CN112726383A - Modularized intelligent pontoon bridge device and pontoon bridge construction method - Google Patents
Modularized intelligent pontoon bridge device and pontoon bridge construction method Download PDFInfo
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- CN112726383A CN112726383A CN202011615146.9A CN202011615146A CN112726383A CN 112726383 A CN112726383 A CN 112726383A CN 202011615146 A CN202011615146 A CN 202011615146A CN 112726383 A CN112726383 A CN 112726383A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D15/00—Movable or portable bridges; Floating bridges
- E01D15/14—Floating bridges, e.g. pontoon bridges
- E01D15/22—Floating bridges, e.g. pontoon bridges designed as, or mounted on, vehicles
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D15/00—Movable or portable bridges; Floating bridges
- E01D15/14—Floating bridges, e.g. pontoon bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
Abstract
The invention provides a modularized intelligent pontoon bridge device and a pontoon bridge construction method, wherein the device comprises a vehicle body, a bridge plate and a control room, wherein the bridge plate is arranged to be folded above the vehicle body in a folded state and symmetrically paved on two sides of the vehicle body in a spread state; the vehicle body is connected with a bridge plate through an electric cylinder, the bridge plate is in a folded state in response to the contraction of the electric cylinder, and the bridge plate is in an unfolded state in response to the extension of the electric cylinder; the control room is internally provided with a control unit, a sensing unit, a positioning unit and a communication unit, wherein the control unit is used for receiving a pontoon bridge construction scheme through the communication unit on one hand, and is used for integrating environmental data acquired by the sensing unit and position data acquired by the positioning unit to generate a control instruction for driving the crawler belt to act and a control instruction for driving the electric cylinder to act on the other hand. The invention integrally adopts a modular design, so that the invention has better interchangeability and universality and is convenient for quick erection, disassembly and quick replacement.
Description
Technical Field
The invention relates to a pontoon bridge device, in particular to a modularized intelligent pontoon bridge device and a pontoon bridge construction method.
Background
The bridge pier is replaced by a floatable body such as a ship or a buoyancy tank, and the bridge floating on the water surface is called a floating bridge. The pontoon bridge formed by splicing ships or standard equipment with ship attributes or consumables is called a pontoon bridge as shown in figure 1. The pontoon bridge is a special bridge, and plays an extremely important role in the history of human economy and military long time by virtue of the advantages of simple structure, strong maneuverability, low cost, rapid disassembly and assembly, high efficiency of operation and the like. The river can be used for economic and cultural communication or emergency disaster relief on both sides of a river at ordinary times, and fighting troops and weapons can be guaranteed to quickly pass through river barriers in wartime, so that the river has important practical significance in the civil field and the military field. China is wide in breadth and rivers, and the existing boat bridge is single in structure function, low in automation degree, time-consuming and labor-consuming in building, so that a novel modularized intelligent amphibious boat bridge device capable of quickly responding is necessary.
Disclosure of Invention
According to the technical problem of low mechanization and automation degree of the pontoon bridge device, a modularized intelligent pontoon bridge device and a pontoon bridge construction method are provided. The invention determines the starting and ending positions of the navigator unit modules in the river and the river by establishing a specific coordinate system of the river and the river, plans the traveling route according to the starting and ending positions of the navigator unit modules, ensures that all the navigator unit modules reach the designated position in the shortest time and finishes the posture adjustment.
The technical means adopted by the invention are as follows:
on one hand, the invention provides a modularized intelligent pontoon bridge device which mainly comprises a vehicle body, bridge plates and a control room, wherein a crawler belt is arranged below the vehicle body, and the bridge plates are arranged above the vehicle body in a folded state and symmetrically and flatly paved on two sides of the vehicle body in an unfolded state;
the vehicle body is connected with a bridge plate through an electric cylinder, the bridge plate is in a folded state in response to the contraction of the electric cylinder, and the bridge plate is in an unfolded state in response to the extension of the electric cylinder;
the control room is internally provided with a control unit, a sensing unit, a positioning unit and a communication unit, wherein the control unit is used for receiving a pontoon bridge construction scheme through the communication unit on one hand, and is used for integrating environmental data acquired by the sensing unit and position data acquired by the positioning unit to generate a control instruction for driving the crawler belt to act and a control instruction for driving the electric cylinder to act on the other hand.
