Intelligent displacement and deviation control method for building

Abstract

The present invention provides an intelligent displacement and deviation control method for a building. A mode of alternately moving two sets of jacking displacement mechanisms is adopted; the real-time position of each jacking displacement mechanism is positioned by means of a laser emitter, a vision sensor is used to monitor the deviation of the jacking displacement mechanisms in real time, a real-time correction parameter is calculated online, and a computer is used to control the jacking displacement mechanisms to perform correction before each half-step movement. The method is simple, reliable, and effective, achieving intelligent and automatic movement of the building, eliminating errors generated during movement in real time, and improving the operating efficiency and quality.

Description

Intelligent building displacement and deviation control method TECHNICAL FIELD

[0001] The present application relates to the field of building displacement construction, in particular to an intelligent building displacement and deviation control method. BACKGROUND

[0002] With the rapid development of urbanization in China, urban planning is changing rapidly. In order to adapt to the new urban planning, it is necessary to transfer the existing buildings to a suitable location for reuse. Therefore, building displacement technology has very positive social and economic significance.

[0003] The basic principle and technical treatment of existing building displacement are as follows: the building is cut along a certain plane at the lower part and separated from the foundation to form a movable "object", and a support structure is formed during movement by setting a underpinning beam and other structures at the cut of the building to be displaced; at the same time, a new foundation is set at the target position, a walking track and a walking mechanism are set between the new and old foundations, and power is applied to make the building move along the preset walking track to the new foundation, the new and old structures are connected, and the walking mechanism and walking track are removed, and the displacement work is completed. Due to the large size of the building and poor deformation resistance, the coordination of the existing building displacement construction is often poor, the walking route processing and walking track technical measures are difficult to implement, have low precision and poor effect.

[0004] In view of these problems, relevant experts and engineering and technical personnel have proposed a walking device and a building walking type translation method based on the walking device. The walking device mainly consists of a base, a friction pair, a sliding seat, a jacking device, a pushing device and a suspension wheel. When working, the building is lifted by the jacking device. Since the friction coefficient between the friction pair on the base and the sliding seat is much smaller than the friction coefficient between the base and the road surface, the pushing device can push the sliding seat and the jacking device on it to slide on the base, thereby realizing the displacement of the lifted building. This walking device has certain adaptability to the flatness of the walking surface. By controlling the working state of two groups of walking devices arranged in line alternately, the building is equipped with walking "legs", which can move according to computer instructions for translation or rotation, realize walking displacement, and do not need to set special tracks for traditional pushing or traction sliding construction, only need to ensure that the walking path has sufficient bearing capacity and the road surface is basically flat, which can better adapt to the uneven settlement of the road surface during walking, and cleverly realizes the long-distance displacement and reconstruction of the existing building.

[0005] For example, the Chinese patent application with publication number CN109339465A proposes a walking device, which includes a base, a sliding seat, a sliding pair, a suspension wheel, a pushing cylinder, a lifting cylinder, a hoop, a top connecting plate, a reverse hook plate, a guide plate and a vertical guide plate. During operation, the components are vertically lifted by the lifting cylinder and horizontally pushed by the pushing cylinder. The pushing force of the cylinder acts between the base and the sliding seat. Since the friction coefficient of the base on the track is much larger than that of the friction pair between the base and the sliding seat, the base will sit on the track and will not move, and the sliding seat will move horizontally with the lifting cylinder, thereby moving the components together.

[0006] In addition, the Chinese patent application with publication number CN110158990A proposes a building alternating step walking translation method. In this method, the walking device is divided into two groups A and B. Under the operation of the computer synchronous control system, the vertical cylinders of group A are lifted to a floating height, the pushing cylinders of group A are synchronously pushed for one stroke, the vertical cylinders of group B are lifted for replacement, the vertical cylinders of group A are retracted, the pushing cylinders of group A are retracted, the pushing cylinders of group B are lifted for one stroke, the vertical cylinders of group A are lifted for replacement, the pushing cylinders of group A are synchronously pushed for one stroke, and the process is repeated until the building is moved to the designated position.

[0007] However, the walking device and the building alternating step walking translation method in the above-mentioned prior art still have the following technical limitations: 1. The walking direction needs to be manually adjusted before each step of the building displacement process; 2. The building needs to be rotated and translated, and the walking direction needs to be manually adjusted in real time according to the walking route during the translation process; 3. The lateral displacement deviation of the building needs to be manually adjusted to achieve the lateral displacement of the building. Generally, limiting measures need to be taken for the lateral displacement. Therefore, the deviation that occurs during the building displacement construction process needs to be adjusted in time to avoid accumulated errors.

[0008] The Chinese patent application with the publication number CN110067404A proposes a deviation correction system for building translation construction and a deviation correction method thereof, which is used to solve the problem of lateral displacement deviation of the building during displacement. The system mainly uses displacement sensors to collect the lateral deviation data of the tray beam in real time, and uses a hydraulic control system to connect the displacement sensors and the deviation correction jacks to receive the data collected by the displacement sensors and control the deviation correction jacks. This method requires additional deviation correction jacks, and the entire device is more complex. In addition, the displacement sensor has a single function and is easily affected by external pollution or other factors, which affects the measurement accuracy. The displacement sensor may also need additional calibration or adjustment in some complex or changing environments. Therefore, the deviation correction method disclosed in CN110067404A also has certain limitations. In summary, although the above walking device, building translation method and deviation correction method have made significant progress compared with the traditional technical solutions, there is still a lot of room for improvement in terms of intelligence, automation, efficiency, quality control, etc.

