CN114525790A - Method and device for dismantling steel support under cover-excavation system - Google Patents
Method and device for dismantling steel support under cover-excavation system Download PDFInfo
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- CN114525790A CN114525790A CN202210184173.8A CN202210184173A CN114525790A CN 114525790 A CN114525790 A CN 114525790A CN 202210184173 A CN202210184173 A CN 202210184173A CN 114525790 A CN114525790 A CN 114525790A
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- steel support
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- pipe frame
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D17/00—Excavations; Bordering of excavations; Making embankments
- E02D17/02—Foundation pits
- E02D17/04—Bordering surfacing or stiffening the sides of foundation pits
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/045—Underground structures, e.g. tunnels or galleries, built in the open air or by methods involving disturbance of the ground surface all along the location line; Methods of making them
- E02D29/05—Underground structures, e.g. tunnels or galleries, built in the open air or by methods involving disturbance of the ground surface all along the location line; Methods of making them at least part of the cross-section being constructed in an open excavation or from the ground surface, e.g. assembled in a trench
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/08—Wrecking of buildings
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Abstract
A steel support dismantling device under a cover-excavation system, which is used for supporting steel supports dismantled from two sides of a cover-excavation section foundation pit in dismantling engineering, comprises a pipe frame part and a support part, wherein the pipe frame part can be connected to an engineering vehicle to receive the driving of the engineering vehicle for moving and/or lifting, at least one part of the support part is constructed to be capable of contacting to a section of at least one part of the steel support to form a support for the steel support, at least another part of the support part can be connected with the pipe frame part to form a structure for maintaining the support of the support part to the part of the steel support in a direction far from the ground, and when the clear height of the bottom of the steel support is larger than the sum of the height of the support part, the height of the pipe frame part and the maximum height of the engineering vehicle for lifting, the pipe frame part is constructed to be capable of being connected to at least one additional pipe frame part to lift the whole height of the device.
Description
Technical Field
The invention relates to the field of engineering support, in particular to a method and a device for dismantling a steel support under a cover-excavation system.
Background
The underground tunnel engineering system is a construction engineering for underground structures, and in some engineering, an underground tunnel at least consists of a comprehensive pipe gallery layer and a traffic tunnel layer. The utility tunnel is mainly divided into a heating power cabin, a water communication cabin, an electric power cabin, a smoke exhaust cabin and the like. The device is mainly used for laying various pipelines, and is convenient to maintain and the like. The traffic tunnel layer is designed as a zone for the passage of vehicles, which has at least two-way lanes. The underground road tunnel is constructed by adopting an open cut method and a cover cut method, main structures of an open cut section and a cover cut section are both cast-in-place reinforced concrete closed frame structures and are set into a double-layer grid-shaped closed frame, a bridge pile foundation is arranged in a foundation pit of the cover cut section, and retaining structures formed by combining support piles and jet grouting piles are arranged on two sides of the cover cut section from inside to outside respectively. In order to ensure the transverse stability of the supporting structure in the deep foundation pit, at least one steel supporting structure is required to be arranged between the supporting piles arranged at the two ends, and the steel supports are erected in the foundation pit. After the tops of the two-sided fender piles are connected in a stable top structure, the steel support structure needs to be dismantled. Because there is the bridge floor system at the top to be difficult to carry out the hoist and mount work at deep basal pit edge, so can not directly hang the steel shotcrete and send to outside the ground, consequently the mode of generally adopting is that the manual work is built some scaffolds and is adopted modes such as chain block to suspend in midair in the steel shotcrete structure below, treats that the steel shotcrete structure is unloaded the power after, suspends in midair and the support of scaffold can prevent that the steel shotcrete from dropping the safety problem that causes. And then the disassembled steel support section is lifted to the bottom of the deep foundation pit by a chain block, then is bound by personnel and is conveyed to a special lifting point by a forklift, and is conveyed out of the deep foundation pit from an opening of the top capping structure by a crane outside the deep foundation pit.
Above-mentioned prior art adopts comparatively original manual work to build the scaffold frame and adopts the mode of chain block handling to carry out the steel shotcrete and demolish work in a large number, demolish the construction and receive the human influence great, construction safety is also in order to guarantee, and it is slower to dismantle the flow of transporting, because the scaffold frame is built comparatively randomly, utilizes it to carry out the dismantlement work security of steel shotcrete can not obtain better guarantee, also comparatively many to the consumption of artifical labour.
Furthermore, on the one hand, due to the differences in understanding to those skilled in the art; on the other hand, since the applicant has studied a great deal of literature and patents when making the present invention, but the disclosure is not limited thereto and the details and contents thereof are not listed in detail, it is by no means the present invention has these prior art features, but the present invention has all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention provides a device for removing a steel support under a cover-excavation system, which is used for supporting the steel support detached from two sides of a cover-excavation section foundation pit in a removing process, and comprises a pipe frame part and a supporting part, wherein the pipe frame part can be connected to a construction vehicle to receive the driving of the movement and/or lifting of the steel support, at least one part of the supporting part is configured to be capable of contacting to a section of at least one part of the steel support to support the steel support, at least another part of the supporting part can be connected with the pipe frame part to form a structure for maintaining the part supported to the steel support in a direction far from the ground, and when the net height of the bottom of the steel support is greater than the sum of the height of the supporting part, the height of the pipe frame part and the maximum height of the construction vehicle, the pipe frame part is configured to be connected to at least one additional pipe frame part to lift the whole height of the lifting device.
Preferably, the pipe support portion is configured as a frame structure, which is at least composed of a bottom frame, a longitudinal rod and a top frame, wherein one end of the longitudinal rod perpendicular to the bottom frame surface is connected to a plurality of corner points of the bottom frame, and the corner point of the top frame having the same structure as the bottom frame is correspondingly connected to the other end of the longitudinal rod away from the bottom frame.