Further, the deck comprises a deck and a shore plate, wherein the shore plate is directly butted against the river bank, and the deck is connected in parallel with the deck of another pontoon unit module.
Further, the device includes three electric cylinders arranged to cross each other.
Further, the sensing unit comprises a position sensor, a heading sensor, an attitude sensor, a wind sensor and an ocean current sensor.
Further, the control unit includes:
the system comprises a coordinate system construction module, a water level calculation module and a control module, wherein the coordinate system construction module is used for determining a reference coordinate system according to a pontoon bridge construction scheme, the origin of the reference coordinate system is the central point of a planned pontoon bridge, the direction parallel to water flow is used as an x axis, the direction perpendicular to the water flow is used as a y axis, and the direction perpendicular to the water surface is used as a z axis;
the path planning module is used for acquiring a target position of the pontoon bridge device according to the pontoon bridge construction scheme, acquiring the current position of the pontoon bridge device, and generating a motion path of the pontoon bridge device by integrating the target position and the current position;
and the driving module is used for generating a motion control command according to the motion path of the pontoon bridge device to control the crawler and the steering mechanism to act.
Further, the control unit further includes:
the system comprises a communication unit, a path optimization module, a drive module and a motion path data processing module, wherein the communication unit is used for receiving an optimized path instruction sent by a base station and sending the optimized path instruction to the drive module, the base station is used for receiving motion path data produced by all the pontoon bridge devices and carrying out closed-loop control on the basis of all the motion path data so as to generate an optimized path instruction, and the optimized path instruction is used for ensuring that any two pontoon bridge modules cannot appear at the same spatial coordinate point at the same moment;
correspondingly, the driving module generates a motion control command according to the optimized path of the pontoon bridge device to control the crawler and the steering mechanism to act.
On the other hand, the invention also provides a pontoon bridge construction method, which is realized based on the device and comprises the following steps:
acquiring a pontoon bridge construction scheme, determining the construction position of the pontoon bridge and constructing a reference coordinate system based on the construction position of the pontoon bridge;
each pontoon bridge device generates a motion path of the device according to the reference coordinate system and the self-positioning information;
each pontoon bridge device reaches a target position according to respective movement path;
and the pontoon bridge devices are automatically connected according to the pontoon bridge construction scheme to form the pontoon bridge.
Further, the method further comprises:
the base station receives the motion path data of each pontoon bridge device and performs closed-loop control based on all the motion path data to generate an optimized path instruction, wherein the optimized path instruction is used for ensuring that any two pontoon bridge modules do not appear at the same spatial coordinate point at the same moment,
accordingly, each pontoon bridge device reaches the target position according to the optimized path.
Compared with the prior art, the invention has the following advantages:
1. the invention integrally adopts the modular design, so that the invention has better interchangeability and universality, and is convenient for quick erection, disassembly and quick replacement;
2. the invention adopts the dynamic positioning and GPS/Beidou positioning technology, improves the positioning accuracy, realizes the optimal set-up route and avoids the interference problem;
3. the intelligent operation system is composed of a plurality of subunit modules, and each subunit module has intelligent operation capacity; through diversified splicing technology, the practical function and the application range of the pontoon bridge device are widened.
4. In the whole construction process of the pontoon bridge, the intelligent control is adopted, so that the construction efficiency is improved, the safety of personnel is ensured, and the adaptability of the pontoon bridge device to severe environment is enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view illustrating the operation of the pontoon bridge device.
FIG. 2 is a schematic view of the pontoon bridge device according to the invention.
FIG. 3 is a top view of the pontoon bridge device according to the invention.
Fig. 4 is a schematic view of the structure of the pontoon device shore board of the present invention.
FIG. 5 is a schematic view showing a deck structure of the pontoon bridge device according to the present invention.
FIG. 6 is a schematic view of a "flatbed" operation mode of the navigator bridge apparatus according to an embodiment.
