

[0038] When a load-bearing fold is extracted whose fold type is inconsistent with the fold type of the current starting fold, or whose hydraulic fold direction is inconsistent with the hydraulic fold direction of the current starting fold, the current free regularization segment sorting ends, and the current load-bearing fold is used as the starting fold of the next free regularization segment for iteration;

[0039] Within the current free-form section, load-bearing folds with missing orientation are read according to page position order. Starting from the previous missing orientation fold, the load-bearing folds with the same orientation type and hydraulic page direction consistent with the hydraulic page direction of the previous missing orientation fold are extracted from the load-bearing folds after the previous missing orientation fold. These are recorded as subsequent same orientation folds. The previous missing orientation fold and the subsequent same orientation fold are arranged as back pages according to page position order.

[0040] Preferably, the support control module includes a reconnection identification unit and a lateral positioning unit;

[0041] The reconnection identification unit is used to extract the front missing pose fold and the rear same-direction fold in the reconnection page, read the hydraulic page orientation of the front missing pose fold, and obtain the first code point and the second code point according to the following rules:

[0042] When the hydraulic page direction is leftward, the first code bit is the left return page direction code;

[0043] When the hydraulic page direction is right-hand, the first code bit is the right-back page direction code;

[0044] Read the folding types of the front missing-position fold and the rear same-direction fold respectively, and record the folding type of the front missing-position fold in the front page type field and the folding type of the rear same-direction fold in the rear page type field; when the folding type of the front missing-position fold is missing-position fold and the folding type of the rear same-direction fold is same-direction fold, the second code bit is taken as the missing-position same-direction return type code;

[0045] Arrange the code positions according to the order of the first code position first and the second code position last to form the wind-induced free return code;

[0046] When the first code position is the left return page direction code and the second code position is the missing posture same direction return type code, the wind-induced free return code is the left wind-induced free return code.

[0047] When the first code position is taken as the right return page direction code and the second code position is taken as the missing posture same direction return type code, the wind-induced free return code is taken as the right wind-induced free return code;

[0048] When no return page is read, the first code bit is taken as the empty page direction code, and the second code bit is taken as the empty return type code; the code bits are arranged according to the order of the first code bit first and the second code bit last to form the wind-induced free return code, and the wind-induced free return code is taken as the reserved code.

[0049] Preferably, the positioning unit is used to read the first and second code bits in the wind-induced free return code when the wind-induced free return code is taken as a left wind-induced free return code or a right wind-induced free return code; when the first code bit is a left return page direction code, the return page direction is recorded as left; when the first code bit is a right return page direction code, the return page direction is recorded as right; when the second code bit is a missing posture same direction return type code, the front missing posture fold and the rear same direction fold in the return page are read.

[0050] The hydraulic support side to which the return page is located is designated as the primary support side, and the hydraulic support side opposite to the primary support side is designated as the secondary support side.

[0051] When the wind-induced free return code is the left wind-induced free return code, control the first moving support side to enter the hinge holding action;

[0052] Fold holding action: Maintain the hydraulic support state of the first moving support side within the current bearing fold, stop the left hydraulic support from performing the unloading or retraction action to the right within the current fold sequence position, and when the fold sequence position of the subsequent same-direction fold is read, control the right hydraulic support to enter the fold following action;

[0053] When the wind-driven free return code is the right wind-driven free return code, control the follow-up support side to enter the folding follow-up action;

[0054] Folding Follow Action: The follower support side performs a following support action along the return page direction, stops the right hydraulic support from performing unloading or retraction to the left within the current folding sequence position, and controls the left hydraulic support to enter the folding follow action when the folding sequence position of the subsequent same-direction fold is read.

[0055] When the wind-driven free return code is a reserved code, the hydraulic support mechanism maintains the current transport control state.

[0056] This invention provides a wind-adaptive hydraulic stability control system for transporting large-volume track beams. It offers the following advantages:

[0057] (1) The system's sampling module reads the feedback from the left and right hydraulic supports and the lateral attitude feedback of the load-bearing beam, and forms a hydraulic differential sequence and an attitude differential sequence based on the sampling sequence number; then, the differential stabilization unit forms a hydraulic stabilization sequence and an attitude stabilization sequence, and merges them into a hydraulic side page and an attitude side page; then, the folding and track-splitting unit forms a load-bearing fold based on the hydraulic page direction and the attitude page direction, and divides the load-bearing folding track into a stationary folding track, a starting folding track, and a traveling folding track. Through the above processing, the system undertakes the tasks of sampling the load-bearing state of the load-bearing beam during transport, identifying the left and right hydraulic support deviations, identifying the lateral attitude deviation of the load-bearing beam, and dividing the load-bearing folding stage, so that the hydraulic support change process under wind action and the lateral attitude change process of the load-bearing beam can be entered into subsequent judgment in the form of load-bearing folding track. Compared to control methods that rely solely on feedback from a single hydraulic support or a single lateral attitude of a load-bearing beam, this system first analyzes the feedback from the left and right hydraulic supports and the lateral attitude of the load-bearing beam, and then obtains the folding type and hydraulic direction of the bearing hinge, so that subsequent hydraulic support control has a continuous segment basis.

[0058] (2) The static start-overlay module of this system takes the load-bearing fold at the end of the static folding image track and the load-bearing fold at the front of the starting folding image track as the analysis entry point to form a static reverse page column and a starting forward page column. Through overlay processing, it obtains the overlay page column and the static start overlay pattern. The free return module then removes the overlay continuation page from the walking folding image track according to the overlay page type and overlay page direction in the static start overlay pattern to obtain the free folding image track. It forms a free regular segment in the free folding image track and continues to extract the front missing posture fold and the rear same direction fold, arranging them to form the return page. Through the above processing, the system undertakes the task of distinguishing the load-bearing state in the static stage, the load-bearing state in the starting stage, and the wind-induced free state in the walking stage, so that the static inertial continuation, the starting load continuation, and the walking wind disturbance can be judged separately. Compared to directly outputting hydraulic action based on leftward or rightward offset, this system first excludes overlapping and continuing pages in the walking folding shadow track, and then obtains the free folding shadow track and the return page, so that the hydraulic support intervention is concentrated on the wind-receiving return process formed by the front missing posture folding page and the rear same direction folding page.

[0059] (3) The system's support control module reads the front missing-position fold and the rear same-direction fold in the return page through the return page identification unit. It obtains the first code position based on the hydraulic page direction of the front missing-position fold and the second code position based on the fold type of the front missing-position fold and the fold type of the rear same-direction fold. The first code position and the second code position then constitute the wind-induced free return page code. The side positioning unit determines the first moving support side, the following support side, the fold holding action, the fold following action, or the current transport control state based on the left wind-induced free return page code, the right wind-induced free return page code, or the retention code. Through the above processing, the system undertakes the tasks of generating the wind-induced free return page code, identifying the return page direction, positioning the hydraulic support side, and outputting hydraulic actions, so that the left and right hydraulic supports can perform the fold holding action or the fold following action according to the return page direction. Compared to manual experience-based or fixed rule-based adjustments, this system transforms the front-position missing-position folding, rear-position unidirectional folding, and return-to-position folding into left-wind-induced free return-to-position codes, right-wind-induced free return-to-position codes, or retention codes. These are further transformed into control actions that the hydraulic support mechanism can execute, thereby limiting the lateral attitude deviation of the load-bearing beam, suppressing the imbalance of the left and right hydraulic supports, and reducing the risk of lateral swaying during the transport of large-volume track beams. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to the present invention.

