CN111622252A - Intelligent control system and control method for whole process of large open caisson construction - Google Patents
Intelligent control system and control method for whole process of large open caisson construction Download PDFInfo
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- CN111622252A CN111622252A CN202010333560.4A CN202010333560A CN111622252A CN 111622252 A CN111622252 A CN 111622252A CN 202010333560 A CN202010333560 A CN 202010333560A CN 111622252 A CN111622252 A CN 111622252A
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Abstract
The invention discloses an intelligent control system and a control method for the whole process of large open caisson construction, which comprises the following steps: the system comprises a real-time information acquisition module, a data processing module, a comprehensive early warning module, an intelligent decision module, a PLC (programmable logic controller) equipment control module and a control system client; the real-time information acquisition module and the PLC equipment control module are arranged on the open caisson structure; the data processing module, the comprehensive early warning module and the intelligent decision module are all integrated on the integrated server. The invention monitors the important parameters of each construction stage of the open caisson, timely grasps the internal stress and the integral stability of the open caisson structure, and dynamically controls the construction field equipment to adjust the attitude of the open caisson according to the analysis result of real-time monitoring data, thereby providing early warning information for safe construction, ensuring the smooth proceeding of basic construction and achieving the purposes of guiding construction and feeding back design.
Description
Technical Field
The invention relates to the field of bridge open caisson foundations in the field of civil engineering. More specifically, the invention relates to an intelligent control system and a control method for the whole process of large open caisson construction.
Background
The open caisson is a well cylindrical structure, and is a foundation for bridge abutment or other structures by digging soil in the well, overcoming the frictional resistance of the well wall by means of the self gravity, sinking to a designed elevation, sealing the bottom by concrete and filling the well hole. The attitude of the open caisson foundation in the construction process is influenced by multiple factors such as self gravity, hydrological environment and the like, the stability of the open caisson needs to be ensured in the whole construction process, and the open caisson construction monitoring has the function of dynamically controlling the open caisson construction safety according to on-site monitoring data information.
In the field construction monitoring work of the deepwater open caisson foundation, the open caisson sinking process is usually simulated and analyzed only in the soil taking and sinking stage, then whether the design of the open caisson structure and the sinking construction calculation mode conform to the actual condition or not is manually checked according to the monitoring result, the relevant calculation theory is perfected, and finally the follow-up construction decision is guided. The traditional monitoring method only monitors one construction stage, and does not relate to other construction stages, so that the continuous stress and attitude state of the open caisson cannot be mastered; in addition, in the traditional method, calculation analysis and construction decision are manually completed, and finally a manager issues a construction instruction, so that time breakpoints exist in the process, and the defect that the instruction cannot be transmitted in real time easily occurs in an emergency. Therefore, an intelligent control system applied to the whole process of large open caisson construction needs to be developed to solve the problems.
Disclosure of Invention
The invention aims to provide an intelligent control system and a control method for the whole process of large open caisson construction, which are used for monitoring important parameters of each construction stage of the open caisson, timely mastering the internal stress and the overall stability of the open caisson structure and dynamically controlling construction field equipment to adjust the attitude of the open caisson according to the analysis result of real-time monitoring data, thereby providing early warning information for safe construction, ensuring that the basic construction is carried out smoothly and achieving the purposes of guiding construction and feeding back design.
To achieve these objects and other advantages in accordance with the present invention, there is provided a large open caisson construction overall process intelligent control system, comprising: the system comprises a real-time information acquisition module, a data processing module, a comprehensive early warning module, an intelligent decision module, a PLC (programmable logic controller) equipment control module and a control system client; the real-time information acquisition module and the PLC equipment control module are arranged on the open caisson structure; the data processing module, the comprehensive early warning module and the intelligent decision module are all integrated on the integrated server;
the real-time information acquisition module is used for automatically acquiring open caisson structure real-time data and transmitting the open caisson structure real-time data to the integrated server in a wireless mode;
the data processing module is used for filtering, structuring and storing the open caisson monitoring data acquired in real time, loading the processed data into an open caisson finite element calculation model, updating the model according to the actual parameter state, and classifying and sorting various parameters of the open caisson structure after automatic calculation;
the comprehensive early warning module is used for dynamically adjusting an early warning threshold value according to the current open caisson construction stage, the real-time data calculation result and the evaluation index, carrying out alarm pushing on the overrun data monitoring item through the control system client side, and recording the current overrun data monitoring item and the offset;
the intelligent decision-making module is used for completing a series of logic analysis according to the current open caisson construction stage, the overrun data monitoring project and the offset and automatically obtaining a control instruction, and the intelligent decision-making module is used for controlling equipment to adjust the open caisson state and confirming the instruction through a control system client;
the PLC equipment control module is used for controlling a plurality of control equipment structurally installed on the open caisson, communicating with the equipment PLC controller according to an operation instruction received by the PLC equipment control module, and achieving the purpose of adjusting the open caisson state through controlling the field equipment.
Preferably, the real-time information acquisition module consists of various sensors and a plurality of wireless transmission acquisition stations which are installed on the open caisson, each sensor installed on the open caisson is connected to the acquisition station through a communication cable, and the acquisition station transmits real-time data to the integrated server.
Preferably, in the data processing module, the data filtering method includes: firstly, assuming that a group of data only contains random errors, calculating the data to obtain standard deviation, determining an interval according to a certain probability, considering that the errors exceeding the interval do not belong to the random errors but are coarse errors, eliminating the data containing the errors, and storing the processed data as original collected data in an integrated server;
and (3) real-time data structuring processing: storing original collected data into a database in a data table form according to monitoring types, calculation correlations and installation positions in sequence according to open caisson structure characteristics, actual monitoring projects and measuring point arrangement conditions, and reasonably designing a database structure and fields to provide a data basis for subsequent open caisson structure calculation analysis and evaluation work;
and (3) carrying out computational analysis and evaluation on open caisson structure: and importing the data after the structural processing into an automatic computation program of a finite element computation model of the open caisson, judging the current construction stage and progress according to the data, automatically updating the finite element model of the open caisson and related parameters, analyzing the real-time stress state and the space posture of the open caisson structure according to the blade foot reaction force computation theory, analyzing the relationship among the blade foot reaction force, the side wall frictional resistance, the sinking coefficient and the sinking depth, determining the safety range and the contrast value of each monitoring parameter of the open caisson according to the analysis result, and providing a data basis for an early warning and decision-making module.