Fig. 7 is a schematic diagram of the bilateral construction of the pontoon bridge device in the embodiment.
Fig. 8 is a schematic diagram of a bilateral construction process of the pontoon bridge device in the embodiment.
Fig. 9 is a schematic view of a double-sided erection initial position and an end position of the wippen bridge apparatus in the embodiment.
Fig. 10 is a schematic view of one-side construction of the pontoon bridge device in the embodiment.
Fig. 11 is a schematic view of a one-sided erection process of the pontoon bridge device in the embodiment.
Fig. 12 is a schematic view of a one-side construction initial position and an end position of the wippen bridge device in the embodiment.
Fig. 13 is a diagram showing the effect of the completion of the erection of the pontoon bridge device in the embodiment.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any particular value, in all examples shown and discussed herein, should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 2 to 3, the present invention provides a modular intelligent pontoon bridge device, which mainly comprises a vehicle body, a bridge plate and a control room, wherein a crawler is arranged below the vehicle body, and the bridge plate is arranged above the vehicle body in a folded state and symmetrically and flatly laid on two sides of the vehicle body in an unfolded state; the vehicle body is connected with a bridge plate through an electric cylinder, the bridge plate is in a folded state in response to the contraction of the electric cylinder, and the bridge plate is in an unfolded state in response to the extension of the electric cylinder; the control room is internally provided with a control unit, a sensing unit, a positioning unit and a communication unit, wherein the control unit is used for receiving a pontoon bridge construction scheme through the communication unit on one hand, and is used for integrating environmental data acquired by the sensing unit and position data acquired by the positioning unit to generate a control instruction for driving the crawler belt to act and a control instruction for driving the electric cylinder to act on the other hand.
Specifically, the control room is a control center of the pontoon unit module, and is provided with devices such as a controller, a sensor, a communicator and the like, and is used for communicating with an onshore control console and controlling the pontoon unit module; the crawler belt has the advantages of good support and maneuverability and the like, and can adapt to severe land and water environments; the electric cylinders are 3 in number and are in a cross distribution state, the top view of the electric cylinders is shown in figure 3, the electric cylinders shrink in a vehicle cabin when not used, when the height of the bridge deck needs to be adjusted, the three electric cylinders cooperatively act to adjust the height of the bridge deck to the required height, and meanwhile, the electric cylinders play a role in connecting a vehicle body and a bridge plate.
The bridge plate structure comprises a bridge deck and a shore plate, wherein the shore plate is directly butted with a river bank, and the bridge deck is connected with the bridge deck of another pontoon unit module in parallel. The pontoon bridge unit module is divided into: the landing stage unit module, portal unit module and block portal unit module. The trestle unit module is a pontoon directly connected with the shore, as shown in fig. 4. The block gate bridge unit module is a special pontoon bridge unit module, and the shape of the block gate bridge unit module is completely the same as that of the pontoon bridge unit module, except that the block pontoon bridge unit module is a last butt-joint module and needs to complete the butt-joint operation of two sides at the same time, as shown in fig. 5.
Preferably, the control unit includes: the system comprises a coordinate system building module, a path planning module and a driving module. The system comprises a coordinate system construction module, a water level calculation module and a control module, wherein the coordinate system construction module is used for determining a reference coordinate system according to a pontoon bridge construction scheme, the origin of the reference coordinate system is the central point of a planned pontoon bridge, the direction parallel to water flow is used as an x axis, the direction perpendicular to the water flow is used as a y axis, and the direction perpendicular to the water surface is used as a z axis; the path planning module is used for acquiring a target position of the pontoon bridge device according to the pontoon bridge construction scheme, acquiring the current position of the pontoon bridge device, and generating a motion path of the pontoon bridge device by integrating the target position and the current position; and the driving module is used for generating a motion control command according to the motion path of the pontoon bridge device to control the crawler and the steering mechanism to act.
