CN-121978993-A - Construction site unmanned machinery collaborative operation control method for bridge digital construction

CN121978993ACN 121978993 ACN121978993 ACN 121978993ACN-121978993-A

Abstract

The invention discloses a construction site unmanned machinery collaborative operation control method for bridge digital construction, which relates to the technical field of unmanned machinery collaborative control and aims to solve the technical problems of conflict frequently caused by overlapping of multiple mechanical operations in time and space, traditional manual scheduling response hysteresis, in particular to form a collaborative control closed loop of conflict early warning, environment adaptation and state guarantee, space-time constraint conflict analysis solves the problem of collaborative order, wind-induced vibration identification detection solves the problem of complex environment adaptability, mechanical state early warning solves the problem of equipment reliability, and the three are combined to obviously improve the precision, safety and continuity of unmanned machinery collaborative operation and provide core technical support for efficient propulsion of bridge digital construction.

Inventors

LIU HAINING
ZHU LIMING
WANG XIANGHONG
WANG JING
ZHENG JIE
LIU ZHAN
JIANG ZHONG

Assignees

中亿丰(苏州)城市建设发展股份有限公司

Dates

Publication Date: 20260505
Application Date: 20251216

Claims (8)

1. The construction site unmanned machinery collaborative operation control method for the digital construction of the bridge is characterized by comprising the following steps of: step one, space-time constraint conflict analysis: according to analysis of the area of the unmanned machinery at the construction site, combining the cooperative action of the unmanned machinery, performing space-time constraint conflict analysis and performing conflict early warning according to the analysis result; Step two, wind-induced vibration identification and detection: when the space-time constraint safety of unmanned machinery is determined, wind-induced vibration influence identification detection is carried out according to the position of a construction site, and collaborative operation analysis control is carried out under the strong wind factor; Step three, mechanical state early warning: And when the unmanned mechanical cooperative operation has no external interference, carrying out mechanical state early warning according to real-time running state analysis and detection, and carrying out equipment intervention in time.
2. The method for controlling collaborative operation of unmanned machinery on a construction site for digitally constructing a bridge according to claim 1, wherein the space-time constraint conflict analysis process in the first step is as follows: Constructing an unmanned machine procedure execution sequence according to the connection sequence of the process executed by the unmanned machine, determining an ideal planning position of the unmanned machine according to the procedure execution sequence, and carrying out ideal planning position adjustment by combining an actual processed material transportation route and an area position space to obtain a site mechanical position; Performing four-dimensional space-time constraint conflict analysis according to the site mechanical position of the construction site, namely representing the four-dimensional space-time as three-dimensional space and time; And acquiring the overlapping area corresponding to the extension coverage area of the construction mechanical part corresponding to the field mechanical position in the three-dimensional space, and marking the overlapping area as implicit space information.
3. The method for controlling collaborative operation of unmanned machinery on a construction site for digital construction of a bridge according to claim 2, wherein the method is characterized in that the machine execution time of the mechanical position on the site is obtained in the time dimension, and the execution time of the same batch of materials is obtained according to the collaborative operation of adjacent unmanned machinery; If the mechanical execution time of the site mechanical position is delayed or the execution time of the same batch of materials is in conflict, marking the current operation time period as a time conflict time period; if the mechanical execution time of the site mechanical position is not delayed and the execution time of the same batch of materials is not in conflict, the current operation time period is marked as a time non-conflict time period; And are collectively labeled as conflict information and stability information.
4. The method for controlling collaborative operation of unmanned machinery on a construction site for digitally constructing a bridge according to claim 3, wherein the rate of increase of the number of conflicting information and the rate of increase of the number of stable information in a time conflicting period are obtained, and the rate of the conflicting period is calculated according to the ratio; acquiring the corresponding quantity ratio of conflict information and stable information in a time non-conflict period, and marking the corresponding quantity ratio as the non-conflict period quantity ratio; If the speed ratio of the conflict time period exceeds a set speed ratio threshold value or the number ratio of the non-conflict time period exceeds a number ratio threshold value, deducing that the space-time constraint conflict analysis of the construction site is abnormal, adjusting the construction sequence of unmanned machines in the construction site, re-planning the site machine position, planning the site machine position preferentially when the dominant space conflict information in the current stage is increased, and adjusting the construction sequence preferentially when the recessive space conflict information is increased.
5. The method for controlling collaborative operation of unmanned machinery on a construction site for digitally constructing a bridge according to claim 1, wherein the second wind-induced vibration identification and detection process is as follows: when the unmanned mechanical space-time constraint stability is determined, wind-induced vibration identification detection is carried out; the method comprises the steps of obtaining a wind power value of an area where a construction site is located, comparing and marking the wind power value as a strong wind period and a weak wind period according to a threshold value, constructing parts of the unmanned machinery, and determining deformation bearing capacity of the corresponding parts of the unmanned machinery, namely toughness of a part structure; The method comprises the steps of identifying a part located on a windward side in an operation period as a wind-induced area, obtaining a floating span of an unmanned mechanical construction coverage area after the deformation of the part corresponding to the wind-induced area in a strong wind period occurs, and obtaining a deviation value of the unmanned mechanical construction coverage area and a set coverage area when the deformation of the wind-induced area in an adjacent weak wind period is reduced.
6. The method for controlling collaborative operation of unmanned machinery on a construction site for digital construction of bridges according to claim 5, wherein if a floating span of a construction coverage area of the unmanned machinery exceeds an area floating span threshold or a deviation value of the construction coverage area of the unmanned machinery and a set coverage area exceeds an area deviation threshold, wind-induced vibration recognition detection abnormality is inferred, a current wind-induced area is marked as a repair area and sent to a maintainer terminal, and meanwhile, the current unmanned machinery is maintained and collaborative operation of the current unmanned machinery and an adjacent unmanned machinery is adjusted; If the floating span of the construction coverage area of the unmanned machine does not exceed the area floating span threshold value and the deviation value of the construction coverage area of the unmanned machine and the set coverage area does not exceed the area deviation threshold value, the wind-induced vibration identification detection is deduced to be normal, the current wind-induced area is marked as a deformation bearing area, and the deformation bearing area is overhauled regularly in real time along with the increase of the operation stage of the unmanned machine.
7. The method for controlling collaborative operation of unmanned machinery on a construction site for digitally constructing a bridge according to claim 1, wherein the pre-warning process of the mechanical state in the step three is as follows: The method comprises the steps of arranging a directional microphone array around the unmanned aerial vehicle to collect operation sound, monitoring temperature field distribution of key components of the unmanned aerial vehicle by using a thermal infrared imager, obtaining noise values generated by adjacent operation periods of connecting components in the operation process of the unmanned aerial vehicle, comparing the noise values of the adjacent operation periods to obtain a noise value floating trend, and analyzing the temperature field distribution corresponding to the key components in the unmanned aerial vehicle.
8. The method for controlling collaborative operation of unmanned machinery on a construction site for digitally constructing a bridge according to claim 7, wherein if a noise value floating trend of noise values of adjacent operation periods is a continuous increasing trend or a temperature field distribution corresponding to a key component in the unmanned machinery is in a temperature field average value rising stage, a risk exists in an operation state of the unmanned machinery, a current position of the unmanned machinery is sent to a maintainer terminal, and specific state repair is performed by using the key component or a noise generation position of the unmanned machinery; if the noise value floating trend of the noise values of the adjacent operation periods does not show a continuous increasing trend, and the temperature field distribution corresponding to the key components in the unmanned aerial vehicle is not in the temperature field average value rising stage, the operation state of the unmanned aerial vehicle is inferred to be stable.