Preferably, the comprehensive early warning module includes:
updating early warning system indexes and mechanisms: the early warning system indexes and parameters are different at different construction stages and progress, firstly, the comprehensive early warning module reads the safety range and the contrast value of each monitoring parameter of the open caisson from the data processing module, then the early warning indexes and parameters are automatically adjusted according to the construction stages and the progress, and the early warning data amount and the deviation value of each early warning project are calculated;
the early warning mechanism comprises: data overrun three-level early warning value, data overrun item level, early warning person authority and early warning index;
and (3) sending out an overrun data alarm: when a data overrun condition occurs, generating a real-time overrun alarm text according to an early warning mechanism and indexes, sending real-time early warning information to a user through a control system client, wherein the information comprises the time, type, overrun value, early warning level, interval time and the like of data overrun occurrence, and displaying corresponding early warning information content according to different levels of early warning people; and simultaneously, all real-time early warning information of the system is transmitted to the intelligent decision module.
Preferably, the intelligent decision module comprises:
summarizing the actual conditions of early construction and monitoring and the early warning information processing experience of similar engineering, and generating an auxiliary decision system judgment basis table; converting the judgment basis table into a machine language, inputting the machine language into a database, and automatically generating a preliminary adjustment scheme as a basis for the system;
automatically generating a preliminary adjustment scheme: when the comprehensive early warning module detects that the open caisson data is in a normal value range, the system executes according to a set default scheme and does not send out an adjusting instruction; once early warning is sent out, the intelligent decision module automatically generates a preliminary adjustment scheme according to the early warning content and by combining a parameter influence matrix in the database; generating a final instruction according to the automatically generated preliminary adjustment scheme and the decision auditing content and sending the final instruction to a PLC equipment control module;
when early warning occurs, the intelligent decision module records early warning content and data before adjustment acquired by the data acquisition module, simultaneously records a final adjustment scheme after manual adjustment, records adjusted data acquired by the data acquisition module again after the execution action of the equipment is completed, integrates, analyzes and processes the data, uploads the data to the database, and updates the data in the database to be used as a basis for automatically generating the adjustment scheme and predicting the state after adjustment when next similar early warning occurs.
Preferably, automatic control equipment is installed on the open caisson according to the structural characteristics and the construction scheme of the open caisson, and is connected with the PLC equipment control module through a PLC circuit;
the automatic control apparatus includes: anchor cable windlass (underwater open caisson), automatic water injection equipment, automatic air suction dredge and air curtain; the PLC equipment control module plans an operation path of the intelligent gas lifting and soil sampling equipment installed on the sinking well according to the control instruction, controls the automatic operation of the intelligent gas lifting and soil sampling equipment, feeds various monitoring data in the operation process of the equipment back to the intelligent decision-making module and assists the intelligent decision-making module in making subsequent operation decisions;
in the open caisson positioning and landing stage, the PLC equipment control module controls the anchor cable winch and the automatic water injection equipment; the measuring data of a Beidou system and an inclination angle sensor which are arranged on the open caisson are combined with the tension condition of each anchor cable and the water injection amount in partition walls in different areas of the open caisson, the data are automatically acquired, transmitted to a data processing module in real time and pushed to an intelligent decision-making system, and after manual examination, a control instruction is transmitted to a field control box;
in the open caisson soil taking and sinking stage, the PLC equipment control module controls the automatic air suction dredge and the air curtain; acquiring the change condition of the single-point mud surface in the soil taking process in real time by using intelligent sensing equipment, recording the mud surface elevation of the point position and automatically updating the elevation of the mud surface in the cabin; and (4) finishing the single-cabin single-wheel soil sampling equipment, detecting the elevation of the soil surface of the single-cabin soil and the condition of the pan bottom through the 3D sonar equipment, and guiding the soil sampling sequence and the soil sampling amount of the next time, thereby controlling the soil sampling depth of the open caisson and the blade foot burial depth.
Preferably, the control system client adopts a C/S architecture design, corresponding sensor data is displayed on a homepage in a chart and curve form at different construction stages, a sunk well model is driven to perform scene restoration on a three-dimensional simulation interface through real-time data, a sunk well space posture and a stress state are displayed by adopting a three-dimensional visual angle, an intuitive construction control interface is provided, auxiliary decision-making audit is performed on-site construction mechanical equipment control, a report is automatically generated according to daily construction data, and comprehensive information of sunk well construction is pushed to related managers.
The invention also provides an intelligent control method for the whole process of large open caisson construction, which comprises the following steps:
1) installing a real-time information acquisition module on the open caisson, and transmitting real-time data to an integrated server;
2) the data processing module is used for processing data, and specifically comprises the following steps:
2.1 real-time data filtering and storing: firstly, assuming that a group of data only contains random errors, calculating the data to obtain a standard deviation, determining an interval according to a certain probability, considering that the errors exceeding the interval do not belong to the random errors but are coarse errors, and eliminating the data containing the errors; the processed data is stored in the integrated server hard disk as original collected data;
2.2 real-time data structuring: storing the original acquired data in 2.1 into a database in a data table form according to the monitoring type, the calculation correlation and the installation position in sequence according to the structural characteristics of the open caisson, actual monitoring projects and the arrangement condition of the measuring points, and reasonably designing the structure and the field of the database to provide a data basis for subsequent calculation and evaluation work;
2.3 open caisson Structure computational analysis and evaluation: importing the data subjected to the structural processing in the step 2.2 into an automatic computation program of a finite element model of the open caisson structure, judging the current construction stage and progress according to the data, automatically updating the finite element model and relevant parameters, analyzing the real-time stress state and spatial posture of the open caisson structure according to the blade foot reaction force computation theory, analyzing the relationship among the blade foot reaction force, the side wall friction force, the sinking coefficient and the sinking depth, determining the safety range and the contrast value of each monitoring parameter of the open caisson according to the analysis result, and providing a data base for an early warning and decision-making module;
3) the comprehensive early warning module reads the safety range and the contrast value of each monitoring parameter of the open caisson in the data processing module, automatically adjusts early warning indexes and parameters according to the construction stage and progress, and calculates the early warning data volume and deviation value of each early warning project;
updating indexes and mechanisms of an early warning system by the comprehensive early warning module, generating a real-time over-limit alarm text according to the early warning indexes and the mechanisms when a data over-limit condition occurs, sending real-time early warning information to a user through a control system client, and simultaneously transmitting all the real-time early warning information to the intelligent decision module;
wherein the early warning mechanism comprises: data overrun three-level early warning value, data overrun item level and early warning person permission; the early warning index comprises various types of sensors;
4)4.1 the intelligent decision module summarizes the early construction and monitoring actual conditions and the early warning information processing experience of the similar engineering, generates a judgment basis table of an auxiliary decision system, converts the judgment basis table into a machine language, inputs the machine language into a system database, and is used as a basis for automatically generating a preliminary adjustment scheme by the system;
4.2 automatically generating a preliminary adjustment scheme: when the comprehensive early warning module detects that the open caisson data is in a normal value range, the system executes according to a set default scheme and does not send out an adjusting instruction; once early warning is sent, the intelligent decision module automatically generates a preliminary adjustment scheme according to early warning content and a parameter influence matrix in a database, generates a final instruction according to the automatic scheme and decision auditing content and sends the final instruction to the PLC equipment control module;
when early warning occurs, the intelligent decision module records early warning content and data before adjustment acquired by the data acquisition module, simultaneously records a final adjustment scheme after manual adjustment, records adjusted data acquired by the data acquisition module again after the execution action of the equipment is completed, integrates, analyzes and processes the data, uploads the data to the database, and updates the data in the database to be used as a basis for automatically generating the adjustment scheme and predicting the state after adjustment when next similar early warning occurs.