[0009] SUMMARY

[0010] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a building intelligent displacement and deviation control method to improve work efficiency and realize intelligent walking and precise control of displacement deviation of the building.

[0011] The technical scheme adopted by the present application to solve its technical problems is:

[0012] A building intelligent displacement and deviation control method, comprising the steps of:

[0013] S1. Providing a displacement auxiliary device comprising a displacement monitoring system and a jacking displacement mechanism, wherein the displacement monitoring system comprises a computer, a laser emitter and a vision sensor; the jacking displacement mechanism comprises a base, a sliding seat slidably connected with the base, a jacking device arranged on the sliding seat, a pusher connected with the base and the sliding seat, a top connecting plate connected with the jacking device, and a steering unit arranged on the jacking device;

[0014] S2. Determining the walking route of the building to be displaced from the initial position to the target position, and setting the walking mark line;

[0015] S3. Determining the number and arrangement of the jacking displacement mechanism according to the self-weight of the building and the arrangement of the structure; dividing the jacking displacement mechanism into a first group of jacking displacement mechanisms and a second group of jacking displacement mechanisms, and arranging the first and second groups of jacking displacement mechanisms symmetrically around the columns of the building along the walking route;

[0016] S4. Arranging a displacement monitoring system; a laser emitter is arranged on the base of the jacking displacement mechanism, the laser emitter projects a laser beam vertically downward, forming a light spot on the road surface; a visual sensor is arranged at a proper position at the bottom of the building to be displaced, for monitoring the relative position relationship between the light spot and the walking mark line;

[0017] S5. The computer controls the jacker of the first group of jacking displacement mechanisms to jacking the building being lifted, the second group of jacking displacement mechanisms is lifted in suspension, and then controls the pusher of the first group of jacking displacement mechanisms to push the sliding seat to move on the base by a pushing stroke, so as to drive the jacker on the sliding seat and the building being lifted to move by a pushing stroke together, thereby completing the first half step walking of the building;

[0018] S6. After the first group of jacking displacement mechanisms completes the pushing stroke, the position of the second group of jacking displacement mechanisms suspended on the building is identified for deviation; the laser emitter of the base of the second group of jacking displacement mechanisms projects a light spot downward, the relative position relationship between the light spot and the walking mark line is measured by the visual sensor, and the deviation error of the second group of jacking displacement mechanisms from the walking mark line is calculated;

[0019] S7. The position of the building is corrected for deviation; the computer controls the steering unit of the second group of jacking displacement mechanisms to rotate by a certain angle to eliminate the deviation error;

[0020] S8. After the second group of jacking displacement mechanisms rotates into position, the computer controls the jacker of the second group of jacking displacement mechanisms to jacking upward to support the building, the jacker and the pusher of the first group of jacking displacement mechanisms are retracted to the initial state, thereby making the first group of jacking displacement mechanisms suspended on the building, and then controls the pusher of the second group of jacking displacement mechanisms to push forward, pushing the sliding seat to move on the base by a pushing stroke, so as to drive the jacker on the sliding seat and the building being lifted to move by a pushing stroke together, thereby completing the second half step walking of the building; thus, one walking step of the building is completed;

[0021] S9. After the second group of jacking displacement mechanisms completes the pushing stroke, the position of the first group of jacking displacement mechanisms is identified for deviation according to the steps of S6-S7, the first group of jacking displacement mechanisms is corrected for deviation according to the deviation identification, and the steering unit of the first group of jacking displacement mechanisms is controlled to rotate by a certain angle to eliminate the deviation error;

[0022] S10. After the first group of jacking displacement mechanisms rotates into position, the steps of S5-S9 are repeated until the building moves from the initial position to the target position.

[0023] Preferably, in step S1, the jacker is a jacking oil cylinder arranged in the vertical direction, and the pusher is a pushing oil cylinder arranged in the horizontal direction.

[0024] Preferably, in step S1, the turning unit of the jacking displacement mechanism comprises a motor, a rotating gear, a driven wheel, a follower guide rod and a follower ring; the driven wheel is fixedly sleeved on the circumference of the jacking body, the follower ring is supported on the driven wheel and can freely rotate relative to the jacking body; the follower guide rod is composed of an upper small pipe and a lower large pipe, the length of the follower guide rod can be extended or retracted with the action of the telescopic cylinder of the jacking body, the upper end of the upper small pipe of the follower guide rod is connected with the top connecting plate, the lower large pipe is connected with the follower ring, the lower end of the follower guide rod is provided with the motor and the rotating gear, the rotating gear and the driven wheel are engaged with each other, and when the jacking displacement mechanism is suspended on the building, the rotating gear is driven to rotate by the motor, thereby driving the driven wheel to rotate, so that the jacking displacement mechanism rotates relative to the building.

[0025] Preferably, in step S1, the jacking displacement mechanism further comprises a suspension wheel, and the suspension wheel is arranged around the base, and when the jacking displacement mechanism supports the upper building, the position of the suspension wheel is not lower than the bottom surface of the base; when the jacking body is in the cylinder-retracted state and the jacking displacement mechanism is suspended on the building, the suspension wheel is lowered to be out of the bottom surface of the base and is supported on the road surface, thereby facilitating the retraction of the jacking displacement mechanism.