Description

Construction site unmanned machinery collaborative operation control method for bridge digital construction Technical Field The invention relates to the technical field of unmanned machinery cooperative control, in particular to a construction site unmanned machinery cooperative operation control method for digital construction of bridges. Background Along with the development of large-scale and complicated bridge engineering, digital construction becomes an industry transformation core direction, and unmanned machines (such as unmanned pavers, vibrating robots, hoisting unmanned machines and the like) are gradually applied to collaborative operation on construction sites due to the advantages of high operation efficiency, low safety risk and the like. However, in the prior art, when unmanned machinery cooperatively controls, space-time conflict of multi-unmanned machinery cooperatively works is difficult to accurately early warning and dynamically regulate and control, in addition, natural factors such as strong wind in an area cause mechanical vibration, interference control on cooperative work precision is difficult to identify in time, and when continuous operation is performed, real-time monitoring of the operation state of key parts of the unmanned machinery and early warning of faults still cannot be effectively solved, so that a solution is provided. Disclosure of Invention The invention aims to solve the problems, and provides a construction site unmanned mechanical collaborative operation control method for digital construction of bridges. The invention aims at realizing the technical scheme that the unmanned mechanical collaborative operation control method for the construction site of the digital construction of the bridge comprises the following steps: step one, space-time constraint conflict analysis: according to analysis of the area of the unmanned machinery at the construction site, combining the cooperative action of the unmanned machinery, performing space-time constraint conflict analysis and performing conflict early warning according to the analysis result; Step two, wind-induced vibration identification and detection: when the space-time constraint safety of unmanned machinery is determined, wind-induced vibration influence identification detection is carried out according to the position of a construction site, and collaborative operation analysis control is carried out under the strong wind factor; Step three, mechanical state early warning: And when the unmanned mechanical cooperative operation has no external interference, carrying out mechanical state early warning according to real-time running state analysis and detection, and carrying out equipment intervention in time. Further, the space-time constraint conflict analysis process in the first step is as follows: Constructing an unmanned machine procedure execution sequence according to the connection sequence of the process executed by the unmanned machine, determining an ideal planning position of the unmanned machine according to the procedure execution sequence, and carrying out ideal planning position adjustment by combining an actual processed material transportation route and an area position space to obtain a site mechanical position; Performing four-dimensional space-time constraint conflict analysis according to the site mechanical position of the construction site, namely representing the four-dimensional space-time as three-dimensional space and time; And acquiring the overlapping area corresponding to the extension coverage area of the construction mechanical part corresponding to the field mechanical position in the three-dimensional space, and marking the overlapping area as implicit space information. Further, acquiring the machine execution time of the site machine position in the time dimension, and acquiring the execution time of the same batch of materials according to the cooperative operation of adjacent unmanned machines; If the mechanical execution time of the site mechanical position is delayed or the execution time of the same batch of materials is in conflict, marking the current operation time period as a time conflict time period; if the mechanical execution time of the site mechanical position is not delayed and the execution time of the same batch of materials is not in conflict, the current operation time period is marked as a time non-conflict time period; And are collectively labeled as conflict information and stability information. Further, the increasing speed of the conflict information quantity ratio and the increasing speed of the stable information quantity ratio in the time conflict period are obtained, and the speed ratio of the conflict period is calculated according to the ratio; acquiring the corresponding quantity ratio of conflict information and stable information in a time non-conflict period, and marking the corresponding quantity ratio as the non-conflict period quantity ratio