5)5.1 in the open caisson borrowing stage, the PLC equipment control module plans an operation path of the intelligent gas lifting borrowing equipment installed on the open caisson according to a control instruction, controls the automatic operation of the intelligent gas lifting borrowing equipment, feeds various monitoring data in the operation process of the equipment back to the intelligent decision-making module, and assists the intelligent decision-making module to make subsequent operation decisions;
5.2 open caisson positioning and implantation stage: the PLC equipment control module controls the anchor cable winch and the automatic water injection equipment according to the control instruction; the control instruction is transmitted to the data processing module in real time by automatically acquiring measurement data of a Beidou system and an inclination angle sensor which are arranged on the open caisson and combining the tension condition of each anchor cable and water injection data in partition walls in different areas of the open caisson, and is pushed to the intelligent decision-making system, and after manual examination and verification are assisted, the control instruction is transmitted to the PLC equipment control module;
5.3 open caisson borrowing and sinking stage: the PLC equipment control module controls the automatic air suction dredge and the air curtain according to the control instruction; the control instruction is that the sensor collects the change situation of single-point mud surface in the process of borrowing in real time, records the mud surface elevation of the point position and automatically updates the mud surface elevation in the cabin, and the single-cabin single-round borrowing equipment is finished, detects the elevation of the mud surface of a single compartment and the condition of the bottom of a boiler through the 3D sonar equipment, transmits the elevation to the data processing module in real time, pushes the elevation to the intelligent decision-making system, and transmits the control instruction to the PLC equipment control module after manual audit is used as an auxiliary.
Preferably, the early warning information includes time, type, overrun value, early warning level and interval time of data overrun occurrence, and corresponding early warning information content is displayed according to different levels of early warning people.
Preferably, the method further comprises the step 6) of carrying out auxiliary decision auditing on the control of the on-site construction mechanical equipment by the control system client, automatically generating a report form according to daily construction data, and pushing the comprehensive information of open caisson construction to related managers through a mobile phone end monitoring system.
The invention at least comprises the following beneficial effects: the control system covers the whole construction process from the manufacturing period to the operation period of the large open caisson, can automatically analyze and update a calculation model according to real-time monitoring data, adopts a mobile client to carry out real-time early warning on the condition that the data exceeds the limit, obtains a construction aid decision instruction by comparing with dynamic indexes, is interconnected with on-site construction equipment, and overcomes the problems that other links need manual operation except for an automatic monitoring step in the prior art and construction equipment cannot be intelligently controlled by the control equipment.
The control system solves the problems that: 1. open caisson information cannot be collected or transmitted in real time; 2. the open caisson monitoring project is few, the process is short, and the structure real state of the whole construction process cannot be reflected; 3. the calculation result and the deviation rectifying instruction cannot be intelligently analyzed; 4. the problem that the field device can not be intelligently controlled.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a structural diagram of an intelligent control system for the whole process of large open caisson construction;
fig. 2 is a flow chart of the intelligent control method for the whole process of large open caisson construction.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
In the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The whole process of open caisson construction comprises the following steps: (1) a positioning implantation stage (2), a soil taking and sinking stage (3) and a concrete pouring stage.
As shown in fig. 1, the present invention provides an intelligent control system for the whole process of large open caisson construction, comprising: the system comprises a real-time information acquisition module, a data processing module, a comprehensive early warning module, an intelligent decision module, a PLC (programmable logic controller) equipment control module and a control system client; the real-time information acquisition module and the PLC equipment control module are arranged on the open caisson structure, and the installation positions are determined according to the situation; the data processing module, the comprehensive early warning module and the intelligent decision module are all integrated on the integrated server; the control system client is installed on a computer or a mobile phone as a computer program;
the real-time information acquisition module is used for automatically acquiring comprehensive real-time data such as open caisson structure gradient, spatial position, bottom and side soil pressure, structure stress, inner and outer compartment water levels and the like, and transmitting the comprehensive real-time data to the integrated server in a 4G wireless mode;
the data processing module is used for filtering, structuring and storing the open caisson monitoring data acquired in real time, loading the processed data into an open caisson finite element calculation model, updating the model according to the actual parameter state, and classifying and sorting various parameters of the open caisson structure after automatic calculation;
the comprehensive early warning module is used for dynamically adjusting an early warning threshold value according to the current open caisson construction stage, the real-time data calculation result and the evaluation index, carrying out alarm pushing on the overrun data monitoring item through the control system client side, and recording the current overrun data monitoring item and the offset;
the intelligent decision-making module is used for completing a series of logic analysis according to the current open caisson construction stage, the overrun data monitoring project and the offset and automatically obtaining a control instruction, and the intelligent decision-making module is used for controlling equipment to adjust the open caisson state and confirming the instruction through a control system client;
the PLC equipment control module is used for controlling a plurality of control equipment structurally installed on the open caisson, communicating with the equipment PLC controller according to an operation instruction received by the PLC equipment control module, and achieving the purpose of adjusting the open caisson state through controlling the field equipment.