[0026] Preferably, in step S2, the planning of the walking route follows the principles of shortest distance and obstacle avoidance, and the displacement of the building can include translation, rotation or a combination of the two.

[0027] Preferably, in step S2, the roadbed and pavement of the walking route are pretreated to make the pavement basically flat and ensure that the bearing capacity and deformation of the roadbed meet the requirements of supporting the jacking displacement mechanism and the building lifted by the jacking displacement mechanism.

[0028] Preferably, in step S3, the first group of jacking displacement mechanisms and the second group of jacking displacement mechanisms can have the same specifications, and the first and second groups of jacking displacement mechanisms respectively independently meet the requirements of supporting and horizontally displacing the building.

[0029] Preferably, in step S4, the laser emitter is arranged at both ends of the base of the jacking displacement mechanism along the direction of the walking route, the laser emitter vertically projects a laser beam downward to form a first light point and a second light point on the road surface, and the visual sensor is used to monitor the relative positional relationship between the connecting line between the first light point and the second light point and the walking mark line.

[0030] Preferably, in steps S6-S7, the deviation error of the connecting line between the first light point and the second light point and the walking mark line includes the rotation angle of the connecting line relative to the walking mark line and the offset distance of the connecting line relative to the walking mark line, and when the rotation angle is less than a certain angle or the offset distance is less than a certain value, no correction is performed.

[0031] Preferably, in steps S6-S7, the deviation of the first light spot relative to the walking mark line is denoted as Δ1, the deviation of the second light spot relative to the walking mark line is denoted as Δ2, the distance between the first light spot and the second light spot is denoted as L, one jacking stroke is denoted as l, the angle of the connecting line relative to the walking mark line is denoted as α, and the offset distance of the connecting line relative to the walking mark line is denoted as d, then the angle α and the offset distance d satisfy the following formula:

[0032] In order to eliminate the angle error, the computer should control the steering unit to rotate by an angle of -α; in order to eliminate the offset error, the computer should control the steering unit to rotate by an angle of β, wherein β satisfies the following formula:

[0033] That is,

[0034] Therefore, in order to eliminate the offset error, the computer should control the steering unit to rotate by an angle of θ, wherein

[0035] Wherein the deviation of the light spot relative to the walking mark line is negative on the left side of the walking mark line and positive on the right side, and the angle of the connecting line relative to the walking mark line is negative counterclockwise and positive clockwise.

[0036] Preferably, in step S7, no correction is made when the angle α is less than 0.3°, and no correction is made when the offset distance d is less than 2mm.

[0037] Compared with the prior art, the present application has the following beneficial effects:

[0038] The present application adopts the mode of alternating walking of two groups of jacking displacement mechanisms, positions the real-time position of the jacking displacement mechanism through a laser emitter, monitors the offset of the jacking displacement mechanism in real time through a visual sensor, and corrects the parameters in real time through a parallel computer, so that the jacking displacement mechanism is controlled by the computer to correct before walking in each half step, the method is simple, reliable and effective, the intelligent and automatic walking of the building is realized, the error generated in the walking process can be eliminated in real time, and the operation efficiency and operation quality are improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Fig. 1 is a perspective view of a displacement auxiliary device in a building intelligent displacement and deviation control method according to an embodiment of the present application;

[0041] Fig. 2 is a schematic diagram of a building walking route planning according to one embodiment of the present application;

[0042] Fig. 3 is a partial elevation arrangement diagram of building displacement according to one embodiment of the present application;

[0043] Fig. 4 is a schematic diagram of a building walking displacement process one according to one embodiment of the present application;

[0044] Fig. 5 is a schematic diagram of a building walking displacement process two according to one embodiment of the present application;

[0045] Fig. 6 is a schematic diagram of a building walking displacement process three according to one embodiment of the present application;

[0046] Fig. 7 is a schematic diagram of a building walking displacement process four according to one embodiment of the present application;

[0047] Fig. 8 is a corner, offset error analysis diagram of a jacking displacement mechanism according to one embodiment of the present application;

[0048] Fig. 9 is a schematic diagram of a corner pre-offset and offset error relationship analysis according to one embodiment of the present application;

[0049] Fig. 10 is a schematic diagram of a corner pre-offset curve intelligent displacement deviation control according to one embodiment of the present application.

[0050] Reference Signs

[0051] 1 - jacking displacement mechanism; 11 - base; 12 - sliding seat; 13 - jack; 14 - pusher; 15 - top connecting plate; 16 - suspension wheel; 17 - rotating gear; 18 - driven wheel; 19 - follow-up guide rod; 20 - follow-up collar; 21 - initial position of the building to be displaced; 22 - target position of the building to be displaced; 23 - walking route; 24 - walking marker line; 31 - stand; 32 - group A jacking displacement mechanism; 33 - group B jacking displacement mechanism; 42 - laser emitter; 43 - laser beam; 44 - light spot; 131 - walking path of the jacking displacement mechanism. DETAILED DESCRIPTION

[0052] In order to enable the above-mentioned objects, features and advantages of the present application to be clearer, the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict. In the following description, a large number of specific details are described in order to facilitate a full understanding of the present application, and the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0054] In order for the reader to better understand the technical solutions of the method of the present application, before introducing the method of the present application, the intelligent displacement auxiliary device involved in the present application is disclosed.