[0061] Figure 2 This is a logic block diagram of the wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to the present invention. Detailed Implementation

[0062] 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] Example 1

[0064] Please see Figure 1 This invention provides a wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle. To achieve the above objectives, this invention is implemented through the following technical solutions: including a load-bearing sampling module, a static start-up and overlap module, a free reconnection module, and a support control module;

[0065] The load sampling module reads the feedback of the left and right hydraulic supports and the lateral attitude feedback of the load-bearing beam according to the sampling sequence number, and compares them to obtain the hydraulic differential sequence and the attitude differential sequence. After page segmentation, hydraulic side page and attitude side page are formed. The load fold page is synthesized according to the hydraulic page direction and the attitude page direction, and is divided into static fold page shadow track, starting fold page shadow track and traveling fold page shadow track.

[0066] The static start overlapping module uses the end bearing fold of the static folding track and the front bearing fold of the starting folding track as a reference. It extracts bearing folds with the same folding type and hydraulic direction according to the page position order, forming static reverse page column and starting forward page column. It then compares the overlapping page column position by position to obtain the overlapping page column. When there are overlapping pages in the overlapping page column, it is determined to be a static start overlapping page pattern.

[0067] The free reconnection module uses the overlapping page type and overlapping page direction in the static overlapping page pattern as the reference page type and reference page direction, respectively. It removes the carrying pages in the walking folding shadow track that are consistent with the reference page type and reference page direction to obtain the free folding shadow track. After segmenting the carrying pages in the free folding shadow track, it extracts the front missing pose folds and the rear same direction folds in each segment and arranges them as reconnection pages according to the page position order.

[0068] The support control module extracts the front missing-position fold and the rear same-direction fold from the return page and constructs the first code position and the second code position. The first code position is arranged in front and the second code position is arranged behind to form the wind-induced free return code. The hydraulic control command is executed according to the wind-induced free return code.

[0069] In this embodiment, after the large-volume track beam is positioned on the self-adjusting track vehicle's load-bearing section and both the left and right hydraulic supports are in a supporting state, the load-bearing sampling module begins to read the feedback from the left and right hydraulic supports and the lateral attitude feedback of the load-bearing beam according to the sampling sequence number. For example, when the self-adjusting track vehicle is preparing to start in the prefabrication storage area, if the feedback from the left hydraulic support is greater than that from the right hydraulic support under a certain sampling sequence number, then the current sampling sequence number obtains a left hydraulic differential image; if the lateral attitude feedback of the load-bearing beam points to the left, then the current sampling sequence number obtains a left attitude differential image. In subsequent sampling sequences, if the left hydraulic differential images appear consecutively and the lateral attitude feedback of the load-bearing beam also continuously points to the left, the load-bearing sampling module organizes these sampling results into hydraulic side pages and attitude side pages, and synthesizes a load-bearing page based on the hydraulic page direction and attitude page direction. If the hydraulic page direction and the attitude page direction are consistent, the load-bearing fold is identified as a same-direction fold; if the hydraulic page direction and the attitude page direction are opposite, the load-bearing fold is identified as a reverse fold; if no attitude page is read after the current hydraulic page and before the next hydraulic page, the load-bearing fold is identified as a posture-deficient fold. Subsequently, the load-bearing sampling module further divides the load-bearing fold image track into stationary fold image track, starting fold image track, and traveling fold image track according to the operation stage of the self-adjusting track vehicle.

[0070] The static-start overlapping module uses the end-of-stationary folding track's load-bearing fold as the reference fold for the last page, extracting load-bearing folds with the same fold type and hydraulic direction from back to front to form a static reverse page column. Simultaneously, it uses the front-of-stationary folding track's load-bearing fold as the reference fold for the first page, extracting load-bearing folds with the same fold type and hydraulic direction from front to back to form a starting forward page column. Subsequently, the static-start overlapping module compares the static reverse page column and the starting forward page column position by position according to page position. If load-bearing folds in the same overlapping sequence number in both columns have the same fold type and the same hydraulic direction, they are combined into overlapping pages. Multiple overlapping pages are arranged to form an overlapping page column, and when overlapping pages exist in the overlapping page column, it is determined to be a static-start overlapping page pattern. For example, when the self-adjusting railcar enters the low-speed start-up state from the static support state, if both the end of the static folding shadow track and the front of the start-up folding shadow track show the same direction of left hydraulic folding, it indicates that the initial stage of the start-up still retains the support state of the static end, and the current part should not be directly identified as the free state caused by wind during travel.

[0071] After entering continuous travel mode, the free-reconnection module uses the overlapping page type and overlapping page direction in the static start overlapping page pattern as the reference page type and reference page direction, respectively, to filter the travel folding image track. Any load-bearing folds in the travel folding image track whose fold type and hydraulic direction are consistent with the reference page type are considered as continuing load-bearing folds in the static start load state during the travel phase and are removed from the travel folding image track. The load-bearing folds that are not removed are arranged in their original page position order to obtain the free folding image track. After this processing, the load-bearing folds continuing from the static or start-up phase in the travel folding image track are separated, and the remaining free folding image track is mainly used to express the load changes that occur when the self-adjusting track car is subjected to lateral wind during travel. For example, when a large-volume track beam is transported along the travel track to the hoisting area, if the crosswind at the site causes the lateral attitude feedback of the load-bearing beam to change to the left in several sampling sequences, but some of the left-direction folds have already appeared in the stationary fold track and the starting fold track, then the free reconnection module first removes this part of the overlapping continuation page, and then retains the free folds that appear newly in the travel phase.

[0072] After obtaining the free folding image track, the free reconnection module continues to segment the load-bearing folds in the free folding image track. Each segment starts with the load-bearing fold at the beginning of the page position and extracts load-bearing folds of the same type and hydraulic direction after the starting fold to form a free alignment segment. When the fold type or hydraulic direction of subsequent load-bearing folds changes, the current free alignment segment ends, and the new load-bearing fold becomes the starting fold of the next free alignment segment. Subsequently, the free reconnection module reads load-bearing folds of the missing orientation type within the current free alignment segment and uses them as the preceding missing orientation folds. Then, it extracts load-bearing folds of the same orientation type and with the same hydraulic direction as the preceding missing orientation fold after the preceding missing orientation fold as the following same orientation folds. Finally, the preceding missing orientation folds and the following same orientation folds are arranged in page position order to form reconnection pages. For example, in the straight-line travel section before being transported to the hoisting area, if the load-bearing hinge first shows a missing hinge in the left hydraulic direction, it indicates that the left hydraulic support feedback has shown a leftward load change, but the lateral attitude feedback of the load-bearing beam has not yet formed a synthesizable attitude side page; then a hinge in the same direction as the left hydraulic direction appears, indicating that the lateral attitude feedback of the load-bearing beam has begun to form a consistent trend with the left hydraulic support feedback. At this time, the front missing hinge and the rear same-direction hinge together constitute the leftward wind return process.