The control system client is installed on a computer or a mobile phone as a computer software program, and a user can check construction control information such as real-time monitoring data, a three-dimensional open caisson model, real-time early warning information, a structural calculation analysis result, an intelligent decision scheme and the like through the client.
In the above technical solution, the modules may be connected by the following methods, but not limited to the following methods: the real-time information acquisition module is connected with the sensor through a wired serial port; the real-time information acquisition module and the data processing module as well as the intelligent decision module and the PLC equipment control module transmit information in a 4G mode;
the data processing module, the comprehensive early warning module and the intelligent decision module transmit information in a hard disk reading mode of the integrated server;
the PLC equipment control module is connected with the open caisson control device by a PLC circuit;
the integrated server of the data processing module, the comprehensive early warning module and the intelligent decision module is connected with the client in a wired/wireless internet mode.
Furthermore, the real-time information acquisition module is composed of various sensors and a plurality of wireless transmission acquisition stations which are installed on the open caisson, the sensors installed on the open caisson are connected to the acquisition stations through communication cables, and the acquisition stations transmit real-time data to the integrated server in a 4G communication mode. According to the structural characteristics of the large open caisson of the bridge, the design scheme of the control system is as follows, and the number and the installation positions of the sensors are determined according to specific construction drawings.
Sensor type 1: the soil pressure box is used for acquiring soil pressure data borne by the bottom and the side surface of the open caisson structure;
sensor type 2: the strain gauge is used for acquiring stress data borne by the bottom and the interior of the open caisson structure;
sensor type 3: the Beidou sensor is used for acquiring displacement data of the periphery and the central point of the open caisson;
sensor type 4: the bidirectional inclinometer is used for acquiring inclination data of the periphery and the central point of the open caisson;
sensor type 5: the static force level gauge is used for acquiring deformation data of the periphery and the central point of the open caisson;
sensor type 6: the digital liquid level meter is used for acquiring water level data of each bay of the open caisson;
sensor type 7: the three-dimensional underwater sonar instrument is used for acquiring underwater terrain data of each bay of the open caisson;
sensor type 8: and the water flow profiler is used for acquiring hydrographic environment data around the open caisson.
Further, in the data processing module, in the process of real-time data acquisition, error data, redundant data, measurement noise and the like are inevitably received, and these data bring a great influence on the later structural calculation, so data filtering is necessary. The data filtering method comprises the following steps: firstly, assuming that a group of data only contains random errors, calculating the data to obtain standard deviation, determining an interval according to a certain probability, considering that the errors exceeding the interval do not belong to the random errors but are gross errors, eliminating the data containing the errors, and storing the processed data as original collected data in a hard disk of an integrated server;
and (3) real-time data structuring processing: storing original collected data into a database in a data table form according to monitoring types, calculation correlations and installation positions in sequence according to open caisson structure characteristics, actual monitoring projects and measuring point arrangement conditions, and reasonably designing a database structure and fields to provide a data basis for subsequent open caisson structure calculation analysis and evaluation work;
and (3) carrying out computational analysis and evaluation on open caisson structure: and importing the data after the structural processing into an automatic computation program of a finite element computation model of the open caisson, judging the current construction stage and progress according to the data, automatically updating the finite element model of the open caisson and related parameters, analyzing the real-time stress state and the space posture of the open caisson structure according to the blade foot reaction force computation theory, analyzing the relationship among the blade foot reaction force, the side wall frictional resistance, the sinking coefficient and the sinking depth, determining the safety range and the contrast value of each monitoring parameter of the open caisson according to the analysis result, and providing a data basis for an early warning and decision-making module.
Further, the comprehensive early warning module comprises:
updating early warning system indexes and mechanisms: the early warning system indexes and parameters are different at different construction stages and progress, firstly, the comprehensive early warning module reads the safety range and the contrast value of each monitoring parameter of the open caisson from the data processing module, then the early warning indexes and parameters are automatically adjusted according to the construction stages and the progress, and the early warning data amount and the deviation value of each early warning project are calculated;
the early warning mechanism comprises: data overrun three-level early warning values (yellow alarm, orange alarm and red alarm), data overrun project levels (common, important and core), early warning person permissions (common permissions, advanced permissions and administrator permissions), early warning indexes (including various types of sensors);
and (3) sending out an overrun data alarm: when a data overrun condition occurs, generating a real-time overrun alarm text according to an early warning mechanism and indexes, sending real-time early warning information (webpage information at a PC (personal computer) end, APP (application) information at a mobile end and short messages of a mobile phone) to a user through a control system client, wherein the information comprises the time, type, overrun value, early warning level, interval time and the like of data overrun occurrence, and displaying corresponding early warning information contents according to different levels of early warning people; meanwhile, all real-time early warning information of the system is transmitted to the intelligent decision-making module, and a data basis is provided for an intelligent control link.
Furthermore, in the sinking process of the open caisson, in order to improve the automation degree, the efficiency and the accuracy of information judgment and processing, the engineering construction efficiency and the engineering construction error rate are improved, and the construction is controlled by the intelligent auxiliary decision-making module.
The intelligent decision module comprises:
summarizing the actual conditions of early construction and monitoring and the early warning information processing experience of similar engineering, and generating an auxiliary decision system judgment basis table; and converting the judgment basis table into a machine language, and inputting the machine language into a database as a basis for automatically generating a preliminary adjustment scheme by the system, wherein the basis is shown in table 1.
TABLE 1 decision basis for an aid decision system
Automatically generating a preliminary adjustment scheme: when the comprehensive early warning module detects that the open caisson data is in a normal value range, the system executes according to a set default scheme and does not send out an adjusting instruction; once early warning is sent out, the intelligent decision module automatically generates a preliminary adjustment scheme according to the early warning content and by combining a parameter influence matrix in the database; generating a final instruction according to the automatically generated preliminary adjustment scheme and the decision auditing content and sending the final instruction to a PLC equipment control module;
when early warning occurs, the intelligent decision module records early warning content and data before adjustment acquired by the data acquisition module, simultaneously records a final adjustment scheme after manual adjustment, records adjusted data acquired by the data acquisition module again after the execution action of the equipment is completed, integrates, analyzes and processes the data, uploads the data to the database, and updates the data in the database to be used as a basis for automatically generating the adjustment scheme and predicting the state after adjustment when next similar early warning occurs.