[0055] Referring to FIG. 1, the intelligent displacement auxiliary device according to one embodiment of the present application comprises a displacement monitoring system and a jacking displacement mechanism 1. The displacement monitoring system comprises a computer (not shown), a laser emitter 42 and a visual sensor (not shown). The jacking displacement mechanism 1 comprises a base 11, a sliding seat 12 in sliding connection with the base 11, a jacking device 13 arranged on the sliding seat 12, a pusher 14 connecting the base 11 and the sliding seat 12, a top connecting plate 15 connected with the jacking device 13, a suspension wheel 16 fixed on the base 11, and a steering unit arranged on the jacking device 13. The laser emitter 42 is arranged at both ends of the base 11, preferably at the middle position of both ends of the base 11, and the laser emitter 42 can vertically project a laser beam 43 to form a light spot 44 on the road surface. The laser emitter 42 can be attached and fixed at the corresponding position of both ends of the base 11 of the jacking displacement mechanism 1, or a mounting hole can be formed at the corresponding position of both ends of the base 11 of the jacking displacement mechanism 1 for mounting the laser emitter 42. The visual sensor is arranged at a proper position at the bottom of the building to be displaced, and is used to monitor the relative position relationship between the light spot 44 projected by the laser emitter 42 and the walking mark line 24.

[0056] In the jacking displacement mechanism 1, the jacking cylinders 13 are connected with the top connecting plate 15 through a spherical hinge, and the top connecting plate 15 is fixedly connected with the building to be displaced. The base 11 and the sliding seat 12 are provided with a friction pair with a small friction coefficient. Since the friction coefficient between the base 11 and the sliding seat 12 is much smaller than the friction coefficient between the base 11 and the road surface, the jacking cylinders 13 can push the sliding seat 12 and the jacking cylinders 13 thereon to slide on the base 11, thereby realizing the horizontal displacement of the building to be jacked. In the embodiment, the jacking cylinders 13 are jacking oil cylinders arranged in the vertical direction, and the jacking cylinders 14 are jacking oil cylinders arranged in the horizontal direction.

[0057] The suspension wheels 16 are arranged around the base 11 and are used for leveling and assisting when the jacking displacement mechanism 1 is installed on the building. When the jacking displacement mechanism 1 supports the upper building, the position of the suspension wheels 16 is not lower than the bottom surface of the base 11; when the jacking cylinders 13 are in the retracted state and the jacking displacement mechanism 1 is suspended on the building, the suspension wheels 16 are lowered beyond the bottom surface of the base 11 and are supported on the road surface, thereby facilitating the retraction of the jacking cylinders 14 of the jacking displacement mechanism 1.

[0058] The steering unit of the jacking displacement mechanism 1 includes a motor, a rotating gear 17, a driven wheel 18, a follower guide rod 19, and a follower collar 20. The driven wheel 18 is fixedly sleeved on the top body of the jacking cylinder 13, the follower collar 20 is supported on the driven wheel 18, and the follower collar 20 can freely rotate relative to the top body of the jacking cylinder 13. The follower guide rod 19 is sleeved by an upper small pipe and a lower large pipe, and the length of the follower guide rod 19 can be freely extended and retracted within a certain range, thereby being extended and retracted along with the extension and retraction of the jacking cylinder 13. The upper end of the upper small pipe of the follower guide rod 19 is connected with the top connecting plate 15, the lower large pipe is connected with the follower collar 20, the lower end of the follower guide rod 19 is provided with the motor and the rotating gear 17, and the rotating gear 17 and the driven wheel 18 are engaged with each other. When the jacking displacement mechanism is suspended on the building, the rotating gear 17 is driven to rotate by the motor, thereby driving the driven wheel 18 to rotate, so that the jacking displacement mechanism is rotated relative to the building, thereby realizing the adjustment of the walking direction of the building.

[0059] FIG. 2 shows a schematic diagram of the building walking route planning according to an embodiment of the present application. According to the situation of the building to be displaced from the initial position 21 to the target position 22, the displacement can be translation, rotation, or a combination of the two. Generally, the walking route 23 is planned according to the principle of the shortest walking distance and obstacle avoidance. After the walking route 23 is determined, the roadbed and road surface along the walking route 23 should be pretreated to keep the road surface substantially flat, and the bearing capacity and deformation of the roadbed should meet the requirements of supporting the jacking displacement mechanism and the building to be jacked. Reference marks in the walking process of each group of jacking displacement mechanisms are arranged at the road surface and the like along the walking route 23 of the building. For example, the reference mark can be a walking mark line 24 painted on the road surface.

[0060] Figure 3 shows a partial elevation view of building displacement according to one embodiment of the present application, the jacking displacement mechanism 1 is generally arranged at the column 31 of the building. At the i-th column 31 of the building as the i-th supporting point of the jacking displacement mechanism 1, at least A group of jacking displacement mechanisms 32 and B group of jacking displacement mechanisms 33 should be arranged at the supporting point, both A and B groups of jacking displacement mechanisms 32, 33 are arranged in axial symmetry around the column 31 along the walking route. During the building displacement process, it is advisable to use the same specification jacking displacement mechanism, the horizontal jacking displacement direction is consistent with the building walking route, and the supporting and horizontal displacement capacity requirements of A and B groups of jacking displacement mechanisms 32, 33 for the building being lifted should be met respectively.