Preferably, the pipe frame portion is a prism body which is not a triangular prism, and at least two mutually crossed oblique supporting bar structures are arranged on a plane formed by any three sides of the prism body.
Preferably, the other side of the top frame of the pipe frame part, which is away from one side connected to the vertical rod, is provided with a top extension section, and the other side of the bottom frame of the pipe frame part, which is away from one side connected to the vertical rod, is provided with a bottom extension section, so that any two pipe frame parts can be connected in a manner that the top extension end and the bottom extension section are connected to form an up-and-down overlapping structure.
Preferably, at least two mutually parallel lifting grooves are further arranged on the bottom frame of the pipe frame part, the engineering vehicle is a forklift, and the lifting grooves are constructed in a structure capable of receiving insertion of a fork of the forklift, so that the forklift can lift the pipe frame part through the lifting grooves.
Preferably, the support portion includes a frame unit and a support unit configured as a structure connectable to the top extension of the pipe frame portion to be supported by the pipe frame portion, the support unit being inwardly recessed in a manner capable of fitting the shape of at least a portion of the side wall of the steel support to form a clad structure.
Preferably, the steel support is cylindrical, and the ratio of the arc-shaped segment cladding steel support of the support unit to the tangent plane at the position is less than or equal to 50%.
A method for dismantling a steel support under a cover-excavation system is characterized by comprising the following steps that an engineering vehicle is connected to a pipe frame part connected with a supporting part to provide a drive for driving the pipe frame part to move or lift the pipe frame part, the engineering vehicle moves from an initial position to a steel support position, the supporting part is lifted so that the supporting part is in contact with at least one section of steel support section, two ends of the steel support are separated from the side of a foundation pit, and therefore the whole weight of the steel support is supported by a supporting frame.
Preferably, the method further comprises the following steps that the engineering vehicle drives the support frame to move to a specified place along with the steel support, and the steel support is lifted out of the foundation pit by a crane arranged outside the foundation pit at the specified place.
Preferably, the engineering vehicle is a forklift, and the pipe frame portion is provided with a lifting groove capable of being matched with a fork of the forklift.
The invention has the advantages that:
under the prerequisite of guaranteeing that major structure is not destroyed, construction speed is fast, adopt this strutting arrangement of fork truck cooperation to demolish, the segmentation hoist and mount. The scheme has the advantages of rapid dismantling, high flexibility and no damage to the structure. Can save some manual labor and pay out, the security is higher.
Drawings
FIG. 1 is a schematic structural view of a preferred embodiment of a pipe rack section provided by the present invention;
FIG. 2 is a schematic view of a preferred embodiment of the support structure provided by the present invention;
FIG. 3 is a schematic view of a preferred embodiment of the apparatus of the present invention in a steel support demolition project;
FIG. 4 is a schematic diagram of the connection of the control module of a preferred embodiment of the present invention;
in the figure: 100. a pipe frame part; 110. a bottom frame; 120. a longitudinal bar; 130. a top frame; 140. the oblique supporting bars; 150. a top extension section; 160. a bottom extension section; 170. a lifting groove; 200. a support portion; 210. a frame unit; 220. a support unit; 300. supporting steel; 400. a detection unit; 500. a processing unit; 600. an execution unit.
Detailed Description
The following detailed description is made with reference to fig. 1 to 4.
As shown in fig. 3 (a construction vehicle, such as a forklift, is not shown in the figure), in some construction works, such as a space structure construction work of an underground tunnel or a pipeline, it is required to excavate the ground and form a foundation pit, since the foundation pit is excavated, the soil on both sides of the pit wall is not additionally hardened, and belongs to a soft soil system, in order to prevent the soil on both sides from sliding down toward the middle of the foundation pit, support retaining piles, jet grouting piles, and the like are usually arranged on both sides of the foundation pit. For a deep foundation pit with a deep excavation depth, the pressure applied to the support pile and the jet grouting pile by the soft earthwork at the two ends of the deep foundation pit towards the center direction of the foundation pit is very large, so that the pile structure is easily subjected to strain damage, the pile structure is broken and collapsed, and then the landslide at the side of the foundation pit is caused, and a large amount of loss is caused. Therefore, in this case, at least one steel support 300 structure, which supports piles on both sides at both ends thereof, is provided between the pile structures on both sides of the pit, in addition to the pile structures such as the aforementioned support piles and jet grouting piles. The steel support 300 structure may generally be constructed in a similar tubular structure, and may itself be composed of multiple short sections connected end to end, but it has at least two ends supported to the pile structure steel purlins on the two sides of the foundation pit, and preferably, the steel support 300 and the support force bearing or applying positions at the two ends are vertically and symmetrically arranged about the center line of the foundation pit, so as to realize the largest and most stable support in force and structure. At engineering entering later stage, after the fender pile top is by the crown beam UNICOM of structure, the opening of deep basal pit top is covered by hollow slab shop cover system gradually to lay the sclerosis ground above the hollow slab, hollow slab and sclerosis ground are closely linked to each other and form long-term firm bearing structure with the fender pile crown beam of hole both sides, and at this moment, for giving the inside tunnel construction space of foundation ditch, need demolish steel shotcrete 300. Since the steel support 300 is erected over the bottom of the foundation pit after being constructed in a manner that both ends thereof are supported to both sides of the pit, it is necessary to perform a certain gravity support to prevent it from falling down to cause impact on the bottom of the foundation pit during disassembly, which in turn causes safety or economic loss. Meanwhile, because the front system of the paving section above the foundation pit is constructed, the crane is difficult to hoist outside or inside the foundation pit, and therefore, it is difficult to provide the supporting force for resisting the gravity of the steel support 300 in a suspension manner. The conventional scheme is that a lifting point is manually set up in a foundation pit, the disassembled steel support 300 is lifted in a chain block mode, binding work of a steel wire rope and the steel support 300 is required in the process, and the work is usually completed in a mode of manually setting up a scaffold. After the worker uses the chain block to hoist the steel support 300 to the ground of the foundation pit, the steel support needs to be conveyed to a designated outer hoisting point manually or mechanically, the foundation pit is hoisted out from the outer hoisting point by an externally arranged crane, and after the completion, the preset hoisting point of the chain block needs to be dismantled. According to the scheme, firstly, a stressed lifting point of the chain block needs to be arranged in a foundation pit, the lifting point is usually arranged at a higher position, for example, a pile on the side wall of the deep foundation pit or a cover plate at the top of the deep foundation pit, the self establishment of the lifting point has certain influence on the structural integrity of a pile structure or the cover plate, when the chain block suspends the steel support 300 structure, a large amount of pulling force borne by the lifting point further influences the structural stress balance of the arranged position, the structural damage of the lifting point position needs to be reconstructed if the lifting point is light, and the corresponding part is directly collapsed if the lifting point is heavy, so that the chain reaction is caused, and the great loss is caused.