Further, automatic control equipment is installed on the open caisson according to the structural characteristics and the construction scheme of the open caisson, and the automatic control equipment is connected with the PLC equipment control module through a PLC circuit;
the automatic control apparatus includes: anchor cable windlass (underwater open caisson), automatic water injection equipment, automatic air suction dredge and air curtain; the PLC equipment control module is integrated in an intelligent control cabinet and used as an execution system of an operation scheduling instruction, an operation path of intelligent gas lifting and soil taking equipment installed on a sinking well is planned according to the control instruction, the automatic operation of the intelligent gas lifting and soil taking equipment is controlled, various monitoring data in the operation process of the equipment are fed back to the intelligent decision-making module, and the follow-up operation decision is assisted;
in the open caisson positioning and landing stage, the PLC equipment control module controls the anchor cable winch and the automatic water injection equipment; the measuring data of a Beidou system and an inclination angle sensor which are arranged on the open caisson are combined with the tension condition of each anchor cable and the water injection amount in partition walls in different areas of the open caisson, the data are automatically acquired, transmitted to a data processing module in real time and pushed to an intelligent decision-making system, and after manual examination, a control instruction is transmitted to a field control box;
in the open caisson soil taking and sinking stage, the PLC equipment control module controls the automatic air suction dredge and the air curtain; acquiring the change condition of the single-point mud surface in the soil taking process in real time by using intelligent sensing equipment, recording the mud surface elevation of the point position and automatically updating the elevation of the mud surface in the cabin; the single-cabin single-wheel soil sampling equipment is finished, the 3D sonar equipment is used for detecting the elevation of the mud surface of the single compartment and the condition of the bottom of the pan, and guiding the soil sampling sequence and the soil sampling amount of the next time, so that the soil sampling depth of the open caisson and the blade foot burial depth are controlled, the phenomena of sudden sinking of the open caisson and the like are avoided, and the construction quality and efficiency are improved.
Furthermore, a control system client is installed on a computer or a mobile phone as a computer software program, and a user can check real-time monitoring data and construction control information such as a three-dimensional open caisson model, real-time early warning information, a structural calculation analysis result, an intelligent decision scheme and the like through the client.
The control system client adopts a C/S architecture design, displays the comprehensive condition of open caisson construction in real time by a cockpit style webpage and a three-dimensional interface, displays corresponding sensor data in a chart and a curve form on a homepage at different construction stages, drives an open caisson model to perform scene restoration on a three-dimensional simulation interface through real-time data, displays the spatial attitude and the stress state of the open caisson by a three-dimensional visual angle, provides an intuitive construction control interface, performs auxiliary decision-making verification on the control of on-site construction mechanical equipment, automatically generates a report form by daily construction data, and pushes the comprehensive information of open caisson construction to related managers through a mobile phone end monitoring system, thereby ensuring that the open caisson component is within a reasonable stress range and the construction is smoothly performed, as shown in 2.
TABLE 2 control system client function table
As shown in fig. 2, the intelligent control method for the whole process of large open caisson construction comprises the following steps:
1) installing a real-time information acquisition module on the open caisson, and transmitting real-time data to an integrated server;
2) the data processing module is used for processing data, and specifically comprises the following steps:
2.1 real-time data filtering and storing: in the process of real-time data acquisition, error data, redundant data, measurement noise and the like are inevitably received, and the data greatly influences the later structural calculation, so that data filtering is necessary. The control system filters real-time data by adopting a method based on the following steps: firstly, assuming that a group of data only contains random errors, calculating the data to obtain a standard deviation, determining an interval according to a certain probability, considering that the errors exceeding the interval do not belong to the random errors but are coarse errors, and eliminating the data containing the errors; the processed data is stored in the integrated server hard disk as original collected data;
2.2 real-time data structuring: storing the original acquired data in 2.1 into a database in a data table form according to the monitoring type, the calculation correlation and the installation position in sequence according to the structural characteristics of the open caisson, actual monitoring projects and the arrangement condition of the measuring points, and reasonably designing the structure and the field of the database to provide a data basis for subsequent calculation and evaluation work;
2.3 open caisson Structure computational analysis and evaluation: importing the data subjected to the structural processing in the step 2.2 into an automatic computation program of a finite element model of the open caisson structure, judging the current construction stage and progress according to the data, automatically updating the finite element model and relevant parameters, analyzing the real-time stress state and spatial posture of the open caisson structure according to the blade foot reaction force computation theory, analyzing the relationship among the blade foot reaction force, the side wall friction force, the sinking coefficient and the sinking depth, determining the safety range and the contrast value of each monitoring parameter of the open caisson according to the analysis result, and providing a data base for an early warning and decision-making module;
3) the early warning system indexes and parameters are different at different construction stages and progress, the comprehensive early warning module reads the safety range and the contrast value of each monitoring parameter of the open caisson in the data processing module, automatically adjusts the early warning indexes and parameters according to the construction stages and the progress, and calculates the early warning data quantity and the deviation value of each early warning project;
updating indexes and mechanisms of an early warning system by a comprehensive early warning module, generating a real-time over-limit warning text according to the early warning indexes and the mechanisms when a data over-limit condition occurs, sending real-time early warning information (a PC (personal computer) end is webpage information, a mobile end is APP (application) information and a mobile phone short message) to a user through a control system client, and simultaneously transmitting all the real-time early warning information to an intelligent decision module to provide a data basis for an intelligent control link;
wherein the early warning mechanism comprises: data overrun three-level early warning values (yellow alarm, orange alarm and red alarm), data overrun project levels (common, important and core), early warning person permissions (common permission, advanced permission and administrator permission); the early warning index comprises various types of sensors;
4) in the sinking process of the open caisson, in order to improve the automation degree, the efficiency and the accuracy of information judgment and processing, the engineering construction efficiency and the engineering construction error rate, the intelligent auxiliary decision-making module is used for construction control. 4.1 the intelligent decision module summarizes the early construction and monitoring actual conditions and the early warning information processing experience of the similar engineering, generates a judgment basis table of an auxiliary decision system, converts the judgment basis table into a machine language, inputs the machine language into a system database, and is used as a basis for automatically generating a preliminary adjustment scheme by the system;
4.2 automatically generating a preliminary adjustment scheme: when the comprehensive early warning module detects that the open caisson data is in a normal value range, the system executes according to a set default scheme and does not send out an adjusting instruction; once early warning is sent, the intelligent decision module automatically generates a preliminary adjustment scheme according to early warning content and a parameter influence matrix in a database, generates a final instruction according to the automatic scheme and decision auditing content and sends the final instruction to the PLC equipment control module;
when early warning occurs, the intelligent decision module records early warning content and data before adjustment acquired by the data acquisition module, simultaneously records a final adjustment scheme after manual adjustment, records adjusted data acquired by the data acquisition module again after the execution action of the equipment is completed, integrates, analyzes and processes the data, uploads the data to the database, and updates the data in the database to be used as a basis for automatically generating the adjustment scheme and predicting the state after adjustment when next similar early warning occurs.