[0061] Figures 4 to 7 are schematic diagrams one to four of the building walking displacement process according to one embodiment of the present application, showing the specific steps of realizing building walking. Specifically, the intelligent walking displacement of the building is realized by computer control of the working state of A and B groups of jacking displacement mechanisms 32, 33 arranged in axial symmetry around the column 31 supporting the building at the bottom. First, as shown in Figure 4, the jacks 13 of A group of jacking displacement mechanisms 32 jacked the building being lifted upwards, at this time A group of jacking displacement mechanisms 32 supported the building, while the jacks of B group of jacking displacement mechanisms 33 were in the cylinder retraction state, whereby B group of jacking displacement mechanisms 33 hung on the building and lifted. Subsequently, as shown in Figure 5, the jacking pusher 14 of A group of jacking displacement mechanisms 32 extended the cylinder, pushed the sliding seat 12 to move the jacks 13 thereon and the building together on the base 11 by one jacking stroke, completing the first "half step" of the building walking. Then, the jacks 13 of B group of jacking displacement mechanisms 33 were controlled to jacking operation, gradually transferring the building load from A group of jacking displacement mechanisms 32 to B group of jacking displacement mechanisms 33, after the building load was completely transferred from A group of jacking displacement mechanisms 32 to B group of jacking displacement mechanisms 33, A group of jacking displacement mechanisms 32 and the jacking pusher 14 were controlled to retract the cylinder, so that A group of jacking displacement mechanisms hung on the building, as shown in Figure 6. Finally, as shown in Figure 7, the jacking pusher 14 of B group of jacking displacement mechanisms 33 extended the cylinder, pushed the sliding seat 12 to move the jacks 13 thereon and the building together on the base 11 by one jacking stroke, realizing the walking "step change", completing the second "half step" of the building walking. Thus, with the help of A and B groups of jacking displacement mechanisms, the building completes one walking step of walking.

[0062] By repeating the steps of Figures 4 to 7, the working state of A and B groups of jacking displacement mechanisms 32, 33 at the bottom of the building can be alternately controlled by the computer, so that the building can realize walking like having "two legs".

[0063] Figure 8 shows a diagram of the rotation angle and offset error analysis of the jacking displacement mechanism according to one embodiment of the present application. After the A group jacking displacement mechanism 32 completes the jacking extension stroke of the pusher 14, before the jacking operation of the B group jacking displacement mechanism 33 starts, the laser emitter 42 at both ends of the base 11 of the B group jacking displacement mechanism 33 projects the light points 44 downward, and measures the position relationship of the light points 44 relative to the walking mark line 24 through the visual sensor, to determine the offset of the displacement auxiliary device relative to the walking mark line 24. Assuming that the B group jacking displacement mechanism 33 is sequentially arranged with the first jacking displacement mechanism iB1 and the second jacking displacement mechanism iB2 at the ith support point, the laser emitter 42 arranged on the first jacking displacement mechanism iB1 projects the first light point 3311 and the second light point 3312 downward, and the deviations of the first light point 3311 and the second light point 3312 relative to the walking mark line 24 are denoted as Δ iB11 iB12 ; the laser emitter 42 arranged on the second jacking displacement mechanism iB2 projects the third light point and the fourth light point downward, and the deviations of the third light point and the fourth light point relative to the walking mark line 24 are denoted as Δ iB21 iB22 , and so on. It is assumed that the distance between the two light points 44 projected by the laser emitter 42 of each jacking displacement mechanism is L, and one jacking stroke of the pusher 14 is l. At the same time, it is assumed that the deviation of the light point 44 relative to the walking mark line 24 is negative on the left side of the walking mark line and positive on the right side, and the rotation angle of the axis of the jacking displacement mechanism 1 (i.e., the connecting line of the two light points) relative to the walking mark line is negative counterclockwise and positive clockwise.

[0064] Then, at the ith support point, the position relationship of the first jacking displacement mechanism iB1 in the B group jacking displacement mechanism relative to the walking mark line 24 can be determined as follows. The planar position of the first jacking displacement mechanism iB1 can be represented by the connecting line segment of the first light point 3311 and the second light point 3312 projected onto the road surface by the laser emitter 42 at both ends of the base 11, and its deviation relative to the walking mark line 24 includes a rotation angle and an offset distance, which can be derived from mathematical geometry knowledge as follows.

[0065] The rotation angle α is:

[0066] The offset distance d is:

[0067] Similarly, the deviation of all jacking displacement mechanisms relative to the walking mark line 24 can be regarded as a rotation angle α and an offset distance d. Then, the deviation of the second jacking displacement mechanism iB2 relative to the walking mark line 24 can be regarded as:

[0068] The rotation angle α is: ​​

[0069] The offset distance d is:

[0070] Before each step walking, i.e. after a set of jacking displacement mechanisms 1 complete the jacking cylinder extension stroke of the pusher 14, the deviation of a set of jacking displacement mechanisms suspended on the building at each support point is monitored, identified and analyzed before the jacking cylinder 13 of another set of jacking displacement mechanisms 1 starts jacking operation, and then correction is performed according to the deviation of the jacking displacement mechanisms 1.

[0071] Taking the step walking of the jacking displacement mechanisms in group B at the i th support point as an example.