Therefore, the invention provides a device for removing a steel support under a cover and excavation system, which aims at removing at least one steel support 300 structure arranged in a foundation pit, and comprises a support part 200 and a pipe frame part 100.
As shown in fig. 1, the pipe frame portion 100 is composed of a plurality of rectangular frames and diagonal support bars 140, and specifically, the rectangular frames are composed of a bottom frame 110 composed of at least four lateral bars connected to each other in a rectangular four-sided arrangement, at least four longitudinal bars 120 connected to four corners of the bottom frame 110, respectively, and extending upward in the second direction, and a top frame 130 having four corners connected to the other ends of the longitudinal bars 120, respectively, and having a structure identical to or substantially similar to that of the bottom frame 110. The rectangular frame is substantially configured as a rectangular frame structure, and at least two diagonal support bars 140 are provided so as to diagonally cross each other on any one of four surfaces on the peripheral side.
The base frame 110 is comprised of at least four transverse rods connected end-to-end and is generally rectangular in configuration to form at least some stable base support structure. One end of at least four longitudinal bars 120 is connected to 4 corner points of four bottom frames 110, respectively. As described above, the bottom frame 110 is substantially rectangular, and it should have at least four substantially vertical corners, the vertex positions of the corners are the corner points, and the vertical rod 120 is substantially vertically connected to the corner points, that is, if the rectangular plane formed by the bottom supporting structure is laid on the ground, one end of the vertical rod 120 is connected to one of the corner points of the bottom frame 110 in a manner of being substantially vertical away from the ground. The other ends of the four longitudinal bars 120 far from the ground just define the corner positions of the top frame 130, the top frame 130 is also formed into a rectangular shape with the same size as the bottom frame 110 by connecting at least four transverse bars end to end, and the four corners of the top frame 130 are connected with the longitudinal bars 120 one by one in a manner that the length and the width of the four corner points are matched with the positions defined by the ends of the four longitudinal bars 120 far from the top surface, so that the pipe frame part 100 integrally forms a rectangular frame structure.
At least two diagonal support bar 140 structures are further provided on a plane of any constituent member among the bottom frame 110, the vertical bars 120, and the top frame 130 and at least two other constituent members in the pipe frame part 100, and the two diagonal support bar 140 structures are arranged to cross each other when the plane is perpendicular or parallel to the ground. That is, at least two structures of the diagonal support bars 140 crossing each other are disposed on a plane formed by any three sides of the prism-shaped pipe frame 100. The above-mentioned components are the transverse and longitudinal rods 120 constituting the bottom frame 110 and the top frame 130, and the faces comprised by at least three components can be simultaneously geometrically 6 surfaces of a rectangular body, that is, each surface is provided with at least two structures of the oblique supporting bars 140 crossing each other. Specifically, each side of the rectangular body is rectangular, and the diagonal support bars 140 are configured to connect the transverse bars and/or the longitudinal bars 120 in a diagonal connection forming the plane. When the pipe frame part 100 has a body shape larger than a quadrangular prism, the crossing diagonal support bars 140 on the top surface thereof may not be diagonally crossed, but are preferably diagonally crossed.
At least two transverse rods arranged in parallel on the bottom frame 110 are also provided with lifting grooves 170 with through hole groove structures in the same direction as the transverse rods on the side close to the ground. The lifting groove 170 is a hollow through-hole groove structure, i.e., a hollow structure formed around a solid boundary as viewed in cross section. Preferably, the channel shape of the lifting grooves 170 constitutes a structure that is rectangular, in particular a structure that is able to fit the lateral width of the forks of a forklift truck used in demolition work, so that in the dismantling work, the forklift truck can be operated to insert its forks into at least two lifting grooves 170 to mount the pipe rack portion 100.
The top frame 130 is provided with top extensions 150 at a side thereof away from the ground, the top extensions 150 respectively extend in a direction perpendicular to and away from the ground, and the top extensions 150 are formed in a solid structure capable of forming a certain stable support. The top extension 150 may be constructed of steel, sheet steel, or the like. Accordingly, the portion of the bottom frame 110 of the pipe stand portion 100 other than the structure provided with the lifting groove 170 is provided with a bottom extension 160 extending in the direction of the ground in a manner to match the position of the top extension 150 provided at the top thereof, so that any two pipe stand portions 100 can be constructed by overlapping the two pipe stand portions 100 up and down by connecting the top extension 150 of one with the bottom extension 160 of the other. Bottom extension 160 can adopt and constitute with the equal material in top to the mode of connecting two position extensions can be threaded connection's mode, sets up the mode of the screw hole that corresponds promptly on bottom extension 160 and top extension 150, and follow-up can realize fixing through inserting the screw to the screw hole that aligns. Preferably, both the top and bottom extensions 160 are provided at the corner locations of the top frame 130 and the bottom frame 110.