[0073] After obtaining the return page, the support control module extracts the front missing-position fold and the rear same-direction fold from the return page. It then constructs a first code based on the hydraulic orientation of the front missing-position fold and a second code based on the folding types of the front missing-position fold and the rear same-direction fold. When the hydraulic orientation of the front missing-position fold is left-hand, the first code is the left return page orientation code; when the hydraulic orientation of the front missing-position fold is right-hand, the first code is the right return page orientation code; when the folding type of the front missing-position fold is a missing-position fold and the folding type of the rear same-direction fold is a same-direction fold, the second code is the missing-position same-direction return type code. The first code is placed first, followed by the second code, forming the wind-induced free-floating return code. If the wind-induced free return code is a left wind-induced free return code, the support control module controls the left hydraulic support to enter the folding holding action as the first moving support side, maintaining the hydraulic support state of the left hydraulic support within the current bearing fold, stopping the left hydraulic support from performing unloading or retraction actions to the right within the current folding sequence position, and controlling the right hydraulic support to enter the folding following action when the folding sequence position of the subsequent same-direction fold is read, so that the right hydraulic support supports support and follows along the left direction. If the wind-induced free return code is a right wind-induced free return code, the support control module controls the hydraulic support mechanism to perform the folding holding action and the folding following action according to the rightward return process. If the wind-induced free return code is a retention code, the hydraulic support mechanism maintains the current transport control state.

[0074] Taking the continuous shipment of large-volume track beams from the prefabrication yard as an example, after the first large-volume track beam is positioned on the self-adjusting track vehicle, the left and right hydraulic supports first enter the supporting state. The load-bearing sampling module collects feedback from the left and right hydraulic supports and the lateral attitude feedback of the load-bearing beam during the static stage, forming a static folded track image. After the self-adjusting track vehicle receives the travel start command, the load-bearing sampling module continues to collect data during the starting stage, forming a starting folded track image. The static start-up overlapping module compares the load-bearing fold at the end of the static folded track image with the load-bearing fold at the front end of the starting folded track image, obtaining the static start-up overlapping pattern. After the self-adjusting track vehicle enters continuous travel mode and moves along the track towards the hoisting area, if a lateral wind causes the load-bearing beam to undergo a leftward wind-induced retraction process, the free retraction module removes the overlapping continuation page from the travel folding image track, and then identifies the front missing folding page and the rear same-direction folding page in the free folding image track to form a retraction page; the support control module generates a left-wind-induced free retraction code accordingly, controlling the left hydraulic support to maintain its current support, and controlling the right hydraulic support to follow along the leftward support. Through this process, the self-adjusting track vehicle, with controllable travel speed and a fixed route, matches the hydraulic support action with the load-bearing folding changes of the load-bearing beam after being exposed to wind. This is suitable for construction scenarios involving the continuous transport of multiple large-volume track beams and the connection between prefabrication and hoisting processes.

[0075] Example 2

[0076] Please refer to Figure 2 Specifically: the bearing sampling module includes a feedback sampling unit, a differential stabilization unit, and a folding and track splitting unit;

[0077] The feedback sampling unit is used to enter the shipping load reaction sampling state after the large volume track beam is placed on the load-bearing part of the transport vehicle and both the left and right hydraulic supports are in the supporting state. The sampling unit marks the sampling sequence number according to the sampling order and reads the feedback of the left hydraulic support, the feedback of the right hydraulic support and the lateral attitude feedback of the load-bearing beam at each sampling point.

[0078] Based on the sampling sequence number, the hydraulic support feedback is processed by side differential processing to obtain the hydraulic differential sequence;

[0079] Side differential processing: Under the same sampling number, the left hydraulic support feedback and the right hydraulic support feedback are compared. If the sampling number of the left hydraulic support feedback is greater than that of the right hydraulic support feedback, the left hydraulic differential is obtained. If the sampling number of the right hydraulic support feedback is greater than that of the left hydraulic support feedback, the right hydraulic differential is obtained. If the sampling number of the left hydraulic support feedback and the right hydraulic support feedback are equal, the flat hydraulic differential is obtained.

[0080] The lateral attitude feedback is processed by lateral segmentation based on the sampling sequence number to obtain the attitude segmentation sequence.

[0081] Lateral image processing: The left attitude image is obtained when the lateral attitude feedback points to the left, the right attitude image is obtained when the lateral attitude feedback points to the right, and the horizontal attitude image is obtained when the lateral attitude feedback does not point to the left or the right.

[0082] The differential stabilization unit, based on the hydraulic differential sequence and the attitude differential sequence, marks a single right differential between two left differentials as a left clipping clip and a single left differential between two right differentials as a right clipping clip. The left clipping clip is merged into the adjacent left differential, and the right clipping clip is merged into the adjacent right differential, thus obtaining the hydraulic stabilization sequence and the attitude stabilization sequence. Then, the hydraulic differentials and attitude differentials with consecutive sampling numbers and the same side in the hydraulic stabilization sequence and the attitude stabilization sequence are merged to form hydraulic side pages and attitude side pages.

[0083] The folding and track-splitting unit is used to organize page segments based on the merging results of hydraulic differential plates and attitude differential plates to obtain hydraulic page orientation and attitude page orientation, as follows;

[0084] When a hydraulic side panel is formed by merging left hydraulic differential plates, the hydraulic direction is taken as the left hydraulic direction; when a hydraulic side panel is formed by merging right hydraulic differential plates, the hydraulic direction is taken as the right hydraulic direction; when a flat hydraulic differential plate is incorporated into a hydraulic side panel, the flat hydraulic differential plate follows the hydraulic direction of the incorporated hydraulic side panel and does not change the hydraulic direction of the hydraulic side panel.

[0085] When an attitude side page is formed by merging left attitude differentials, the attitude page orientation is taken from the left attitude page orientation; when an attitude side page is formed by merging right attitude differentials, the attitude page orientation is taken from the right attitude page orientation; when a horizontal attitude differential is incorporated into an attitude side page, the horizontal attitude differential follows the attitude page orientation of the attitude side page into which it is incorporated, without changing the attitude page orientation of the attitude side page.

[0086] Starting with the hydraulic side page, read the first attitude side page that is after the current hydraulic side page and before the next hydraulic side page from the attitude side page, and combine the current hydraulic side page and the first attitude side page into a load-bearing fold.

[0087] When the load-bearing hinge is composed of a hydraulic side panel and an attitude side panel, and the hydraulic side panel is aligned with the attitude side panel, the current load-bearing hinge type is a unidirectional hinge.

[0088] When the load-bearing hinge is composed of a hydraulic side panel and an attitude side panel, and the hydraulic side panel is oriented in the opposite direction to the attitude side panel, the current load-bearing hinge type is a reverse hinge.