[0072] For the rotation error, when the rotation angle a is less than a certain value, generally the rotation angle a is less than 0.3° and no correction is performed; when the rotation angle a is greater than 0.3°, the jacking displacement mechanisms 1 are reversed by computer instructions to eliminate the rotation error, i.e. the rotation angle a' of the jacking displacement mechanisms 1 is controlled to be:

[0073] For the offset error, when the offset distance d is less than a certain value, generally less than 2mm and no correction is performed. When the offset distance d is greater than 2mm, the offset error is corrected by the following method. As shown in FIG. 9, the offset error identified and calculated is eliminated by the reverse rotation of the jacking displacement mechanisms 1 and the following jacking stroke of the jacking displacement mechanisms 1. According to mathematical knowledge, the angle b of rotation to eliminate the offset error in one jacking stroke l is:

[0074] After the offset error is eliminated, the offset error correction rotation angle is restored before the next jacking stroke of the jacking displacement mechanisms 1.

[0075] According to the above formula, the rotation angle of the jacking displacement mechanisms iB1 and iB2 for offset error correction is:

[0076] Therefore, before the jacking displacement mechanisms 33 in group B are about to step walk, the first jacking displacement mechanisms iB1 and the second jacking displacement mechanisms iB2 are respectively rotated by computer instructions

[0077] The jacking displacement mechanisms 1 are rotated to the position by the steering unit, and then the step walking is started. The jacking cylinders 13 and the pushers 14 of the jacking displacement mechanisms 33 in group B are jacked and pushed, and the jacking cylinders 13 and the pushers 14 of the jacking displacement mechanisms 32 in group A are retracted to the initial state.

[0078] Similarly, when the B group of jacking displacement mechanisms 33 completes a jacking stroke and walks a half step, the deviation of the A group of jacking displacement mechanisms 32 relative to the walking marker line 24 is monitored, identified and analyzed before the step change is started, and the step change is walked after correction. At this point, the deviation control process of the intelligent walking displacement of the building is completed.

[0079] When the offset error is large, it can also be divided into multiple jacking strokes to gradually eliminate the offset error. For example, when it needs to be divided into n jacking strokes to gradually eliminate, before the B group of jacking displacement mechanisms 33 is about to change steps, the first jacking displacement mechanism iB1 and the second jacking displacement mechanism iB2 are controlled by computer instructions to rotate respectively:

[0080] Similarly, the remaining offset error is gradually eliminated in the subsequent jacking strokes of the A group and the B group of jacking displacement mechanisms 32 and 33.

[0081] In particular, when the building rotates and displaces or displaces along a curve, the walking route deviation control can be more accurate by pre-offsetting the corner of the jacking displacement mechanism 1, as follows:

[0082] Referring to FIG. 10, the walking path 131 of each jacking displacement mechanism 1 can be regarded as a function of the cumulative jacking stroke of the jacking displacement mechanism 1, and the cumulative jacking stroke of the jacking displacement mechanism 1 can be regarded as a function of time history. Thus, the function of the walking path 131 of the jacking displacement mechanism 1 can be written as:

[0083] y = f(t)

[0084] When the A group of jacking displacement mechanisms 32 completes a jacking stroke and prepares to change the B group of jacking displacement mechanisms 33 to walk, the time is t1, and the B group of jacking displacement mechanisms 33 completes the second half step walk at time t2. Then, the corner of the first jacking displacement mechanism iB1 in the B group of jacking displacement mechanisms 33 from t1 to t2 is:

[0085] When changing steps, i.e., before the B group of jacking displacement mechanisms 33 is about to walk, the first jacking displacement mechanism iB1 and the second jacking displacement mechanism iB2 in the B group of jacking displacement mechanisms 33 are pre-offset according to the above formula, which can better and more accurately control the walking of the jacking displacement mechanism, and make the actual walking route better match the ideal route or the walking marker line 24.

[0086] Based on the above disclosed technical content, the building intelligent displacement and deviation control method according to one embodiment of the present application comprises the following steps:

[0087] S1. Provide a displacement auxiliary device, which includes a displacement monitoring system and a jacking displacement mechanism 1, wherein the displacement monitoring system includes a computer, a laser emitter 42 and a visual sensor; the jacking displacement mechanism 1 includes a base 11, a sliding seat 12 in sliding connection with the base 11, a jacking device 13 arranged on the sliding seat 12, a pusher 14 connecting the base 11 and the sliding seat 12, a top connecting plate 15 connected with the jacking device 13, and a steering unit arranged on the jacking device 13.

[0088] S2. Determine the walking route 23 of the building to be displaced from the initial position 21 to the target position 22, pretreat the walking route 23, and set the walking reference marks, such as the walking mark line 24.

[0089] S3. Determine the number and arrangement of the jacking displacement mechanism 1 according to the self-weight of the building, the structure arrangement and other conditions. The jacking displacement mechanism 1 is generally arranged at the column 31 of the building, and at least A, B two groups of jacking displacement mechanisms 32, 33 are arranged at the column, the A, B two groups of jacking displacement mechanisms 32, 33 are arranged around the column 31 in axial symmetry along the walking route 23, the pushing direction of the pusher 14 is consistent with the moving direction of the building, and the A, B two groups of jacking displacement mechanisms 32, 33 respectively meet the supporting and horizontal displacement capacity requirements of the building to be lifted.