As shown in fig. 2, the support portion 200 includes a frame unit 210 and a support unit 220, and the frame unit 210 is substantially similar to the pipe frame portion 100, i.e., includes at least a bottom frame 110, a side rail 120, a top frame 130 and a bottom extension 160, except that the top frame 130 does not include the top extension 150, and instead includes the support unit 220 disposed at the top of the frame unit 210. Which may or may not have the configuration of the lift slots 170. The support unit 220 is configured to be physically contactable to at least one wall surface of the steel support 300 at least in the structural arrangement thereof. Preferably, the supporting unit 220 comprises at least one arc segment, and the arc segment is at least sized to fit at least one arc segment of the outer wall of the cylindrical steel support 300. In terms of the percentage of the cross-section of the segment-clad steel support 300, in this embodiment, the percentage of the base is 25-35%, preferably 35-45%, preferably approximately or equal to 50%, but not more than 50%. The supporting unit 220 may be constructed in a solid structure except for the hollow of the arc segment portion to achieve stable support of the steel support 300.
When the steel support 300 is dismantled, the supporting part 200 is selected based on the height of the steel support 300 and the maximum height which can be lifted by the forklift, or the structure formed by combining the supporting part 200 and at least one pipe frame part 100 according to an extension section is used, and the forklift is inserted into the lifting groove 170 at the bottommost part of the structure, so that the device can be lifted by the forklift to a state that the supporting unit 220 can be stably contacted with at least one side wall part of the object for dismantling the steel support 300.
According to a preferred embodiment, as shown in fig. 4, the apparatus in this embodiment further comprises at least one detecting part 400 for determining the relative position of the supporting part 200 and the steel support 300 object to be supported, a processing part 500 for processing the information detected by the detecting part 400 and forming corresponding instructions, and an executing part 600 for executing the instruction information sent by the processing part 500.
The detection part 400 collects the structural information and the positional information of the steel support 300 and transmits them to the processing part 500. The structural information of the steel support 300 at least includes the radial dimension information of the steel support 300 and the surface structural information of the steel support 300, wherein the radial dimension information of the steel support 300 reflects the size of the cross-sectional area of the steel support 300, and generally indicates the pipe diameter of the steel support 300, although the more common steel support 300 is a round-tube-like structure with the same radius in the whole course, in some projects, the pipe diameters of the steel support 300 are not equal everywhere in order to ensure the supportability of the steel support to both ends of a foundation pit, or ensure the yield strength of the steel support itself, or in order to save cost, and the like, and the detection part 400 in this embodiment can at least obtain the radial dimension information of a certain section of the structure of the steel support 300 within the same time. In the present embodiment, the detecting portion 400 may employ a contact type detecting member and a detecting manner, and specifically, it may be disposed at any position on the supporting frame or may even be disposed independently, and it may obtain the distance between two symmetrical vertical tangent sides of the current pipe section by contacting to the two sides respectively, in the conventional steel support 300 with a circular cross section, the distance represents the radial dimension of the steel support 300. Preferably, the detection unit 400 may also adopt a non-contact detection method. Specifically, the non-contact measurement mode is preferably a machine vision detection mode, at least one vision acquisition device is equipped in the detection part 400, the vision acquisition device is controlled to perform image recognition on the two side edges of the target image in at least one current field of view and detect a current spatial depth parameter, the image information and the depth parameter are sent to the processing part 500, and the processing part acquires the vertical distance between the two side edges based on the correction of the spatial depth parameter so as to confirm the radial dimension information of the steel support 300 at the position. The depth of field parameter can be obtained by combining at least two pieces of image information positioned at different visual angles, the combined images with certain parallax, which are obtained by two eyes similar to a person, can enable the person to know the depth of field information, the depth of field information can be obtained based on some image information of different visual angles in machine vision, and real length data, which is different from length data directly measured in an image, of the vertical distance of the edges of two sides can be obtained based on some known shooting visual angle distances, angles and image differences. From the above, the steel support 300 is substantially configured as a cylindrical structure, i.e. the steel support 300 has at least two distinct and mutually parallel edge lines, no matter from which view in radial direction, in the machine vision identification, the two edge lines can be found out simply based on the modes of depth of field, image matching, inertia optimization and the like, and due to the structural characteristics of the steel support 300, the image acquisition equipment can acquire the pipe diameter of the current section of the image acquisition equipment without being exactly positioned under the steel support 300, for example, in the case where the detector 400 is provided on a support frame that can move with a forklift, the detector 400 can acquire the radial dimension information of at least one steel support 300 before moving directly below the steel support 300, this strives for some prior time for some subsequent decisions and instructions based on this information, during this time, the execution section 600 has sufficient opportunity to make some changes based on the instructions of the processing section 500.
Preferably, the image capturing device is disposed on the support portion 200 and is capable of adjusting at least the viewing angle facing direction thereof to be consistent with the direction of the fork of the forklift in such a manner that the viewing angle of the image capturing device represents the direction of the movement of the fork, and since the forklift, which is more widely used, is not capable of adjusting the angle of the fork itself with respect to the body of the forklift, it is more suitable for the direction control of the fork. It should be noted that to track the image of the steel support 300 from time to time during movement of the forklift, the image capture device may need to change its viewing angle from time to time.
In a preferred embodiment, the surface structure information of the steel support 300 can be obtained in a machine vision-based manner, and the ideal steel support 300 structure is only a cylindrical structure. In some cases, some interface bulge may be created by joining the segments end-to-end; in other cases, there may be some obvious protrusions, bends, additional structures, etc. on the surface of the steel support 300, some of these structures may result from the unevenness defects on the surface of the steel support 300 itself, and some of these structures result from the additional structures added to the steel support 300 by hand, such as welded reinforced steel bars, and attachments and other objects arranged on the outer tube wall, these structures that are obviously different from the smooth and avoided structures of the ideal steel support 300 can be identified by machine vision, and these differences can be found out more simply based on a series of exclusion, feature algorithm, and continuation algorithm.