Further preferably, the control unit further includes: the system comprises a communication unit, a path optimization module, a drive module and a motion path data processing module, wherein the communication unit is used for receiving an optimized path instruction sent by a base station and sending the optimized path instruction to the drive module, the base station is used for receiving motion path data produced by all the pontoon bridge devices and carrying out closed-loop control on the basis of all the motion path data so as to generate an optimized path instruction, and the optimized path instruction is used for ensuring that any two pontoon bridge modules cannot appear at the same spatial coordinate point at the same moment; correspondingly, the driving module generates a motion control command according to the optimized path of the pontoon bridge device to control the crawler and the steering mechanism to act.
Particularly, the pontoon bridge device is fully automatically controlled, manual intervention is not needed in the whole process, and the functions of position and posture adjustment, stroke route planning, butt joint among pontoon bridge unit modules and the like of the pontoon bridge unit modules can be automatically realized. The problem that the existing pontoon bridge unit module needs to be manually controlled in position and posture is avoided, and unsafe factors during manual butt joint of the pontoon bridge unit module are also avoided. Therefore, a large amount of manpower and material resources can be saved, and the safety and the operation efficiency of the ship bridge laying are greatly improved.
After the system coordinate system is established, the initial position and the end position of the pontoon unit module are determined firstly, then all feasible routes are calculated, and finally a scheme with the shortest total time is selected from all feasible routes, so that the butt joint of the pontoon unit module can be completed in the shortest time.
Specifically, each pontoon bridge device determines the starting position and the ending position of each pontoon bridge device according to a coordinate system established by the control system according to the actual conditions of the river and a point-point corresponding relation, and the control system plans an optimal path for the pontoon bridge unit module according to the comprehensive conditions of the river and the river. The path planning is carried out according to the shortest time and the shortest distance by analogy with the problem of 'small ship crossing river'. Different optimal paths are designed and planned according to different requirements, and finally, building modes such as two-side building, one-side building or floating body building can be selected according to actual working environment and working requirements.
The positioning unit of the pontoon bridge unit module preferably adopts a GPS/Beidou positioning module, and can communicate with the base station in real time, the base station can compare and calibrate the route planned by the control system after receiving the position coordinates fed back by the pontoon bridge unit module, and the position of the pontoon bridge device is tracked and adjusted in real time through closed-loop control so as to control the pontoon bridge device to completely walk according to the optimal route planned by the control system. Meanwhile, when the route is planned, the system can automatically avoid collision, namely any two pontoon bridge unit modules cannot appear at the same spatial coordinate point at the same time.
In addition, a dynamic positioning system is also installed on the pontoon bridge device, and the dynamic system mainly comprises a measurement and control part and a dynamic part. The dynamic positioning system mainly has the function of automatically keeping the position and the posture of the pontoon unit module in the river and the river unchanged without anchoring after the pontoon unit module reaches the designated position of the system. Firstly, instruments such as a position sensor, a course sensor, an attitude sensor, a wind sensor, a ocean current sensor and the like which are arranged on a pontoon bridge unit module can acquire relevant data in real time when a control system starts to operate, and transmit the data information to the control system in time; then the control system compares the acquired real-time data with the planned travel route and the position coordinates thereof to find out deviation; and finally, aiming at the deviation, sending an instruction to the power system, adjusting the thrust of the power system, and performing deviation correction until all the pontoon bridge devices reach the set position and stably stop at the specified position, and keeping the position and the posture unchanged.
In the invention, the control system determines the starting position and the ending position of each pontoon bridge device according to a coordinate system established by the control system according to the actual conditions of the river and a point-point corresponding relation, and then the control system plans an optimal path for the pontoon bridge unit module according to the comprehensive conditions of the river and the river so as to realize the quick construction of the pontoon bridge.
In practical application, the pontoon bridge device can be used for building different types of floating bodies according to actual working requirements. If the ship bridge is used as a pass, the ship bridge can be built into the ship bridge, and the bridge type operation mode is shown in the figure 1; if the floating body is used for water rescue, salvage, offshore oil field and other works, various square floating bodies can be assembled, and a platform type operation mode is shown in figure 6. The diversified operation mode enriches the functions of the pontoon bridge device and widens the application range of the pontoon bridge device. When platform type operation is carried out, the height of the bridge deck needs to be adjusted to be higher than that of the control chamber, so that the pontoon bridge device can be spliced into a complete platform to carry out platform operation.