[0089] When the bearing flap is synthesized by the hydraulic side page alone and no attitude side page is read after the current hydraulic side page and before the next hydraulic side page, the flap type of the current bearing flap is a pose-deficient flap;

[0090] Arrange each load-bearing hinge along the sampling sequence number of the hydraulic side page to obtain the load-bearing hinge image track, and divide the load-bearing hinge image track into a stationary hinge image track, a starting hinge image track, and a traveling hinge image track;

[0091] The static folding track consists of the load-bearing folds formed before the transport vehicle receives the start-up command; the starting folding track consists of the load-bearing folds formed after the transport vehicle receives the start-up command and before it enters continuous travel mode; and the traveling folding track consists of the load-bearing folds formed after the transport vehicle enters continuous travel mode.

[0092] In this embodiment, after the large-volume track beam is placed on the load-bearing part of the transport vehicle and both the left and right hydraulic supports are in a supporting state, the feedback sampling unit causes the hydraulic stability control system to enter the transport load-bearing response sampling state. The sampling sequence number is marked according to the sampling order, and the feedback from the left and right hydraulic supports and the lateral attitude feedback of the load-bearing beam at each sampling point are read respectively. Then, based on the sampling sequence number, the left and right hydraulic support feedback are processed by side-by-side differential processing to obtain a hydraulic differential sequence. Similarly, based on the sampling sequence number, the lateral attitude feedback of the load-bearing beam is processed by lateral differential processing to obtain an attitude differential sequence. The differential stabilization unit then identifies left and right clipping based on the hydraulic and attitude differential sequences, merging the left clipping into the adjacent left differential sequence and the right clipping into the adjacent right differential sequence to obtain a hydraulic stabilization sequence and an attitude stabilization sequence. Finally, the sampling sequence in the hydraulic and attitude stabilization sequences is processed. The hydraulic differential plates and attitude differential plates with consecutive numbers and the same side are merged to form hydraulic side pages and attitude side pages. The folding and track-splitting unit then obtains the hydraulic page direction based on the hydraulic side page and the attitude page direction based on the attitude side page. Taking the hydraulic side page as the starting page, it reads the first attitude side page that is after the current hydraulic side page and before the next hydraulic side page from the attitude side page. The current hydraulic side page and the first attitude side page are combined to form a load-bearing fold. Based on whether the hydraulic page direction and the attitude page direction are consistent, opposite, or no attitude side page is read, the load-bearing fold is identified as a same-direction fold, a reverse fold, or a fold with missing attitude. Finally, the load-bearing folds are arranged along the sampling sequence number of the hydraulic side pages to obtain the load-bearing fold image track. The load-bearing fold image track is divided into three stages: before the transport vehicle receives the travel start command, after the transport vehicle receives the travel start command and before entering the continuous travel state, and after the transport vehicle enters the continuous travel state.In the current implementation, the left-side hydraulic support feedback, right-side hydraulic support feedback, and lateral attitude feedback of the load-bearing beam are no longer entered into the control judgment as isolated sampled values. Instead, they are organized into hydraulic differential sequence, attitude differential sequence, hydraulic side panel, attitude side panel, load-bearing fold, and load-bearing fold shadow track. This allows the system to first analyze the hydraulic load bias and lateral attitude bias of the large-volume track beam during the stationary, starting, and traveling phases, and then obtain the same-direction fold, reverse fold, and missing-position fold. This enables the subsequent static start-up overlap module, free reconnection module, and support control module to identify static start-up overlap patterns and free fold shadows. The track, return page, and wind-induced free return code provide a clear data foundation, enabling the differentiation between static support changes, initial load changes, and wind-induced changes during movement. Furthermore, it allows hydraulic control commands to be output around the phased changes in the load-bearing folding track. Compared to methods that rely solely on single feedback from the left or right hydraulic support or the lateral attitude of the load-bearing beam for adjustment, the current solution reduces the interference of sampling jitter on the judgment results. It also improves the problems of delayed left and right hydraulic support actions, discontinuous lateral attitude judgment of the load-bearing beam, and difficulty in distinguishing between static and moving states during the transport of large-volume track beams.

[0093] Example 3

[0094] Please refer to Figure 2 Specifically: the static start-up overlapping module includes an end page column extraction unit and an overlapping pattern unit;

[0095] The end-page retrieval unit is used to take the carrying fold at the end of the stationary folding track as the reference fold for the end page. Starting from the reference fold, it reads the carrying folds in the stationary folding track from back to front according to the page position order. It extracts the carrying folds whose fold type is the same as the reference fold and whose hydraulic page direction is the same as the reference fold. It arranges them according to the original page position order in the stationary folding track to obtain the stationary end page segment. Then, it arranges the carrying folds in the stationary end page segment in a back-to-forward order to form a stationary reverse page column. The first carrying fold in the stationary reverse page column is the reference fold for the end page.

[0096] Using the leading edge of the starting folding track as the reference fold for the first page, and taking the reference fold for the first page as the starting point, the reference folds in the starting folding track are read from front to back according to the page position order. The reference folds with the same fold type as the reference fold for the first page and the same hydraulic page direction as the reference fold for the first page are extracted and arranged according to the original page position order in the stationary folding track to obtain the starting first page segment.

[0097] Arrange the supporting folds in the starting first page segment in order from front to back according to the page position to form the starting forward page column; among them, the first supporting fold of the starting forward page column is the first page base fold;

[0098] The page order refers to the arrangement order of the pages carried in the stationary reverse page column and the starting forward page column.

[0099] The overlapping pattern unit is used to mark the overlapping sequence number of the carrying folds in the stationary reverse page column and the starting forward page column respectively; wherein, the first carrying fold in the stationary reverse page column and the starting forward page column is marked as the first overlapping sequence number;

[0100] Using the overlap sequence number as an index, perform overlap processing on the stationary reverse page column and the starting forward page column;

[0101] Overlapping Process: The load-bearing fold at the current overlap number in the stationary reverse page column is designated as the stationary fold to be overlapped, and its fold type and hydraulic orientation are extracted. Simultaneously, the load-bearing fold at the same overlap number in the starting forward page column is designated as the starting fold to be overlapped, and its fold type and hydraulic orientation are extracted. When the stationary fold to be overlapped and the starting fold to be overlapped have the same fold type and the same hydraulic orientation, the process is repeated. When the directions are the same, combine the stationary fold to be stacked and the starting fold to be stacked into a stacked page; perform stacking processing position by position according to the stacking sequence number until there is no load-bearing fold under the same stacking sequence number in the stationary reverse page column or the starting forward page column, or the folding type of the stationary fold to be stacked and the starting fold to be stacked under the same stacking sequence number is different, or the hydraulic page direction of the stationary fold to be stacked and the starting fold to be stacked under the same stacking sequence number is different, then stop the stacking processing and obtain the stacked page column;

[0102] If there are overlapping pages in the overlapping page column, mark the current overlapping page column as a statically activated overlapping page pattern; otherwise, mark the overlapping page column as an empty statically activated overlapping page pattern.