The position information is relative position information of the position of the detection unit 400 from the structure of the steel support 300, and may be represented as a distance, and since the detection unit 400 is provided on the support frame, the relative position information of the detection unit 400 may be regarded as relative position information of the support frame from the steel support 300. The relative position information can also be acquired by a three-dimensional based machine vision manner similar to a space camera.
The processing part 500 obtains at least one instruction information for controlling the execution part 600 of the current time slice to maintain the current execution action or change the current execution action based on the radial dimension information of the steel support 300 and the surface structure information of the steel support 300 delivered by the detection part 400 of the current time slice. In this embodiment, the executing part 600 may be configured as a forklift body or an operation component of the forklift body, and the executing action that can be executed by the executing part may at least include a motion paradigm that can be realized by a general forklift such as traveling, braking, reverse gear, left steering, right steering, maintaining straight traveling, or when the executing part 600 is a landing gear driving mechanism of the forklift that drives the forks, the action that can be executed by the executing part at least includes controlling the lifting and the falling of the forks; or, in some cases, the fork itself or the supporting frame itself can perform some motions of rotating along the horizontal plane and twisting along the vertical plane, and the executing part 600 is a part for controlling the rotation or twisting accordingly.
The above instruction information is given based on the judgment rule. The judgment rule is that, firstly, the processing unit 500 compares the radial dimension information of the steel support 300 conveyed by the detection unit 400 acquired based on the current time slice with the radial dimension information of the preset support unit 200. Checking whether at least one section of continuous sections with the radial size smaller than that of the support part 200 exists in the radial size information of the current steel support 300, and if not, giving instruction information for changing the current execution action; if yes, marking all the paragraphs meeting the judgment to form marked paragraphs, further judging whether the surface structure information of the steel support 300 of the marked paragraphs exceeds a threshold value, if so, giving instruction information for changing the current execution action, and if not, giving instruction information for maintaining the current execution action, and marking at least one paragraph meeting the judgment as a determined paragraph. The threshold for determining the information on the surface structure of the steel support 300 may be set to a predetermined parameter such as curvature and degree of protrusion, which is a maximum limit value artificially determined for determining whether the surface structure of the steel support 300 deviates from smoothness to be stably supported by the support 200. It should be noted that the judgment of the determination section is given based on an acceptable detection accuracy range given by a human.
The change of the currently executed action can control the execution unit 600 to change at least one executed action, such as forward or backward. The initial execution operation of the execution unit 600 includes at least an operation of controlling the carriage to gradually approach the steel support 300 so as to be directed straight. The executing part 600 changes at least one current executing action so that at least one determined section which accords with the detection rule of the processing part 500 appears in the field range of the detecting part 400 in the subsequent time slice. The action in which the change is performed is preferably an action in which the field of view of the detection portion 400 is laterally displaced in a direction substantially parallel to the structure of the steel support 300. This action may be accomplished by controlling the direction of movement of the truck itself, for example, by controlling the truck to move a certain distance to the left, which may be a movement with a forward component or a mere parallel movement, and then controlling the truck to realign the steel support 300 orientation. Here, the moving pronouns in the embodiments should be explained in a certain way, where forward movement refers to a movement that reduces the relative distance between the detecting portion 400 and the steel support 300, and lateral displacement refers to a parallel lateral movement that does not change the relative distance between the detecting portion 400 and the steel support 300. After the above-mentioned lateral shift, the image information in the field of view of the detecting portion 400 at least changes with a certain ratio, and the processing portion 500 is configured to continuously check the newly added image in the field of view in the subsequent time slice to obtain the image information of at least one determined paragraph. Upon acquiring the image information of the determined paragraph, the processing section 500 sends an instruction to the executing section 600 to maintain the currently executed action, which includes at least the action of advancing the determined paragraph. Preferably, to ensure that the currently performed motion enables the entire range of the paragraphs of the supporting part 200 to fall within the range of the determined paragraphs in relative position, the reference position of the advancing motion may be calculated and controlled based on the relative position of the detecting part 400 with respect to the supporting part 200. For example, if the detection unit 400 is disposed on the central axis of the forklift and the support unit 200 is also configured to be symmetrical with respect to the central axis of the forklift, the center point of the field of view of the detection unit 400 may be used as the reference point of one forward movement, the execution of the control operation may be performed so that the reference point coincides with the midpoint position in the image of the specific segment, and the reference point is always maintained at the midpoint position in the subsequent forward movement, and when the support unit 200 is actually moved to the specific segment of the steel support 300, it is possible to ensure that the entire segment range of the support unit 200 falls within the range of the specific segment.
When the execution part 600 drives the support part 200 to enter the position right below the determined section, the detection part 400 detects the in-place information and gives a parking instruction and a lifting instruction, so that the execution part 600 can drive the support part 200 to lift and contact the determined section surface corresponding to the surface of the steel support 300. The detection of the in-place information by the detection unit 400 may be performed by using the time when the relative position is zeroed as an in-place mark, or by using the appearance of visual information in the visual information of the detection unit 400 that identifies the paragraph vertically facing the support 200 as in-place information. The parking instruction is at least used for controlling the supporting part 200 to stop displacement, the lifting instruction is at least used for controlling the executing part 600 to drive the supporting part 200 to lift upwards, and the mode of determining that the supporting part 200 is contacted with the surface of the determined paragraph can be a mode of arranging a pressure sensor at any position on the supporting frame and determining the contact by utilizing pressure information, or a mode of directly acquiring at least one image information for determining that the supporting part 200 is contacted with the determined paragraph by using a visual sensing mode of the detecting part 400 for judgment.