On the other hand, the invention also provides a pontoon bridge construction method, which is realized based on the device and comprises the following steps:
acquiring a pontoon bridge construction scheme, determining the construction position of the pontoon bridge and constructing a reference coordinate system based on the construction position of the pontoon bridge;
each pontoon bridge device generates a motion path of the device according to the reference coordinate system and the self-positioning information;
each pontoon bridge device reaches a target position according to respective movement path;
and the pontoon bridge devices are automatically connected according to the pontoon bridge construction scheme to form the pontoon bridge.
Further, the method further comprises:
the base station receives the motion path data of each pontoon bridge device and performs closed-loop control based on all the motion path data to generate an optimized path instruction, wherein the optimized path instruction is used for ensuring that any two pontoon bridge modules do not appear at the same spatial coordinate point at the same moment,
accordingly, each pontoon bridge device reaches the target position according to the optimized path.
The solution of the invention is further illustrated by the following specific application examples.
Example 1
When the pontoon bridge device needs to be built on the water surface in an emergency, a mode that the pontoon bridge device is built from two sides of a river to the center of the river is designed according to the actual situation, as shown in fig. 7. The control unit establishes a Cartesian coordinate system O-X-Y-Z at the center of the river channel, and sets the direction parallel to the water flow as an X axis, the direction perpendicular to the water flow as a Y axis and the direction perpendicular to the water surface as a Z axis. The water flow direction is set to be the positive direction of the X axis, and the origin of coordinates is coplanar on the water surface and is the central position of the constructed pontoon bridge device.
As shown in fig. 8, which is a diagram of one of the path effects planned by the control unit for the pontoon bridge unit module, a construction process is described in the following steps:
(1) and determining the optimal position for building the pontoon bridge device according to the actual operation requirement, and then building a system coordinate system O-X-Y-Z.
(2) And determining the number of the required modules of the pontoon bridge unit according to the water surface width of the pontoon bridge device and the actual environmental factors. In this scheme, 9 pontoon unit modules are used, including 7 portal unit modules and 2 trestle unit modules
(3) Defining an initial position and an end position: the initial position is the position of each pontoon unit module and each trestle unit module on the shore when the pontoon device is ready to be built; the termination position is the position of each pontoon unit module and trestle unit module on the water surface after the pontoon device is built. The pontoon bridge unit module is working condition I when in the initial position and working condition II when in the final position. As shown in fig. 9, the initial position coordinates of the pontoon unit modules are P, respectively1-1，P1-2，P1-3，P1-4，P1-5，P1-6，P1-7，P1-8，P1-9(ii) a The coordinates of the termination positions of the pontoon bridge unit modules are respectively P2-1，P2-2，P2-3，P2-4，P2-5，P2-6，P2-7，P2-8，P2-9。
(4) Setting the initial positions of two trestle unit modules to make their initial positions be on the intersection line of Y-O-Z plane and shoreside plane, then determining the initial position coordinates of 2 trestle unit modules as P1-3And P1-7And numbering the two trestle unit modules into a trestle unit module A and a trestle unit module B.
(5) Determining the initial position coordinates of 7 door bridge unit modules as P1-1、P1-2、P1-4、P1-5、 P1-6、P1-8、P1-9Then respectively numbering the door bridge unit modules into a door bridge unit module A, a door bridge unit module B, a door bridge unit module D, a door bridge unit module E, a door bridge unit module F, a door bridge unit module H and a door bridge unit module K.