[0090] S4. Arrange the displacement monitoring system. The laser emitter 42 is arranged at both ends of the base 11 of the jacking displacement mechanism 1 along the direction of the walking route 23, and projects the laser beam 43 vertically downward to form the light spot 44 on the road surface; the visual sensor is arranged at a suitable position at the bottom of the building to be displaced for monitoring the relative position relationship between the projected light spot 44 and the walking mark line 24.

[0091] S5. The computer controls the jacking device 13 of the A group of jacking displacement mechanisms 32 to jacking the building to be lifted, and the B group of jacking displacement mechanisms 33 is lifted in suspension, and then controls the pusher 14 of the A group of jacking displacement mechanisms 32 to push the sliding seat 12 to move on the base 11 by one push stroke, so as to drive the jacking device 13 on the sliding seat 12 and the building to be lifted to move by one push stroke, thereby completing the first half step walking of the building.

[0092] S6. After the A group of jacking displacement mechanisms 32 completes the push stroke, the position deviation of the B group of jacking displacement mechanisms 33 suspended on the building is identified. The laser emitter 42 at both ends of the base 11 of the B group of jacking displacement mechanisms 33 projects the light spot 44 downward, and the relative position relationship between the light spot 44 and the walking mark line 24 is measured by the visual sensor to calculate the turning angle α and the offset distance d.

[0093] S7. Correcting the position of the building. For the corner deviation, when the corner α is less than a certain value, generally less than 0.3°, no correction is made; when the corner α is greater than the value, the computer controls the steering unit of the jacking displacement mechanism 1 to rotate reversely by a corresponding number of degrees to eliminate the corner deviation. For the offset deviation, when the offset distance d is less than a certain value, generally less than 2mm, no correction is made; when the offset distance d is greater than the value, knowing that one jacking stroke of the jacking ram 14 of the jacking displacement mechanism 1 is l, the angle β that needs to be rotated to eliminate the offset deviation within n (n is a non-zero positive integer) jacking strokes l can be calculated, and the computer controls the steering unit to rotate β; in summary, by controlling the steering unit of the jacking displacement mechanism 1 to rotate, the corner deviation and the offset deviation can be eliminated.

[0094] S8. After the B group jacking displacement mechanism 33 is rotated into position, the computer controls the jacking ram 13 of the B group jacking displacement mechanism 33 to jacking upward to support the building, and the jacking ram 13 and the jacking ram 14 of the A group jacking displacement mechanism 32 are retracted to the initial state, thereby the A group jacking displacement mechanism 32 is suspended on the building, and then the jacking ram 14 of the B group jacking displacement mechanism 33 is controlled to jacking forward to drive the sliding seat 12 to move on the base 11 by one jacking stroke, thereby driving the jacking ram 13 on the sliding seat 12 and the building being lifted to move by one jacking stroke, thereby completing the second half-step walking of the building. At this point, one walking step of the building is completed.

[0095] S9. After the B group jacking displacement mechanism 33 completes the jacking stroke, the deviation of the A group jacking displacement mechanism is identified according to the steps S6-S7, and the A group jacking displacement mechanism 32 is corrected according to the deviation identification, and the steering unit of the A group jacking displacement mechanism 32 is controlled to rotate by a certain angle.

[0096] S10. After the A group jacking displacement mechanism 32 is rotated into position, the steps S5-S9 are repeated until the building moves from the initial position 21 to the target position 22.

[0097] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Any modification, equivalent change and modification of the above embodiment according to the technical essence of the present application, without departing from the technical solution of the present application, still belongs to the scope of the technical solution of the present application.

Claims

1. A building intelligentization moving and deviation control method, comprising the steps of: S1. providing a moving auxiliary device, which comprises a moving monitoring system and a jacking displacement mechanism, wherein the moving monitoring system comprises a computer, a laser emitter and a visual sensor; the jacking displacement mechanism comprises a base, a sliding seat in sliding connection with the base, a jacking machine arranged on the sliding seat, a pusher connecting the base and the sliding seat, a top connecting plate connected with the jacking machine, and a steering unit arranged on the jacking machine; S2. determining a walking route of a building to be moved from an initial position to a target position, and setting a walking mark line; S3. determining the number and arrangement of the jacking displacement mechanism according to the self-weight of the building and the arrangement of the structure; the jacking displacement mechanism is divided into a first group of jacking displacement mechanisms and a second group of jacking displacement mechanisms, and the first and second groups of jacking displacement mechanisms are arranged in axial symmetry around the columns of the building along the walking route; S4. arranging the moving monitoring system; the laser emitter is arranged on the base of the jacking displacement mechanism, and the laser emitter projects a laser beam vertically downward to form a light spot on the road surface; the visual sensor is arranged at a suitable position at the bottom of the building to be moved, and is used for monitoring the relative position relationship between the light spot and the walking mark line; S5. the computer controls the jacking machine of the first group of jacking displacement mechanisms to jack up the building to be lifted, and the second group of jacking displacement mechanisms are lifted in suspension, and then controls the pusher of the first group of jacking displacement mechanisms to move the sliding seat on the base by one pushing stroke, so as to drive the jacking machine on the sliding seat and the building to be lifted to move by one pushing stroke, thereby completing the first half-step walking of the building; S6. after the first group of jacking displacement mechanisms completes the pushing stroke, the position of the second group of jacking displacement mechanisms suspended on the building is identified; the laser emitter of the base of the second group of jacking displacement mechanisms is controlled to project a light spot downward, the relative position relationship between the light spot and the walking mark line is measured by the visual sensor, and the deviation error of the second group of jacking displacement mechanisms from the walking mark line is calculated; S7. correcting the position of the building; the computer controls the steering unit of the second group of jacking displacement mechanisms to rotate by a certain angle to eliminate the deviation error; S8. after the second group of jacking displacement mechanisms rotates into position, the computer controls the jacking machine of the second group of jacking displacement mechanisms to jack up the building upward, the jacking machine and the pusher of the first group of jacking displacement mechanisms are retracted to the initial state, thereby making the first group of jacking displacement mechanisms suspended on the building, and then controlling the pusher of the second group of jacking displacement mechanisms to push forward, driving the sliding seat to move on the base by one pushing stroke, thereby driving the jacking machine on the sliding seat and the building to be lifted to move by one pushing stroke, thereby completing the second half-step walking of the building; thus, one walking step of the building is completed; S9. after the second group of jacking displacement mechanisms completes the pushing stroke, the position of the first group of jacking displacement mechanisms is identified according to the steps of S6-S7, and the first group of jacking displacement mechanisms is corrected according to the deviation identification, and the steering unit of the first group of jacking displacement mechanisms is controlled to rotate by a certain angle to eliminate the deviation error. S10. After the first group of jacking displacement mechanisms are rotated into position, steps S5-S9 are repeated until the building is moved from the initial position to the target position.