[0103] The static opening overlapping page pattern includes overlapping page type, overlapping page direction, and overlapping page position;

[0104] Among them, the overlapping page type indicates the fold type shared by the stationary fold to be overlapped and the starting fold to be overlapped; the overlapping page direction indicates the hydraulic page direction shared by the stationary fold to be overlapped and the starting fold to be overlapped; the overlapping page position indicates the position of the current overlapping page in the stationary reverse page column and the starting forward page column.

[0105] In this embodiment, after the load sampling module has obtained the stationary folding track and the starting folding track, the end page retrieval unit first reads the load-bearing fold at the end of the stationary folding track and uses it as the reference fold for the end page. Then, starting from the reference fold for the end page, the load-bearing folds in the stationary folding track are read from back to front according to the page position order. The folds with the same fold type as the reference fold for the end page and the same hydraulic page direction as the reference fold for the end page are extracted. The system loads folds to form a static tail page segment, and arranges the load folds in the static tail page segment in a backward-facing order to form a static reverse page column. Simultaneously, the end-page retrieval unit reads the load fold at the very front of the starting fold image track and uses it as the homepage reference fold. Then, starting from the homepage reference fold, it reads the load folds in the starting fold image track from front to back according to page position order, extracting folds whose fold type is the same as the homepage reference fold and whose hydraulic page direction is the same as the homepage reference fold. The hydraulically oriented folding sections of the quasi-folding page form the same load-bearing folding section, creating the starting first page segment. The load-bearing folds in this segment are arranged from front to back to form the starting forward page column. Subsequently, the overlapping unit marks the overlapping sequence number of the load-bearing folds in the stationary reverse page column and the starting forward page column. Using this overlapping sequence number as an index, the stationary folds to be overlapped in the stationary reverse page column are overlapped one by one with the starting folds to be overlapped in the starting forward page column. When the stationary folds to be overlapped and the starting folds to be overlapped have... When there are folding types and hydraulic page directions of the same type, the stationary folding pages to be stacked and the starting folding pages to be stacked are combined into a stacked page until there are no load-bearing folding pages under the same stacking sequence number in the stationary reverse page column or the starting forward page column, or the folding types under the same stacking sequence number are different, or the hydraulic page directions under the same stacking sequence number are different. At this point, the stacking process is stopped and a stacked page column is obtained. When there are stacked pages in the stacked page column, the stacked page column is marked as a stationary start stacking pattern, and the stacked page type, stacking page direction, and stacked page position are obtained. Through the current implementation method, the stationary start stacking module can analyze the continuity state between the load-bearing folding page at the end of the stationary folding track and the load-bearing folding page at the front end of the starting folding track, and then obtain the stationary start stacking pattern, so that the system can determine which parts of the load change in the front section of the starting stage originate from the continuity of the load state at the end of the stationary stage. Taking the large-volume track beam as an example of starting from the prefabrication storage area and being transported out, if the end of the stationary folding track continuously shows folds in the same direction with the left hydraulic page and the front end of the starting folding track also continuously shows folds in the same direction with the left hydraulic page, then the stationary start-up overlapping module will organize it into a stationary start-up overlapping pattern. This indicates that the current initial stage of starting is not simply caused by wind disturbance during travel, but rather includes the continuation of the stationary support state to the starting support state.Compared to directly using all the load-bearing folds in the starting fold track as the basis for travel control, the current solution can distinguish the load-bearing state at the end of the stationary phase and the load-bearing state at the beginning of the starting phase. This provides a basis for the free return module to remove overlapping continuation pages and obtain the free fold track, so that the subsequent wind-induced free return code generation is not affected by the stationary load-bearing continuation state.

[0106] Example 4

[0107] Please refer to Figure 2 Specifically: the free reconnection module includes a continuous rejection unit and a free regularization unit;

[0108] The continuation rejection unit is used to record the overlapping page pattern of the static overlapping page pattern as the reference page pattern, and read each carrying page in the walking folding shadow track according to the page position order. When the fold type of the carrying page is the same as the reference page pattern and the hydraulic page direction of the carrying page is the same as the reference page direction, the current carrying page is marked as an overlapping continuation page, all overlapping continuation pages are removed from the walking folding shadow track, and the carrying pages that are not marked as overlapping continuation pages are arranged according to the original page position order to obtain the free folding shadow track.

[0109] The free-aligning unit is used to take the first load-bearing fold in the free-aligning fold track as the starting fold, and extract the load-bearing folds after the starting fold whose fold type is consistent with the current starting fold and whose hydraulic page direction is consistent with the current starting fold, and arrange them into free-aligning segments according to the page position order;

[0110] When a load-bearing fold is extracted whose fold type is inconsistent with the fold type of the current starting fold, or whose hydraulic fold direction is inconsistent with the hydraulic fold direction of the current starting fold, the current free regularization segment sorting ends, and the current load-bearing fold is used as the starting fold of the next free regularization segment for iteration, until all load-bearing folds in the free fold shadow track are processed;

[0111] Within the current free-form section, load-bearing folds with missing orientation are read according to page position order. Starting from the previous missing orientation fold, the load-bearing folds with the same orientation type and hydraulic page direction consistent with the hydraulic page direction of the previous missing orientation fold are extracted from the load-bearing folds after the previous missing orientation fold. These are recorded as subsequent same orientation folds. The previous missing orientation fold and the subsequent same orientation fold are arranged as back pages according to page position order.

[0112] In this embodiment, after the stationary start-up overlapping module obtains the stationary start-up overlapping pattern, the continuous elimination unit first analyzes the overlapping page type and overlapping page direction in the stationary start-up overlapping pattern, records the overlapping page type as the reference page type, and the overlapping page direction as the reference page direction, and then reads each carrying page in the traveling folding shadow track according to the page position order; when the fold type of the carrying page in the traveling folding shadow track is the same as the reference page type and the hydraulic page direction of the carrying page is the same as the reference page direction, the current carrying page is marked as an overlapping continuation page, and all overlapping continuation pages are removed from the traveling folding shadow track. The carrying pages that are not marked as overlapping continuation pages are arranged according to the original page position order to obtain the free folding shadow track; subsequently, the free folding straightening unit takes the carrying page with the first page position in the free folding shadow track as the starting page, and continues to analyze the fold type and hydraulic page direction of each carrying page after the starting page, and compares the fold type with the current starting page. The load-bearing folds with the same fold type and hydraulic page direction consistent with the hydraulic page direction of the current starting fold are arranged in page position order as a free-aligning segment. When a load-bearing fold with a fold type inconsistent with the fold type of the current starting fold or a hydraulic page direction inconsistent with the hydraulic page direction of the current starting fold is read, the current free-aligning segment sorting ends, and the current load-bearing fold is used as the starting fold of the next free-aligning segment for further processing, until all load-bearing folds in the free-aligning fold track have been processed. Within the current free-aligning segment, the free-aligning unit reads the load-bearing folds with the fold type of missing orientation fold according to the page position order, and uses them as the preceding missing orientation folds. After the preceding missing orientation folds, the unit extracts the load-bearing folds with the fold type of same orientation fold and hydraulic page direction consistent with the hydraulic page direction of the preceding missing orientation fold, and records them as the following same orientation folds. Finally, the preceding missing orientation folds and the following same orientation folds are arranged in page position order as a reconnecting page.Through the above implementation method, the free return module first analyzes the continuity state of the static start-up overlapping leaf pattern in the traveling folding shadow track, and then obtains the free folding shadow track and the return page, so that the load-bearing folds affected by the static support continuity and the start-up load continuity during the traveling phase are separated, so that the remaining load-bearing folds can express the free changes caused by wind in the continuous traveling state of the large volume track beam; taking the transportation of the large volume track beam along the traveling track to the hoisting area as an example, when the lateral wind causes the left hydraulic support feedback to first undergo a leftward load change, and the lateral attitude feedback of the load-bearing beam only forms a leftward same-direction change in the subsequent page position, the free regularization unit can take the missing posture fold of the front left hydraulic page as the front missing posture fold, and take the subsequent left hydraulic page in the same direction as The rear-mounted unidirectional hinges are arranged to form a left-facing return hinge, enabling the support control module to generate a left-wind-induced free return code based on the return hinges. This allows the left-side hydraulic support to enter the hinge and maintain its position, while the right-side hydraulic support enters the hinge and follows. Therefore, the current module achieves the purpose of distinguishing between the static start-up continuous load-bearing state and the wind-induced free state, determining the wind-induced return hinge position, and determining the timing of hydraulic support intervention. Compared to directly using the entire travel hinge track as the basis for hydraulic control, the current solution allows hydraulic control commands to be output around the wind-induced return process formed by the front-mounted missing-position hinges and the rear-mounted unidirectional hinges. This improves the problems of mixed lateral attitude judgment of the load-bearing beam, premature or delayed action of the left and right hydraulic supports, and unclear support and following direction under wind conditions.