(6) The control system plans an optimal route according to the 9 initial position coordinates and the 9 ending position coordinates, and determines the traveling routes of 7 portal unit modules and 2 trestle unit modules. When planning the path, the control system can control the departure time and the traveling speed of the pontoon unit modules, so as to ensure that the total time is shortest and the traveling paths of any two pontoon unit modules do not conflict. The final effect in this scheme is shown in fig. 8: the travel route of the pontoon bridge unit module A is a secondary coordinate P1-1To coordinate P2-3The traveling route of the pontoon bridge unit module B is a secondary coordinate P1-2To coordinate P2-5The traveling route of the pontoon bridge unit module C is a secondary coordinate P1-3To coordinate P2-1The traveling route of the pontoon bridge unit module D is a secondary coordinate P1-4To coordinate P2-4The traveling route of the pontoon bridge unit module E is a secondary coordinate P1-5To coordinate P2-2The traveling route of the pontoon bridge unit module F is a secondary coordinate P1-6To coordinate P2-7The traveling route of the pontoon bridge unit module G is a secondary coordinate P1-7To coordinate P2-9The traveling route of the pontoon bridge unit module H is a secondary coordinate P1-8To coordinate P2-6Row of wippen unit module KThe route being from coordinate P1-9To coordinate P2-8The pontoon bridge unit module B is a blocking door bridge unit module which is a key door bridge unit module for completing final construction, and pontoon bridge unit modules at two sides need to be constructed simultaneously.
(7) And after all the pontoon bridge unit modules reach the set positions, the postures of the pontoon bridge unit modules are adjusted, so that parallel operation is convenient to execute, and the whole pontoon bridge device is kept in a relatively stable state in water.
In the pontoon bridge building process of the scheme, the trestle unit module C and the trestle unit module G are firstly completed in the building operation. The bridge plates at the upper parts of the trestle unit modules A (or H) are automatically stretched and opened, the shore plates are gently contacted with the ground at one side, the bridge plates at the other side are connected with the bridge plates of the portal unit modules B (or G) in parallel, and the other parts are connected in parallel in sequence until the bridge plates at the two sides of the middle block portal unit module B and the bridge plates of the pontoon unit modules D, H at the left side and the right side are connected in parallel, so that the whole pontoon device building operation is completed.
If the pontoon bridge device is dismantled, the operation can be carried out according to the reverse sequence of the erection of the pontoon bridge device.
Example 2
This example provides a model of constructing a pontoon bridge device from one side of a river to the other, similar to the simultaneous construction of both sides as in example 1, as shown in fig. 10. A Cartesian coordinate system O-X-Y-Z is established at the center of the river channel according to the optimal path planned by the control system, the direction parallel to the water flow is set as an X axis, the direction perpendicular to the water flow is set as a Y axis, and the direction perpendicular to the water surface is set as a Z axis. The water flow direction is set to be the positive direction of the X axis, and the origin of coordinates is coplanar on the water surface and is the central position of the constructed pontoon bridge device. Fig. 11 is a diagram showing one of the path effects of the planning of the navigator unit module by the system, in this case, 7 gate bridge unit modules and 2 trestle unit modules are used. The initial position P of the pontoon unit module A, B, C, D, E, F, G, H, K is first determined from the optimal path1-1，P1-2，P1-3，P1-4， P1-5，P1-6，P1-7，P1-8，P1-9And a termination position P2-1，P2-2，P2-3，P2-4，P2-5，P2-6，P2-7， P2-8，P2-9As shown in fig. 12. Numbering according to the optimal path; then, building according to the traveling path shown in fig. 13, and ensuring that the total time is shortest and the paths of any two pontoon bridge unit modules do not conflict with each other, as shown in fig. 11; and finally, after the pontoon bridge unit module reaches a preset position, the attitude is adjusted, so that parallel operation is convenient to execute, and the whole pontoon bridge device is kept in a relatively stable state in water.
In the pontoon bridge building process of the scheme, the trestle unit module E completes building operation firstly, and the pontoon bridge unit module F is a blocking portal bridge unit module. The bridge plate on the upper part of the trestle unit module E is automatically stretched and opened, the shore plate of the trestle unit module E is gently contacted with the ground, the other side of the trestle unit module E is connected with the next pontoon unit module K in parallel, and other similar modules are connected in parallel in sequence until the block portal unit module F is built, namely the building operation of the whole pontoon device is completed. When the pontoon bridge device is dismantled, the pontoon bridge device can be dismantled according to the reverse sequence of building the pontoon bridge device, or when the pontoon bridge device is converted to another place opposite to the shore, the pontoon bridge device can be dismantled from two sides of a river at the same time.