2. The method of claim 1, wherein, In step S1, the steering unit of the jacking displacement mechanism includes a motor, a rotating gear, a driven wheel, a follower guide rod, and a follower collar; the driven wheel is fixedly sleeved on the circumference of the top body of the jacking device, the follower collar is supported on the driven wheel, and the follower collar is freely rotatable relative to the top body of the jacking device; the follower guide rod is sleeved by an upper small pipe and a lower large pipe, the length of the follower guide rod is telescopic with the action of the telescopic cylinder of the jacking device, the upper end of the upper small pipe of the follower guide rod is connected with the top connecting plate, the lower large pipe is connected with the follower collar, the lower end of the follower guide rod is provided with the motor and the rotating gear, the rotating gear and the driven wheel are meshed with each other, and when the jacking displacement mechanism is suspended on the building, the rotating gear is driven to rotate by the motor, thereby driving the driven wheel to rotate, so that the jacking displacement mechanism is rotated relative to the building.

3. The method of claim 1, wherein, In step S1, the jacking displacement mechanism further includes suspension wheels arranged around the base, and when the jacking displacement mechanism supports the upper building, the position of the suspension wheels is not lower than the bottom surface of the base; when the jacking device is in the cylinder-retracted state, so that the jacking displacement mechanism is suspended on the building, the suspension wheels are lowered beyond the bottom surface of the base and are supported on the road surface, thereby facilitating the retraction of the jacking displacement mechanism.

4. The method of claim 1, wherein, In step S2, the planning of the walking route follows the principles of shortest distance and obstacle avoidance, and the displacement of the building includes translation, rotation, or a combination of the two.

5. The method of claim 1, wherein, In step S2, the roadbed and pavement of the walking route are pretreated to make the pavement substantially flat and to ensure that the bearing capacity and deformation of the roadbed meet the requirements of supporting the jacking displacement mechanism and the building lifted by the jacking displacement mechanism.

6. The method of claim 1, wherein, In step S3, the first group of jacking displacement mechanisms and the second group of jacking displacement mechanisms have the same specifications, and the first and second groups of jacking displacement mechanisms respectively independently meet the requirements of supporting and horizontally displacing the building.

7. The method of claim 1, wherein, In step S4, the laser emitters are arranged at both ends of the base of the jacking displacement mechanism in the direction of the walking route, the laser emitters vertically project laser beams downward to form first and second light points on the road surface, and the visual sensor is used to monitor the relative positional relationship between the connecting line between the first and second light points and the walking marker line.

8. The method of claim 7, wherein, In steps S6-S7, the deviation error of the connecting line between the first and second light points from the walking marker line includes the angle of the connecting line relative to the walking marker line and the offset distance of the connecting line relative to the walking marker line, and when the angle is less than a certain angle or the offset distance is less than a certain value, no correction is performed.

9. The method of claim 8, wherein, In steps S6-S7, the deviation of the first light spot relative to the walking mark line is denoted as Δ1, the deviation of the second light spot relative to the walking mark line is denoted as Δ2, the distance between the first light spot and the second light spot is denoted as L, one jacking stroke is denoted as l, the angle of the connecting line relative to the walking mark line is denoted as α, and the offset distance of the connecting line relative to the walking mark line is denoted as d. The angle α and the offset distance d satisfy the following formula: In order to eliminate the corner error, the computer controls the steering unit to rotate in the opposite direction by an angle of α, i.e. -α; in order to eliminate the offset error, the computer controls the steering unit to rotate by an angle of β, where β satisfies the following formula: That is Therefore, to eliminate the misalignment error, the computer controls the overall rotation of the steering unit by an angle θ, wherein Wherein the deviation of the light points relative to the walking marker line is negative on the left side of the walking marker line and positive on the right side, and the angle of the connecting line relative to the walking marker line is negative counterclockwise and positive clockwise.

10. The method of claim 8, wherein, In step S7, when the angle is less than 0.3° or the offset distance is less than 2mm, no correction is performed.

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