Above-mentioned scheme has realized not being close to under the condition of steel shotcrete 300 at supporting part 200, look for the supportable paragraph on the steel shotcrete 300 in advance and can continuously guide its position of supporting part 200 adjustment until can perfectly contact to at least one section confirm the paragraph, need not the manual work and look for, especially only rely on the manual work to carry out the naked eye observation under the higher condition of steel shotcrete 300 and usually be difficult to discover the position that can carry out the bearing, lead to demolising the construction slowly, efficiency is lower, often produce the condition of reversing gear rework, and the machine vision identification's of this scheme mode of adoption firstly seeks a precision with a large amount of increases, show promotion bearing precision. Secondly, the invention can be matched with some mature automatic driving programs or automatic driving engineering vehicles on the market in practice, such as an intelligent forklift, to realize an automatic construction scheme of automatically searching points, automatically advancing, automatically transporting the dismantled steel support 300 to a designated place, can remarkably reduce the labor cost of personnel in the dismantling work of the steel support 300, correspondingly greatly avoid the problems of slow progress and poor effect of the dismantling work caused by negligence of personnel, simultaneously improve the safety of the operation in the foundation pit to a certain extent, in the process of carrying the support part 200 with the automatic point searching function by the unmanned engineering vehicle for automatic operation, in fact, no or a large number of engineering personnel can be arranged in the foundation pit, and the accident probability of casualties caused by falling of the steel support 300 due to accidents can be greatly reduced.
Since a plurality of construction vehicles are often used to support a section of steel support 300 during the dismantling of the steel support 300, and the space of the lane actually provided for the movement of the construction vehicles is small due to the influence of other fixed equipment in the foundation pit, other constructed structures, divided construction areas, and the like, the number of command schemes for controlling the execution unit 600 that can be selected by the processing unit 500 is relatively small, and in some cases, the backward movement or the large-scale lateral movement may not be allowed to find a specific section. In this case, the driver of the construction vehicle or the automatically driven construction vehicle also has a function of observing a blockage of the movement path or the like, and in the above-described process of finding the determination section, if at least one piece of blocking information of the currently performed action appears in the middle of the process of changing the performed action, the blocking information is considered as the reference information of the highest priority, that is, the currently performed action cannot be continuously performed without violating the blocking information. For example, the currently performed action is to control the engineering vehicle to traverse left to find a certain paragraph, but the obstruction information of the obstruction is found on the left, on the basis of which the leftward traversing action cannot be continuously performed (collision prevention). In the case of rare or single routing, it is preferable to quickly find the determined section in the process of approaching the steel support 300 to change the direction as early as possible so as to optimize the routing or better guide the support 200 to contact the determined section.
On this basis, a preferred embodiment is provided, in which the detection part 400 or the initial position of the support part 200 and the execution part 600 at the same position as the detection part 400 is arranged at a place far from the position of the steel support 300 to be removed. Such an arrangement is generally reasonable, because in the process of removing the steel support 300, the removed steel support 300 needs to be transported out of the foundation pit by a crane outside the foundation pit, and the specified hoisting point is generally arranged at one side close to the edge of the foundation pit and is far away from the site of removal of the steel support 300, so that an engineering vehicle is needed to carry out the transportation mode, after one time of transportation of the steel support 300 is completed, the next transportation link of the steel support 300 is started, and the initial position of the starting event can be regarded as the position where the steel support 300 is far away. For convenience of description, a position farther from the steel support 300 may be referred to as a distal position, and a position closer to the steel support 300 may be referred to as a proximal position. When the detection part 400 is in a far position, the detection part can acquire a relatively comprehensive view field about the steel support 300, but because the resolution of an image which is far away from the steel support 300 is not clear, the radial dimension information of the steel support 300 and the surface structure information of the steel support 300 acquired on the basis have considerable errors. Therefore, at this time, the processing portion 500 searches for an initial probability region with an initial error correction value, where the initial probability region is determined to meet the "definite section" criterion based on the radial dimension information of the steel support 300 and the surface structure information of the steel support 300 modified by the initial error correction value according to the above determination rule, although, at this time, the initial probability region may not actually meet/partially meet/fully meet/satisfy the definition of the precision of the definite section by the engineer. However, the initial probability region can be at least guaranteed to have high probability of finding a specific segment that can satisfy the definition of accuracy compared with the rest of the regions, and the number and area of the initial probability region found at the initial position are the largest and largest due to the large field of view. The initial error correction value is a parameter of the detection result related to the decoration detection unit 400, which is related to the calculation method of the decoration function, and based on the comparison between the image resolution, the processing capability of the machine vision to the figure, and the actual radial dimension of each segment of the steel support 300, a plurality of basic, preferable, and even optimal decoration calculation methods can be obtained. In this embodiment, simply taking an addition function or a product function as an example, the radial size information of the steel support 300 detected at the initial position by the detection unit 400 and the surface structure information of the steel support 300 are subjected to addition or multiplication by the initial error correction value to obtain corrected correlation data, and for the size portion, direct size addition or multiplication may be performed, and for the surface structure portion, degree enlargement or magnification of an abnormal pixel point in the image may be performed. Here, it is considered that the section of the steel support 300 smaller than or equal to the radial dimension of the steel support 300 can be accepted at least when the support 200 is actually supported to the steel support 300, because even if the radial dimension of the section of the steel support 300 is too smaller than the radial dimension of the support 200, at most, the steel support 300 is subjected to inertia to cause partial or slight shaking when moving along with the support 200; but it is completely unacceptable to have a section of the steel support 300 larger than its radial dimension, because this would result in the support 200 not being able to wrap around and define the relative position of the steel support 300, which is very likely to cause the steel support 300 to break away and cause a safety accident. Therefore, the initial correction value is set to a large value to ensure that the confirmation element of the judgment rule for the "definite section" is satisfied even if the difference from the actual correlation information is large, and even if there is some portion in the initial probability region of the steel support 300 in the subsequent process that the support 200 is continuously close to the region, the detection value of which rises as the detection accuracy increases, the confirmation element of the judgment rule for the definite section can be satisfied with a high probability because the portion itself is a section that is screened by the initial correction value and satisfies the confirmation element of the definite section even if the section is greatly increased.