5) And 5.1, installing automatic control equipment on the open caisson according to the structural characteristics and the construction scheme of the open caisson, and connecting the automatic control equipment with a PLC (programmable logic controller) equipment control module through a PLC circuit. The automatic control device mainly includes: anchor cable hoist (underwater open caisson), automatic water injection equipment, automatic air suction dredge, air curtain. In the open caisson soil-taking stage, the PLC equipment control module is integrated in an intelligent control cabinet and used as an execution system of an operation scheduling instruction, an operation path of intelligent gas lifting soil-taking equipment installed on the open caisson is planned according to the control instruction, the automatic operation of the intelligent gas lifting soil-taking equipment is controlled, various monitoring data in the operation process of the equipment are fed back to the intelligent decision-making module, and the follow-up operation decision is assisted;
5.2 open caisson positioning and implantation stage: the PLC equipment control module controls the anchor cable winch and the automatic water injection equipment according to the control instruction; the control instruction is transmitted to the data processing module in real time by automatically acquiring measurement data of a Beidou system and an inclination angle sensor which are arranged on the open caisson and combining the tension condition of each anchor cable and water injection data in partition walls in different areas of the open caisson, and is pushed to the intelligent decision-making system, and after manual examination and verification are assisted, the control instruction is transmitted to the PLC equipment control module;
5.3 open caisson borrowing and sinking stage: the PLC equipment control module controls the automatic air suction dredge and the air curtain according to the control instruction; the control instruction is that the sensor collects the change condition of a single-point mud surface in the soil sampling process in real time, the mud surface elevation of the point position is recorded, the elevation of the mud surface in the cabin is automatically updated, single-cabin single-wheel soil sampling equipment is finished, the elevation of the mud surface of a single compartment and the condition of the bottom of a pan are detected through 3D sonar equipment, the elevation is transmitted to the data processing module in real time, the data processing module is pushed to the intelligent decision-making system, after manual audit, the control instruction is transmitted to the PLC equipment control module to guide the soil sampling sequence and the soil sampling amount of the next time, the soil sampling depth of the open caisson and the blade foot burial depth are controlled, the phenomena of the open caisson sinking and the like are avoided, and the construction quality and.
Further, the early warning information comprises time, type, over-limit value, early warning level and interval time of data over-limit occurrence, and corresponding early warning information content is displayed according to different levels of early warning people.
And further, the method also comprises the step 6) that the control system client carries out auxiliary decision-making audit on the control of the on-site construction mechanical equipment, reports are automatically generated according to daily construction data, and the comprehensive information of open caisson construction is pushed to relevant managers through the mobile phone end monitoring system, so that the open caisson component is within a reasonable stress range and the construction is carried out smoothly.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable to various fields of endeavor for which the invention may be embodied with additional modifications as would be readily apparent to those skilled in the art, and the invention is therefore not limited to the details given herein and to the embodiments shown and described without departing from the generic concept as defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a large-scale open caisson construction overall process intelligence control system which characterized in that includes: the system comprises a real-time information acquisition module, a data processing module, a comprehensive early warning module, an intelligent decision module, a PLC (programmable logic controller) equipment control module and a control system client; the real-time information acquisition module and the PLC equipment control module are arranged on the open caisson structure; the data processing module, the comprehensive early warning module and the intelligent decision module are all integrated on the integrated server;
the real-time information acquisition module is used for automatically acquiring open caisson structure real-time data and transmitting the open caisson structure real-time data to the integrated server in a wireless mode;
the data processing module is used for filtering, structuring and storing the open caisson monitoring data acquired in real time, loading the processed data into an open caisson finite element calculation model, updating the model according to the actual parameter state, and classifying and sorting various parameters of the open caisson structure after automatic calculation;
the comprehensive early warning module is used for dynamically adjusting an early warning threshold value according to the current open caisson construction stage, the real-time data calculation result and the evaluation index, carrying out alarm pushing on the overrun data monitoring item through the control system client side, and recording the current overrun data monitoring item and the offset;
the intelligent decision-making module is used for completing a series of logic analysis according to the current open caisson construction stage, the overrun data monitoring project and the offset and automatically obtaining a control instruction, and the intelligent decision-making module is used for controlling equipment to adjust the open caisson state and confirming the instruction through a control system client;
the PLC equipment control module is used for controlling a plurality of control equipment structurally installed on the open caisson, communicating with the equipment PLC controller according to an operation instruction received by the PLC equipment control module, and achieving the purpose of adjusting the open caisson state through controlling the field equipment.
2. The intelligent control system for the whole process of large open caisson construction according to claim 1, wherein the real-time information collection module comprises various sensors and a plurality of wireless transmission collection stations installed in the open caisson, each sensor installed in the open caisson is connected to the collection station through a communication cable, and the collection station sends real-time data to the integrated server.