The pontoon bridge unit modules built in the way of embodiment 1 or embodiment 2 are symmetrically distributed, so that the stability of the position and the posture of the pontoon bridge in a severe environment is facilitated, as shown in fig. 13.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A modularized intelligent pontoon bridge device is characterized by mainly comprising a vehicle body, bridge plates and a control room, wherein a crawler belt is arranged below the vehicle body, and the bridge plates are arranged above the vehicle body in a folded state and symmetrically and flatly paved on two sides of the vehicle body in an unfolded state;
the vehicle body is connected with a bridge plate through an electric cylinder, the bridge plate is in a folded state in response to the contraction of the electric cylinder, and the bridge plate is in an unfolded state in response to the extension of the electric cylinder;
the control room is internally provided with a control unit, a sensing unit, a positioning unit and a communication unit, wherein the control unit is used for receiving a pontoon bridge construction scheme through the communication unit on one hand, and is used for integrating environmental data acquired by the sensing unit and position data acquired by the positioning unit to generate a control instruction for driving the crawler belt to act and a control instruction for driving the electric cylinder to act on the other hand.
2. The modular intelligent pontoon bridge unit of claim 1, wherein the deck comprises a deck and a shore plate, wherein the shore plate is directly docked to the river bank and the deck is connected in parallel with the deck of another pontoon unit module.
3. The modular intelligent pontoon bridge unit according to claim 1, wherein the unit comprises three electric cylinders arranged crosswise to each other.
4. The modular intelligent pontoon bridge device according to claim 1, wherein the sensing unit comprises a position sensor, a heading sensor, an attitude sensor, a wind sensor, a sea current sensor.
5. The modular intelligent pontoon bridge device according to claim 1, wherein the control unit comprises:
the system comprises a coordinate system construction module, a water level calculation module and a control module, wherein the coordinate system construction module is used for determining a reference coordinate system according to a pontoon bridge construction scheme, the origin of the reference coordinate system is the central point of a planned pontoon bridge, the direction parallel to water flow is used as an x axis, the direction perpendicular to the water flow is used as a y axis, and the direction perpendicular to the water surface is used as a z axis;
the path planning module is used for acquiring a target position of the pontoon bridge device according to the pontoon bridge construction scheme, acquiring the current position of the pontoon bridge device, and generating a motion path of the pontoon bridge device by integrating the target position and the current position;
and the driving module is used for generating a motion control command according to the motion path of the pontoon bridge device to control the crawler and the steering mechanism to act.
6. The modular intelligent pontoon bridge device according to claim 5, wherein the control unit further comprises:
the system comprises a communication unit, a path optimization module, a drive module and a motion path data processing module, wherein the communication unit is used for receiving an optimized path instruction sent by a base station and sending the optimized path instruction to the drive module, the base station is used for receiving motion path data produced by all the pontoon bridge devices and carrying out closed-loop control on the basis of all the motion path data so as to generate an optimized path instruction, and the optimized path instruction is used for ensuring that any two pontoon bridge modules cannot appear at the same spatial coordinate point at the same moment;
correspondingly, the driving module generates a motion control command according to the optimized path of the pontoon bridge device to control the crawler and the steering mechanism to act.
7. A pontoon bridge construction method based on the device in claim 1, which comprises:
acquiring a pontoon bridge construction scheme, determining the construction position of the pontoon bridge and constructing a reference coordinate system based on the construction position of the pontoon bridge;
each pontoon bridge device generates a motion path of the device according to the reference coordinate system and the self-positioning information;
each pontoon bridge device reaches a target position according to respective movement path;
and the pontoon bridge devices are automatically connected according to the pontoon bridge construction scheme to form the pontoon bridge.
8. The pontoon bridge construction method according to claim 7, further comprising:
the base station receives the motion path data of each pontoon bridge device and performs closed-loop control based on all the motion path data to generate an optimized path instruction, wherein the optimized path instruction is used for ensuring that any two pontoon bridge modules do not appear at the same spatial coordinate point at the same moment,
accordingly, each pontoon bridge device reaches the target position according to the optimized path.
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Application publication date: 20210430 |