After the initial probability region is acquired, the processing part 500 selects as an initial target point control executing part 600 to drive the supporting part 200 to advance toward the initial target point. There is also a preferred embodiment, where there are two sets of supports 200, and correspondingly two sets of actuators 600 and work vehicles, which are respectively responsible for supporting the left and right ends of the steel support 300, and therefore only for supporting a certain section of one end of the steel support 300 for one set of supports 200 and its associated fittings. Therefore, the processing unit 500 selects an initial probability region near one end of the steel support 300 after detecting a plurality of initial probability regions at the initial position as the initial target point. And preferably after selecting the orientation of one end, the direction is selected as much as possible to travel closer to the edge when a subsequent change in performance action is likely to be made to replace another defined area.
In the process of controlling the advance of the supporting part from the initial position to the initial probability region, there is a process time, in each time slice or in some interval or non-interval time slices, the detecting part 400 acquires the steel support 300 radial dimension information and the steel support 300 surface structure information with relatively higher accuracy based on the relatively narrowed view field, the processing part 500 corrects the steel support 300 radial dimension information and the steel support 300 surface structure information based on the intermediate correction parameters which change along with the continuous narrowing of the view field of the detecting part 400, and selects at least one intermediate probability region which satisfies the judgment element based on the judgment rule to control the executing part 600 to change or maintain the currently executed action to drive the supporting part 200 to go to the intermediate probability region. Wherein the intermediate probability region positions are continuously updated with the detection processing results in each time slice with detection of the time sequence arrangement. Specifically, the intermediate correction parameter is gradually reduced as the field of view of the detection unit 400 is narrowed. The intermediate probability region may be smaller in length or area than the initial probability region as the detection accuracy increases and the field of view narrows, and the image's proportion in the field of view enlarges.
The above-mentioned detection time slices may be selected at fixed intervals, or may be selected such that each time the support portion 200 encounters blocking information during the forward process, the greater the number of the detection time slices, the faster the frequency of possible update of the intermediate probability region, and the greater the fine adjustment of the motion performed by the support portion 200, but the greater the corresponding data processing amount, the more the number of the unnecessary fine adjustments of the motion becomes. By manually selecting an appropriate detection time slice, the support portion 200 can be ensured to contact the final determination section with as few fine adjustments of the movement as possible.
In the case where the support 200 is close enough to the upper target intermediate probability region of the steel support 300, the processing section 500 selects at least one region in the image that meets the judgment rule as a final determination section, and the update of the destination region may not be performed after that. The "sufficiently close" determination condition is a determination condition in which the relative distance between the support 200 and the steel support 300, which is manually set, reaches a predetermined value or the detection accuracy, which can be accepted by the engineer, is achieved by the detection unit 400 at a position close to the steel support 300.
The above-described embodiment enables the support 200 to seek a broad initial probability region at a time remote from the steel support 300 that approximately encompasses a certain segment that ultimately can meet the judgment rules, and the rough advancing direction is determined on the initial basis, and the more accurate middle-period probability region is continuously updated in the advancing period so that the supporting part 200 only needs to perform fine adjustment on a certain displacement during the advancing process to ensure the roughly correct running direction, the advancing difficulty or the visual field loss of the target region caused by the blocking in the middle of the path can be avoided, and can be roughly judged based on the target position with larger view field in the earlier stage and also can be combined with an obstacle avoidance system during moving, an optimal route which can be close to the target position is directly planned in the larger view field, and can ensure that there is a high probability that at least one determined paragraph meeting the judgment element can be found in the process of approaching the target position through the route. Through the control of the scheme, automatic point finding, advancing and obstacle avoidance which almost do not need to go back can be performed, and finally the supporting part 200 can be accurately contacted with the determined paragraph meeting the requirements, so that the steel support 300 dismantling process is smoother, the efficiency is higher, the scheme is more suitable for the steel support 300 dismantling work with intelligent unmanned engineering vehicles, and the expenditure of personnel labor can be reduced on the basis of better efficiency.
In another preferred embodiment, in the judgment rule that the processing portion 500 selects the intermediate probability region or even the determination region, a judgment optimization may be performed that gradually selects, as the updated intermediate probability region or determination region, a section of the steel support 300 that is smaller than the radial dimension of the support portion 200 and has a smaller difference while conforming to the surface structure judgment element, with narrowing of the field of view of the detection portion 400. In this arrangement, the selection of the intermediate probability region and the determination region is focused not only on any section of the steel support 300 that is smaller than the radial dimension of the support 200, but also on the advantage of the increased detection accuracy, and therefore, the selection of sections that are too smaller than the radial dimension of the support 200 is gradually abandoned, because these too small regions, if finally selected as determination sections, will be severely or unacceptably shaken on the support 200 during the subsequent movement of the support 200, and these adverse effects can be compensated by the increased detection accuracy advantage of the narrowed field of view of the detection portion 400, so that the support 200 can finally contact the steel support pipe section 300 that is smaller than the radial dimension thereof and closest to the radial dimension thereof, so as to obtain the best support condition.
The invention also provides a method for removing the steel support under the cover-excavation system, which mainly utilizes the device and mainly comprises the following steps.
And S1, connecting the engineering vehicle to the supporting frame to provide a drive for driving the engineering vehicle to move or lift.
And S2, moving the engineering vehicle from the initial position to the position of the steel support 300, and lifting the support frame to enable the support part 200 on the support frame to be in contact with at least one section of the steel support 300.
And S3, separating the two ends of the steel support 300 from the side of the foundation pit, so that the whole weight of the steel support 300 is supported by the support frame.
And S4, driving the supporting frame to go to a specified place along with the steel support 300 by the engineering vehicle.