3. The intelligent control system for the whole process of large open caisson construction according to claim 1, wherein in the data processing module, the data filtering method comprises: firstly, assuming that a group of data only contains random errors, calculating the data to obtain standard deviation, determining an interval according to a certain probability, considering that the errors exceeding the interval do not belong to the random errors but are coarse errors, eliminating the data containing the errors, and storing the processed data as original collected data in an integrated server;
and (3) real-time data structuring processing: storing original collected data into a database in a data table form according to monitoring types, calculation correlations and installation positions in sequence according to open caisson structure characteristics, actual monitoring projects and measuring point arrangement conditions, and reasonably designing a database structure and fields to provide a data basis for subsequent open caisson structure calculation analysis and evaluation work;
and (3) carrying out computational analysis and evaluation on open caisson structure: and importing the data after the structural processing into an automatic computation program of a finite element computation model of the open caisson, judging the current construction stage and progress according to the data, automatically updating the finite element model of the open caisson and related parameters, analyzing the real-time stress state and the space posture of the open caisson structure according to the blade foot reaction force computation theory, analyzing the relationship among the blade foot reaction force, the side wall frictional resistance, the sinking coefficient and the sinking depth, determining the safety range and the contrast value of each monitoring parameter of the open caisson according to the analysis result, and providing a data basis for an early warning and decision-making module.
4. The intelligent control system for the whole process of large open caisson construction, according to claim 3, wherein the comprehensive early warning module comprises:
updating early warning system indexes and mechanisms: the early warning system indexes and parameters are different at different construction stages and progress, firstly, the comprehensive early warning module reads the safety range and the contrast value of each monitoring parameter of the open caisson from the data processing module, then the early warning indexes and parameters are automatically adjusted according to the construction stages and the progress, and the early warning data amount and the deviation value of each early warning project are calculated;
the early warning mechanism comprises: data overrun three-level early warning value, data overrun item level, early warning person authority and early warning index;
and (3) sending out an overrun data alarm: when a data overrun condition occurs, generating a real-time overrun alarm text according to an early warning mechanism and indexes, sending real-time early warning information to a user through a control system client, wherein the information comprises the time, type, overrun value, early warning level, interval time and the like of data overrun occurrence, and displaying corresponding early warning information content according to different levels of early warning people; and simultaneously, all real-time early warning information of the system is transmitted to the intelligent decision module.
5. The intelligent control system for the whole process of large open caisson construction, according to claim 4, wherein the intelligent decision module comprises:
summarizing the actual conditions of early construction and monitoring and the early warning information processing experience of similar engineering, and generating an auxiliary decision system judgment basis table; converting the judgment basis table into a machine language, inputting the machine language into a database, and automatically generating a preliminary adjustment scheme as a basis for the system;
automatically generating a preliminary adjustment scheme: when the comprehensive early warning module detects that the open caisson data is in a normal value range, the system executes according to a set default scheme and does not send out an adjusting instruction; once early warning is sent out, the intelligent decision module automatically generates a preliminary adjustment scheme according to the early warning content and by combining a parameter influence matrix in the database; generating a final instruction according to the automatically generated preliminary adjustment scheme and the decision auditing content and sending the final instruction to a PLC equipment control module;
when early warning occurs, the intelligent decision module records early warning content and data before adjustment acquired by the data acquisition module, simultaneously records a final adjustment scheme after manual adjustment, records adjusted data acquired by the data acquisition module again after the execution action of the equipment is completed, integrates, analyzes and processes the data, uploads the data to the database, and updates the data in the database to be used as a basis for automatically generating the adjustment scheme and predicting the state after adjustment when next similar early warning occurs.
6. The intelligent control system for the whole process of large open caisson construction according to claim 5, wherein automatic control equipment is installed on the open caisson according to the structural characteristics and construction scheme of the open caisson, and is connected with the PLC equipment control module through a PLC circuit;
the automatic control apparatus includes: anchor cable windlass (underwater open caisson), automatic water injection equipment, automatic air suction dredge and air curtain; the PLC equipment control module plans an operation path of the intelligent gas lifting and soil sampling equipment installed on the sinking well according to the control instruction, controls the automatic operation of the intelligent gas lifting and soil sampling equipment, feeds various monitoring data in the operation process of the equipment back to the intelligent decision-making module and assists the intelligent decision-making module in making subsequent operation decisions;
in the open caisson positioning and landing stage, the PLC equipment control module controls the anchor cable winch and the automatic water injection equipment; the measuring data of a Beidou system and an inclination angle sensor which are arranged on the open caisson are combined with the tension condition of each anchor cable and the water injection amount in partition walls in different areas of the open caisson, the data are automatically acquired, transmitted to a data processing module in real time and pushed to an intelligent decision-making system, and after manual examination, a control instruction is transmitted to a field control box;
in the open caisson soil taking and sinking stage, the PLC equipment control module controls the automatic air suction dredge and the air curtain; acquiring the change condition of the single-point mud surface in the soil taking process in real time by using intelligent sensing equipment, recording the mud surface elevation of the point position and automatically updating the elevation of the mud surface in the cabin; and (4) finishing the single-cabin single-wheel soil sampling equipment, detecting the elevation of the soil surface of the single-cabin soil and the condition of the pan bottom through the 3D sonar equipment, and guiding the soil sampling sequence and the soil sampling amount of the next time, thereby controlling the soil sampling depth of the open caisson and the blade foot burial depth.
7. The intelligent control system for the whole process of large open caisson construction according to claim 6, wherein the control system client is designed by adopting a C/S architecture, corresponding sensor data is displayed on a homepage in a chart and a curve form at different construction stages, a open caisson model is driven by real-time data to perform scene restoration on a three-dimensional simulation interface, a three-dimensional visual angle is used for displaying the spatial attitude and stress state of the open caisson, an intuitive construction control interface is provided, auxiliary decision-making verification is performed on the control of on-site construction mechanical equipment, a report is automatically generated by daily construction data, and the comprehensive information of open caisson construction is pushed to related managers.