[0113] Example 5

[0114] Please refer to Figure 2 Specifically: the support control module includes a reconnection identification unit and a lateral positioning unit;

[0115] The reconnection identification unit is used to extract the front missing pose fold and the rear same-direction fold in the reconnection page, read the hydraulic page orientation of the front missing pose fold, and obtain the first code point and the second code point according to the following rules:

[0116] When the hydraulic page direction is leftward, the first code bit is the left return page direction code;

[0117] When the hydraulic page direction is right-hand, the first code bit is the right-back page direction code;

[0118] Read the folding types of the front missing-position fold and the rear same-direction fold respectively, and record the folding type of the front missing-position fold in the front page type field and the folding type of the rear same-direction fold in the rear page type field; when the folding type of the front missing-position fold is missing-position fold and the folding type of the rear same-direction fold is same-direction fold, the second code bit is taken as the missing-position same-direction return type code;

[0119] Arrange the code positions according to the order of the first code position first and the second code position last to form the wind-induced free return code; wherein, the wind-induced free return code is a two-segment code, the first segment is the first code position, and the second segment is the second code position;

[0120] When the first code position is the left return page direction code and the second code position is the missing posture same direction return type code, the wind-induced free return code is the left wind-induced free return code.

[0121] When the first code position is taken as the right return page direction code and the second code position is taken as the missing posture same direction return type code, the wind-induced free return code is taken as the right wind-induced free return code;

[0122] When no return page is read, the first code bit is taken as the empty page direction code, and the second code bit is taken as the empty return type code; the code bits are arranged according to the order of the first code bit first and the second code bit last to form the wind-induced free return code, and the wind-induced free return code is taken as the reserved code.

[0123] The positioning unit is used to read the first and second code bits in the wind-induced free return code when the wind-induced free return code is taken as either a left or right wind-induced free return code. When the first code bit is a left return page direction code, the return page direction is recorded as left; when the first code bit is a right return page direction code, the return page direction is recorded as right. When the second code bit is a missing posture same direction return type code, the front missing posture fold and the rear same direction fold in the return page are read.

[0124] The hydraulic support side to which the return page is located is designated as the primary support side, and the hydraulic support side opposite to the primary support side is designated as the secondary support side.

[0125] When the wind-induced free return code is the left wind-induced free return code, control the first moving support side to enter the hinge holding action;

[0126] Folding holding action: Maintain the hydraulic support state of the first moving support side within the current bearing fold, stop the left hydraulic support from performing unloading or retraction to the right within the current folding sequence, and when the folding sequence of the subsequent same-direction fold is read, control the right hydraulic support to enter the folding following action, so that the right hydraulic support supports and follows along the left direction, and cooperates with the left hydraulic support to provide stable support for the left-direction wind return process of the load-bearing beam;

[0127] When the wind-driven free return code is the right wind-driven free return code, control the follow-up support side to enter the folding follow-up action;

[0128] Folding Follow Action: The follower support side performs a following support action along the return page direction, stops the right hydraulic support from performing unloading or retraction actions to the left within the current folding sequence position, and when the folding sequence position of the subsequent same-direction fold is read, controls the left hydraulic support to enter the folding follow action, so that the left hydraulic support supports and follows along the right direction, and cooperates with the right hydraulic support to provide stable support for the rightward wind return process of the load-bearing beam;

[0129] When the wind-driven free return code is a reserved code, the hydraulic support mechanism maintains the current transport control state.

[0130] In this embodiment, after the free reconnection module obtains the reconnection page, the support control module, through the reconnection identification unit, first analyzes the front missing-position fold and the rear same-direction fold in the reconnection page. It reads the hydraulic page direction of the front missing-position fold, and when the hydraulic page direction is left, it sets the first code bit to the left reconnection page direction code; when the hydraulic page direction is right, it sets the first code bit to the right reconnection page direction code. Simultaneously, it reads the fold type of the front missing-position fold and the fold type of the rear same-direction fold, respectively. The fold type of the front missing-position fold is recorded in the front page type field, and the fold type of the rear same-direction fold is recorded in the back page type field. The type is recorded in the subsequent page type field. When the folding type of the preceding missing-position fold is a missing-position fold and the folding type of the subsequent same-direction fold is a same-direction fold, the second code position is taken as the missing-position same-direction return type code. Then, the code positions are arranged in the order of the first code position first and the second code position last to form the wind-induced free return code. When the first code position is taken as the left return page direction code and the second code position is taken as the missing-position same-direction return type code, the wind-induced free return code is taken as the left wind-induced free return code. When the first code position is taken as the right return page direction code and the second code position is taken as the missing-position same-direction return type code, the wind-induced free return code is taken as the right... When no return page is read, the wind-induced free return code is retained. Subsequently, the positioning unit reads the first and second code bits from the wind-induced free return code, determines the return page direction based on the first code bit, and designates the hydraulic support side where the return page direction is located as the primary support side, and the hydraulic support side opposite to the primary support side as the secondary support side. When the wind-induced free return code is a left wind-induced free return code, the left hydraulic support is designated as the primary support side and enters the folding holding action, maintaining the left hydraulic support in the current bearing fold. Within the hydraulic support state, the left hydraulic support stops unloading or retracting to the right within the current folding sequence position. When the folding sequence position of the subsequent folding in the same direction is read, the right hydraulic support enters the folding follow-up action, supporting and following along the left direction. When the wind-induced free return code is the right wind-induced free return code, the right hydraulic support undertakes stable support during the right-direction wind return process, and the left hydraulic support supports and follows along the right direction. When the wind-induced free return code is the reserved code, the hydraulic support mechanism maintains the current transport control state. Through the current implementation method, the support control module can convert the front-position missing-position folding, rear-position same-direction folding, and return-to-position folding direction into left-wind-induced free return-to-position codes, right-wind-induced free return-to-position codes, or retention codes. Then, it can convert the wind-induced free return-to-position codes into folding hold actions, folding follow actions, or maintaining the current transport control state. This allows the hydraulic support mechanism to no longer control the left and right hydraulic supports solely based on manual judgment or fixed rules. Instead, it selects the first-moving support side and the following support side based on the wind-induced return-to-position process formed by the load-bearing beam during the travel phase. This achieves the purpose of clarifying the hydraulic support intervention direction, limiting unloading or retraction actions, and stabilizing the lateral posture of the load-bearing beam. It also improves the problems of unclear action sequence of the left and right hydraulic supports, difficulty in timely restraint of the lateral sway of the load-bearing beam, and misjudgment of the support direction under wind conditions during the transport of large-volume track beams.