And S5, hoisting the steel support 300 out of the foundation pit by a crane arranged outside the foundation pit at a specified position.
Wherein the step S2 may further include the following intermediate steps.
Acquiring an image of the steel support 300 based on the initial position, detecting radial dimension information of the steel support 300 and surface structure information of the steel support 300 based on the image, correcting the radial dimension information of the steel support 300 and the surface structure information of the steel support 300 based on the initial error correction value, judging the corrected information through a judgment rule to acquire at least one initial probability region, and controlling the supporting part 200 to move to the initial probability region.
In the process that the supporting part 200 moves to the initial probability region, the radial dimension information of the steel support 300 and the surface structure information of the steel support 300 are obtained, the radial dimension information of the steel support 300 and the surface structure information of the steel support 300 are corrected based on the intermediate error correction value, the corrected information is judged through the judgment rule to obtain at least one intermediate probability region, and the supporting part 200 is controlled to move to the intermediate probability region. The intermediate probability region is updated with the detection event and the intermediate error correction value is correspondingly reduced as the field of view of the acquired image is reduced.
When the support 200 is close enough to the upper target middle probability region of the steel support 300, at least one region meeting the judgment rule is selected in the image as a final determined paragraph to control the support 200 to lift and contact the determined paragraph.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.
Claims (10)
1. A device for removing a steel support under a cover-excavation system,
which is used for supporting steel supports (300) detached from two sides of a foundation pit of a covered excavation section in a dismantling project,
it is characterized in that the preparation method is characterized in that,
comprising a pipe frame part (100) and a support part (200), the pipe frame part (100) being connectable to a work vehicle to receive a drive for its movement and/or lifting,
at least one part of the support portion (200) is configured to be able to contact a section of at least one part of the steel support (300) to form a support thereto, and at least another part thereof is able to be connected with the pipe frame portion (100) to form a structure to maintain the part of the support portion (200) supported to the steel support (300) in a direction away from the ground,
wherein the pipe frame part (100) is configured to be connectable to at least one additional pipe frame part (100) to raise the overall height of the device when the clear height of the bottom of the steel support (300) is greater than the sum of the height of the support part (200), the height of the pipe frame part (100) and the maximum height of the work vehicle to be lifted.
2. The device according to claim 1, characterized in that the pipe frame part (100) is constructed as a frame structure, which is composed of at least a bottom frame (110), longitudinal bars (120) and a top frame (130), wherein one end of the longitudinal bars (120) perpendicular to the bottom frame (110) face is connected to corner points of the bottom frame (110), and the corner points of the top frame (130) having the same structure as the bottom frame (110) are connected to the other end of the longitudinal bars (120) remote from the bottom frame (110) correspondingly.
3. A method according to claim 1 or 2, wherein the frame portion (100) is a non-triangular prism having at least two intersecting angled support bar (140) formations disposed in a plane defined by any three sides thereof.
4. A method according to any one of claims 1 to 3, wherein the top frame (130) of the pipe frame portions (100) is provided with a top extension (150) on the side facing away from the side connected to the side rail (120), and the bottom frame (110) of the pipe frame portion (100) is provided with a bottom extension (160) on the side facing away from the side connected to the side rail (120), such that any two pipe frame portions (100) can be connected in an overlapping configuration with the top and bottom extensions (160) connected.
5. The method according to any one of claims 1 to 4, wherein the pipe frame part (100) is further provided with at least two mutually parallel lifting grooves (170) on the bottom frame (110), the work vehicle is a forklift truck, and the lifting grooves (170) are configured as structures capable of receiving the forks of the forklift truck to be inserted, so that the forklift truck can lift the pipe frame part (100) by the lifting grooves (170).
6. The method according to any one of claims 1 to 5, wherein the support portion (200) comprises a frame unit (210) and a support unit (220), the support unit (220) being configured to be connectable to a top extension (150) of the pipe frame portion (100) to be supported by the pipe frame portion (100), the support unit (220) being recessed inwardly to form a cladding structure in a manner to fit the shape of at least a portion of the side wall of the steel support (300).
7. The method according to any one of claims 1 to 6, wherein the steel support (300) is cylindrical, and the arc-shaped section of the support unit (220) covers the steel support (300) and accounts for less than or equal to 50% of the section.
8. A method for removing a steel support (300) under a dredging system by using the device according to any one of claims 1-7, comprising the steps of,
the engineering vehicle is connected to the pipe frame part (100) connected with the supporting part (200) to provide a drive for driving the pipe frame part to move or lift the pipe frame part, the engineering vehicle moves to the position of the steel support (300) from an initial position, the supporting part (200) is lifted to enable the supporting part to be in contact with at least one section of the steel support (300) to fall, two ends of the steel support (300) are separated from the side of the foundation pit, and therefore the whole weight of the steel support (300) is supported by the supporting frame.
9. The method according to any one of claims 8, further comprising the subsequent step of the work vehicle driving the support frame to carry the steel support (300) to a designated location where the steel support (300) is hoisted out of the excavation by a crane disposed outside the excavation.
10. A method according to any one of claims 8-9, characterized in that the work vehicle is a forklift, and that the pipe frame part (100) is provided with lifting grooves (170) that can engage the forks of the forklift.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210184173.8A CN114525790A (en) | 2022-02-25 | 2022-02-25 | Method and device for dismantling steel support under cover-excavation system |
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| CN202210184173.8A CN114525790A (en) | 2022-02-25 | 2022-02-25 | Method and device for dismantling steel support under cover-excavation system |
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| CN202210184173.8A Pending CN114525790A (en) | 2022-02-25 | 2022-02-25 | Method and device for dismantling steel support under cover-excavation system |
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Cited By (1)
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| CN115788106A (en) * | 2023-01-06 | 2023-03-14 | 上海建工一建集团有限公司 | Existing high-rise structure shifting device and construction method |
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