8. The control method of the intelligent control system for the whole large open caisson construction process is characterized by comprising the following steps:
1) installing a real-time information acquisition module on the open caisson, and transmitting real-time data to an integrated server;
2) the data processing module is used for processing data, and specifically comprises the following steps:
2.1 real-time data filtering and storing: firstly, assuming that a group of data only contains random errors, calculating the data to obtain a standard deviation, determining an interval according to a certain probability, considering that the errors exceeding the interval do not belong to the random errors but are coarse errors, and eliminating the data containing the errors; the processed data is stored in the integrated server hard disk as original collected data;
2.2 real-time data structuring: storing the original acquired data in 2.1 into a database in a data table form according to the monitoring type, the calculation correlation and the installation position in sequence according to the structural characteristics of the open caisson, actual monitoring projects and the arrangement condition of the measuring points, and reasonably designing the structure and the field of the database to provide a data basis for subsequent calculation and evaluation work;
2.3 open caisson Structure computational analysis and evaluation: importing the data subjected to the structural processing in the step 2.2 into an automatic computation program of a finite element model of the open caisson structure, judging the current construction stage and progress according to the data, automatically updating the finite element model and relevant parameters, analyzing the real-time stress state and spatial posture of the open caisson structure according to the blade foot reaction force computation theory, analyzing the relationship among the blade foot reaction force, the side wall friction force, the sinking coefficient and the sinking depth, determining the safety range and the contrast value of each monitoring parameter of the open caisson according to the analysis result, and providing a data base for an early warning and decision-making module;
3) the comprehensive early warning module reads the safety range and the contrast value of each monitoring parameter of the open caisson in the data processing module, automatically adjusts early warning indexes and parameters according to the construction stage and progress, and calculates the early warning data volume and deviation value of each early warning project;
updating indexes and mechanisms of an early warning system by the comprehensive early warning module, generating a real-time over-limit alarm text according to the early warning indexes and the mechanisms when a data over-limit condition occurs, sending real-time early warning information to a user through a control system client, and simultaneously transmitting all the real-time early warning information to the intelligent decision module;
wherein the early warning mechanism comprises: data overrun three-level early warning value, data overrun item level and early warning person permission; the early warning index comprises various types of sensors;
4)4.1 the intelligent decision module summarizes the early construction and monitoring actual conditions and the early warning information processing experience of the similar engineering, generates a judgment basis table of an auxiliary decision system, converts the judgment basis table into a machine language, inputs the machine language into a system database, and is used as a basis for automatically generating a preliminary adjustment scheme by the system;
4.2 automatically generating a preliminary adjustment scheme: when the comprehensive early warning module detects that the open caisson data is in a normal value range, the system executes according to a set default scheme and does not send out an adjusting instruction; once early warning is sent, the intelligent decision module automatically generates a preliminary adjustment scheme according to early warning content and a parameter influence matrix in a database, generates a final instruction according to the automatic scheme and decision auditing content and sends the final instruction to the PLC equipment control module;
when early warning occurs, the intelligent decision module records early warning content and data before adjustment acquired by the data acquisition module, simultaneously records a final adjustment scheme after manual adjustment, records adjusted data acquired by the data acquisition module again after the execution action of the equipment is completed, integrates, analyzes and processes the data, uploads the data to the database, and updates the data in the database to be used as a basis for automatically generating the adjustment scheme and predicting the state after adjustment when next similar early warning occurs.
5)5.1 in the open caisson borrowing stage, the PLC equipment control module plans an operation path of the intelligent gas lifting borrowing equipment installed on the open caisson according to a control instruction, controls the automatic operation of the intelligent gas lifting borrowing equipment, feeds various monitoring data in the operation process of the equipment back to the intelligent decision-making module, and assists the intelligent decision-making module to make subsequent operation decisions;
5.2 open caisson positioning and implantation stage: the PLC equipment control module controls the anchor cable winch and the automatic water injection equipment according to the control instruction; the control instruction is transmitted to the data processing module in real time by automatically acquiring measurement data of a Beidou system and an inclination angle sensor which are arranged on the open caisson and combining the tension condition of each anchor cable and water injection data in partition walls in different areas of the open caisson, and is pushed to the intelligent decision-making system, and after manual examination and verification are assisted, the control instruction is transmitted to the PLC equipment control module;
5.3 open caisson borrowing and sinking stage: the PLC equipment control module controls the automatic air suction dredge and the air curtain according to the control instruction; the control instruction is that the sensor collects the change situation of single-point mud surface in the process of borrowing in real time, records the mud surface elevation of the point position and automatically updates the mud surface elevation in the cabin, and the single-cabin single-round borrowing equipment is finished, detects the elevation of the mud surface of a single compartment and the condition of the bottom of a boiler through the 3D sonar equipment, transmits the elevation to the data processing module in real time, pushes the elevation to the intelligent decision-making system, and transmits the control instruction to the PLC equipment control module after manual audit is used as an auxiliary.
9. The control method of the intelligent control system for the whole process of large open caisson construction, according to claim 8, wherein the early warning information comprises time, type, overrun value, early warning level and interval time of data overrun occurrence, and corresponding early warning information content is displayed according to different levels of early warning people.
10. The control method of the intelligent control system for the whole process of large open caisson construction according to claim 8, further comprising the step 6) of carrying out decision-making audit on the control of the on-site construction mechanical equipment by the control system client, automatically generating a report form by daily construction data, and pushing the comprehensive information of open caisson construction to related managers through a mobile phone end monitoring system.
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| CN117132240B (en) * | 2023-10-24 | 2023-12-22 | 中川建投集团有限公司 | Engineering project management system based on big data |
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Inventor after: Zhang Yongtao Inventor after: Weng Fangwen Inventor after: Dai Baihua Inventor after: Liu Yang Inventor after: Dong Jian Inventor after: Wu Xiaodong Inventor after: Wan Pindeng Inventor after: Li Jie Inventor after: Li Kunyao Inventor after: Cao Gaowei Inventor after: Sun Nanchang Inventor after: Huang Can Inventor after: Chen Ming Inventor after: Chen Jianrong Inventor after: Sun Faming Inventor after: Wu Qihe Inventor after: Li Hao Inventor after: Zheng Jianxin Inventor after: Zhu Hao Inventor after: Wang Zichao Inventor after: Ji Fuquan Inventor after: Zhou Renzhong Inventor after: Wang Yongwei Inventor before: Huang Can Inventor before: Dai Baihua Inventor before: Liu Yang Inventor before: Dong Jian Inventor before: Wu Xiaodong Inventor before: Wan Pindeng Inventor before: Li Jie Inventor before: Li Kunyao Inventor before: Cao Gaowei Inventor before: Sun Nanchang Inventor before: Chen Ming Inventor before: Li Hao Inventor before: Chen Jianrong Inventor before: Sun Faming Inventor before: Wu Qihe Inventor before: Zheng Jianxin Inventor before: Zhu Hao Inventor before: Wang Zichao Inventor before: Ji Fuquan Inventor before: Zhou Renzhong Inventor before: Wang Yongwei Inventor before: Weng Fangwen |