[0131] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended technical solutions and their equivalents.

Claims

1. A wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle, characterized in that: It includes a bearing sampling module, a static start-up stacking module, a free reconnection module, and a support control module; The load sampling module reads the left and right hydraulic support feedback and the lateral attitude feedback of the load-bearing beam by sampling sequence number, and compares them to obtain hydraulic differential sequence and attitude differential sequence. After page segmentation, hydraulic side page and attitude side page are formed. The load fold page is synthesized according to the hydraulic page direction and attitude page direction, and is divided into static fold page shadow track, starting fold page shadow track and traveling fold page shadow track. The static start overlapping module uses the end bearing fold of the static folding track and the front bearing fold of the starting folding track as a reference. It extracts bearing folds with the same folding type and hydraulic direction according to the page position order, forming static reverse page column and starting forward page column. It then compares the overlapping page column position by position to obtain the overlapping page column. When there are overlapping pages in the overlapping page column, it is determined to be a static start overlapping page pattern. The free reconnection module uses the overlapping page type and overlapping page direction in the static overlapping page pattern as the reference page type and reference page direction, respectively. It removes the carrying pages in the walking folding shadow track that are consistent with the reference page type and reference page direction to obtain the free folding shadow track. After segmenting the carrying pages in the free folding shadow track, it extracts the front missing pose folds and the rear same direction folds in each segment and arranges them as reconnection pages according to the page position order. The support control module extracts the front missing-position fold and the rear same-direction fold from the return page and constructs the first code position and the second code position. The first code position is arranged in front and the second code position is arranged behind to form the wind-induced free return code. The hydraulic control command is executed according to the wind-induced free return code.

2. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 1, characterized in that: The bearing sampling module includes a feedback sampling unit, a differential stabilizing unit, and a page folding and track splitting unit; The feedback sampling unit is used to enter the shipping load reaction sampling state after the large volume track beam is placed on the load-bearing part of the transport vehicle and both the left and right hydraulic supports are in the supporting state. The sampling unit marks the sampling sequence number according to the sampling order and reads the feedback of the left hydraulic support, the feedback of the right hydraulic support and the lateral attitude feedback of the load-bearing beam at each sampling point. Based on the sampling sequence number, the hydraulic support feedback is processed by side differential processing to obtain the hydraulic differential sequence; Side differential processing: Under the same sampling number, the left hydraulic support feedback and the right hydraulic support feedback are compared. If the sampling number of the left hydraulic support feedback is greater than that of the right hydraulic support feedback, the left hydraulic differential is obtained. If the sampling number of the right hydraulic support feedback is greater than that of the left hydraulic support feedback, the right hydraulic differential is obtained. If the sampling number of the left hydraulic support feedback and the right hydraulic support feedback are equal, the flat hydraulic differential is obtained. The lateral attitude feedback is processed by lateral segmentation based on the sampling sequence number to obtain the attitude segmentation sequence. Lateral image processing: The left attitude image is obtained when the lateral attitude feedback points to the left, the right attitude image is obtained when the lateral attitude feedback points to the right, and the horizontal attitude image is obtained when the lateral attitude feedback does not point to the left or the right.

3. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 2, characterized in that: The differential stabilization unit, based on the hydraulic differential sequence and the attitude differential sequence, marks a single right differential between two left differentials as a left clipping clip and a single left differential between two right differentials as a right clipping clip. The left clipping clip is merged into the adjacent left differential, and the right clipping clip is merged into the adjacent right differential, thus obtaining the hydraulic stabilization sequence and the attitude stabilization sequence. Then, the hydraulic differentials and attitude differentials with consecutive sampling numbers and the same side in the hydraulic stabilization sequence and the attitude stabilization sequence are merged to form hydraulic side pages and attitude side pages.

4. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 3, characterized in that: The folding and track-splitting unit is used to organize page segments based on the merging results of hydraulic differential plates and attitude differential plates to obtain hydraulic page orientation and attitude page orientation, as follows; When a hydraulic side panel is formed by merging left hydraulic differential plates, the hydraulic direction is taken as the left hydraulic direction; when a hydraulic side panel is formed by merging right hydraulic differential plates, the hydraulic direction is taken as the right hydraulic direction; when a flat hydraulic differential plate is incorporated into a hydraulic side panel, the flat hydraulic differential plate follows the hydraulic direction of the incorporated hydraulic side panel and does not change the hydraulic direction of the hydraulic side panel. When an attitude side page is formed by merging left attitude differentials, the attitude page orientation is taken from the left attitude page orientation; when an attitude side page is formed by merging right attitude differentials, the attitude page orientation is taken from the right attitude page orientation; when a horizontal attitude differential is incorporated into an attitude side page, the horizontal attitude differential follows the attitude page orientation of the attitude side page into which it is incorporated, without changing the attitude page orientation of the attitude side page. Starting with the hydraulic side page, read the first attitude side page that is after the current hydraulic side page and before the next hydraulic side page from the attitude side page, and combine the current hydraulic side page and the first attitude side page into a load-bearing fold. When the load-bearing hinge is composed of a hydraulic side panel and an attitude side panel, and the hydraulic side panel is aligned with the attitude side panel, the current load-bearing hinge type is a unidirectional hinge. When the load-bearing hinge is composed of a hydraulic side panel and an attitude side panel, and the hydraulic side panel is oriented in the opposite direction to the attitude side panel, the current load-bearing hinge type is a reverse hinge. When the bearing flap is synthesized by the hydraulic side page alone and no attitude side page is read after the current hydraulic side page and before the next hydraulic side page, the flap type of the current bearing flap is a pose-deficient flap; Arrange each load-bearing hinge along the sampling sequence number of the hydraulic side page to obtain the load-bearing hinge image track, and then divide the load-bearing hinge image track into a stationary hinge image track, a starting hinge image track, and a traveling hinge image track.

5. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 4, characterized in that: The static start-up overlapping module includes an end page column extraction unit and an overlapping pattern unit; The end-page retrieval unit is used to take the carrying fold at the end of the stationary folding track as the reference fold for the end page. Starting from the reference fold, it reads the carrying folds in the stationary folding track from back to front according to the page position order. It extracts the carrying folds whose fold type is the same as the reference fold and whose hydraulic page direction is the same as the reference fold. It arranges them according to the original page position order in the stationary folding track to obtain the stationary end page segment. Then, it arranges the carrying folds in the stationary end page segment in a back-to-forward order to form a stationary reverse page column. The first carrying fold in the stationary reverse page column is the reference fold for the end page. Using the leading edge of the starting folding track as the reference fold for the first page, and taking the reference fold for the first page as the starting point, the reference folds in the starting folding track are read from front to back according to the page position order. The reference folds with the same fold type as the reference fold for the first page and the same hydraulic page direction as the reference fold for the first page are extracted and arranged according to the original page position order in the stationary folding track to obtain the starting first page segment. The pages in the starting page section are arranged from front to back according to their page position order to form the starting forward page column; the first page in the starting forward page column is the homepage reference page.

6. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 5, characterized in that: The overlapping pattern unit is used to mark the overlapping sequence number of the carrying folds in the stationary reverse page column and the starting forward page column respectively; wherein, the first carrying fold in the stationary reverse page column and the starting forward page column is marked as the first overlapping sequence number; Using the overlap sequence number as an index, perform overlap processing on the stationary reverse page column and the starting forward page column; Overlapping Process: The load-bearing fold at the current overlap sequence number in the stationary reverse page column is taken as the stationary fold to be overlapped, and its fold type and hydraulic orientation are extracted. At the same time, the load-bearing fold at the same overlap sequence number in the starting forward page column is taken as the starting fold to be overlapped, and its fold type and hydraulic orientation are extracted. When the stationary fold to be overlapped and the starting fold to be overlapped have the same fold type and the same hydraulic orientation, the stationary fold to be overlapped and the starting fold to be overlapped are combined into an overlapped page. The overlapping process is performed bit by bit according to the overlap sequence number to obtain the overlapped page column. If there are overlapping pages in the overlapping page column, mark the current overlapping page column as a statically activated overlapping page pattern; otherwise, mark the overlapping page column as an empty statically activated overlapping page pattern. The static opening overlapping page pattern includes overlapping page type, overlapping page direction, and overlapping page position; Among them, the overlapping page type indicates the fold type shared by the stationary fold to be overlapped and the starting fold to be overlapped; the overlapping page direction indicates the hydraulic page direction shared by the stationary fold to be overlapped and the starting fold to be overlapped; the overlapping page position indicates the position of the current overlapping page in the stationary reverse page column and the starting forward page column.

7. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 6, characterized in that: The free reconnection module includes a continuous rejection unit and a free regularization unit; The continuation rejection unit is used to record the overlapping page pattern of the static overlapping page pattern as the reference page pattern, and read each carrying page in the walking folding shadow track according to the page position order. When the fold type of the carrying page is the same as the reference page pattern and the hydraulic page direction of the carrying page is the same as the reference page direction, the current carrying page is marked as an overlapping continuation page, all overlapping continuation pages are removed from the walking folding shadow track, and the carrying pages that are not marked as overlapping continuation pages are arranged according to the original page position order to obtain the free folding shadow track.

8. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 7, characterized in that: The free-aligning unit is used to take the first load-bearing fold in the free-aligning fold track as the starting fold, and extract the load-bearing folds after the starting fold whose fold type is consistent with the current starting fold and whose hydraulic page direction is consistent with the current starting fold, and arrange them into free-aligning segments according to the page position order; When a load-bearing fold is extracted whose fold type is inconsistent with the fold type of the current starting fold, or whose hydraulic fold direction is inconsistent with the hydraulic fold direction of the current starting fold, the current free regularization segment sorting ends, and the current load-bearing fold is used as the starting fold of the next free regularization segment for iteration; Within the current free-form section, load-bearing folds with missing orientation are read according to page position order. Starting from the previous missing orientation fold, the load-bearing folds with the same orientation type and hydraulic page direction consistent with the hydraulic page direction of the previous missing orientation fold are extracted from the load-bearing folds after the previous missing orientation fold. These are recorded as subsequent same orientation folds. The previous missing orientation fold and the subsequent same orientation fold are arranged as back pages according to page position order.

9. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 8, characterized in that: The support control module includes a reconnection identification unit and a lateral positioning unit; The reconnection identification unit is used to extract the front missing pose fold and the rear same-direction fold in the reconnection page, read the hydraulic page orientation of the front missing pose fold, and obtain the first code point and the second code point according to the following rules: When the hydraulic page direction is leftward, the first code bit is the left return page direction code; When the hydraulic page direction is right-hand, the first code bit is the right-back page direction code; Read the folding types of the front missing-position fold and the rear same-direction fold respectively, and record the folding type of the front missing-position fold in the front page type field and the folding type of the rear same-direction fold in the rear page type field; when the folding type of the front missing-position fold is missing-position fold and the folding type of the rear same-direction fold is same-direction fold, the second code bit is taken as the missing-position same-direction return type code; Arrange the code positions according to the order of the first code position first and the second code position last to form the wind-induced free return code; When the first code position is the left return page direction code and the second code position is the missing posture same direction return type code, the wind-induced free return code is the left wind-induced free return code. When the first code position is taken as the right return page direction code and the second code position is taken as the missing posture same direction return type code, the wind-induced free return code is taken as the right wind-induced free return code; When no return page is read, the first code bit is taken as the empty page direction code, and the second code bit is taken as the empty return type code; the code bits are arranged according to the order of the first code bit first and the second code bit last to form the wind-induced free return code, and the wind-induced free return code is taken as the reserved code.

10. The wind-adaptive hydraulic stability control system for a large-volume track beam transport vehicle according to claim 9, characterized in that: The positioning unit is used to read the first and second code bits in the wind-induced free return code when the wind-induced free return code is taken as either a left or right wind-induced free return code. When the first code bit is a left return page direction code, the return page direction is recorded as left; when the first code bit is a right return page direction code, the return page direction is recorded as right. When the second code bit is a missing posture same direction return type code, the front missing posture fold and the rear same direction fold in the return page are read. The hydraulic support side to which the return page is located is designated as the primary support side, and the hydraulic support side opposite to the primary support side is designated as the secondary support side. When the wind-induced free return code is the left wind-induced free return code, control the first moving support side to enter the hinge holding action; Fold holding action: Maintain the hydraulic support state of the first moving support side within the current bearing fold, stop the left hydraulic support from performing the unloading or retraction action to the right within the current fold sequence position, and when the fold sequence position of the subsequent same-direction fold is read, control the right hydraulic support to enter the fold following action; When the wind-driven free return code is the right wind-driven free return code, control the follow-up support side to enter the folding follow-up action; Folding Follow Action: The follower support side performs a following support action along the return page direction, stops the right hydraulic support from performing unloading or retraction to the left within the current folding sequence position, and controls the left hydraulic support to enter the folding follow action when the folding sequence position of the subsequent same-direction fold is read. When the wind-driven free return code is a reserved code, the hydraulic support mechanism maintains the current transport control state.

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