CN113387278B

CN113387278B - Control system of totally-enclosed prefabricated house factory shed

Info

Publication number: CN113387278B
Application number: CN202110805419.4A
Authority: CN
Inventors: 杨志伟; 李永权; 雷洪宇; 熊海云; 张代利; 莫先琳; 郑德玉; 李聪力; 史超杰; 马雨
Original assignee: CCCC SHB First Engineering Co Ltd
Current assignee: CCCC SHB First Engineering Co Ltd
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2023-11-17
Anticipated expiration: 2041-07-16
Also published as: CN113387278A

Abstract

The invention provides a control system of a fully-closed prefabricated house shed, which comprises the following components: the factory shed main body is provided with a component access opening on the shed roof, and a movable ceiling is covered on the component access opening; the internal crane is arranged in the factory shed main body; the external travelling crane is sleeved outside the factory shed main body; the transferring platform is arranged in the factory shed main body and is used for transferring prefabricated components manufactured in the factory shed main body to the position to be lifted; the control unit is respectively and electrically connected with the jacking unit, the weighing unit and the length measuring unit, and is also electrically connected with the driving mechanisms of the movable ceiling, the inner travelling crane, the outer travelling crane and the transfer platform. By arranging the component access opening on the shed roof of the shed main body, the prefabricated components in the shed are hung from the component access opening through the outside, and the hanging efficiency of the prefabricated components can be greatly improved through directly hanging the prefabricated components from the interior of the shed.

Description

Control system of totally-enclosed prefabricated house factory shed

Technical Field

The invention relates to the technical field of factory shed control, in particular to a control system of a fully-closed prefabricated factory shed.

Background

At present, in bridge structure construction, for the coastal region project at the ground, the conditions of high weather, high ultraviolet ray, large day and night temperature difference, serious corrosion of high saline-alkali environment, high requirements on anti-platform and the like are faced, and the adoption of a closed indoor prefabricated field is a necessary development direction of standardized construction. The use of a closed prefabricated field is somewhat as follows: the construction is not affected by weather, so that the conditions of excessive summer heat, rain in a rainy day, cold air in winter and the like are prevented, and the working environment of workers is improved; corrosion of sea wind, rainwater and the like to T beams and steel bars is reduced, and the concrete is maintained indoors, so that T Liang Pinzhi is improved; dust prevention and noise reduction are realized, and the disturbance of people is avoided. However, in order to meet the lifting height requirement of the prefabricated part, the gantry crane and the prefabricated field are often too high in height and too large in span, so that the structural cost is high, the anti-platform safety coefficient is low, the new closed factory shed mode which meets the anti-platform requirement and can realize industrial construction is developed to be the subject to be solved urgently.

Disclosure of Invention

In view of the above, the invention provides a control system of a fully-closed prefabricated house shed, which aims to solve the problem of how to improve the hoisting efficiency of prefabricated parts when the prefabricated parts in the shed are fetched.

In one aspect, the invention provides a control system for a fully enclosed prefabricated house shed, comprising:

the factory shed comprises a factory shed main body, wherein the factory shed main body is of a steel structure, prefabricated components are manufactured in the factory shed main body, a component access opening is formed in a shed roof of the factory shed main body, a movable ceiling is covered on the component access opening, a slideway is arranged on a steel frame at the shed roof, the movable ceiling is in sliding connection with the slideway, and the movable ceiling moves along the arrangement direction of the factory shed main body;

the internal crane is arranged in the factory shed main body and is used for lifting the prefabricated part to a position to be lifted right below the part entrance;

the external crane is sleeved outside the factory shed main body and slides along the setting direction of the factory shed main body, and is used for hanging out the prefabricated components in the factory shed main body from the component entrance and the component exit;

the transfer platform is arranged in the factory shed main body and used for transferring prefabricated components manufactured in the factory shed main body to the position to be lifted, a jacking unit and a weighing unit are arranged on the transfer platform, the jacking unit is used for jacking the prefabricated components to a preset height, and the weighing unit is used for weighing the prefabricated components; a length measuring unit is arranged on the upright post of the factory shed main body and used for measuring the length of the prefabricated part on the transfer platform;

The control unit is respectively and electrically connected with the jacking unit, the weighing unit and the length measuring unit, and is also electrically connected with the driving mechanisms of the movable ceiling, the inner travelling crane, the outer travelling crane and the transfer platform; wherein,

the control unit comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the jacking height information of the jacking unit, the weight information weighed by the weighing unit and the length information measured by the length measuring unit, and the acquisition module is also used for acquiring the position information of the movable ceiling, the internal travelling crane, the external travelling crane and the transfer platform;

the processing module is used for adjusting the position of the transfer platform according to the position information of the external travelling crane, controlling the movable ceiling to be opened when the external travelling crane moves towards the component entrance and exit, controlling the opening and closing of the movable ceiling according to the length of the prefabricated component when the movable ceiling is controlled to be opened, controlling the jacking height of the jacking unit according to the weight of the prefabricated component after determining the opening and closing of the movable ceiling, and lifting the prefabricated component from the component entrance and exit through the external travelling crane after the jacking unit drives the prefabricated component to move to the preset height.

Further, two external travelling cranes are arranged side by side and are marked as a first external travelling crane and a second external travelling crane, the first external travelling crane is arranged close to the member entrance and the two external travelling cranes move along the arrangement direction of the factory shed main body;

the acquisition module is electrically connected with the driving units of the first external driving unit and the second external driving unit to acquire real-time current information delta I1 of the first external driving unit and real-time current information delta I2 of the second external driving unit, and transmits the acquired current information to the processing module; the acquisition module is also used for acquiring real-time weight information DeltaW of the weighing unit; the processing module is further used for determining initial current information I0 of the driving units of the first external driving unit and the second external driving unit and determining initial weight information W0 of the weighing unit;

the processing module is further used for determining whether to hoist the prefabricated component on the transfer platform according to the relation between the real-time current information and the initial current information of the driving units of the first external crane and the second external crane:

when the delta I1 is less than or equal to I0, or when the delta I1 is less than or equal to I0 and the delta I2 is less than or equal to I0, judging that the first external crane and the second external crane are in a static state, and hoisting the prefabricated part on the transfer platform is not needed;

When DeltaI 1 is larger than I0, or DeltaI 1 is larger than I0 and DeltaI 2 is larger than I0, judging that the first external travelling crane and the second external travelling crane are in a motion state, comparing real-time weight information DeltaW of the weighing unit with initial weight information W0 of the weighing unit, and determining whether to hoist the prefabricated part on the transfer platform according to the comparison result:

when DeltaW is more than W0, the transfer platform is moved to a transfer platform starting position H0;

when DeltaW is less than or equal to W0, the prefabricated part is hoisted to the transfer platform through the internal travelling crane, and then the transfer platform is moved to a transfer platform starting position H0.

Further, the processing module is further configured to collect, in real time, real-time position information Δl1 of the first external traveling crane through the collecting module when the position of the transfer platform is adjusted according to the position information of the external traveling crane, and preset a first external traveling crane preset position matrix L01 and a transfer platform preset position matrix H in the processing module, where L01 (L010, L011, L012, L013, L014) is set for the first external traveling crane preset position matrix L01, where L010 is a preset initial position of the first external traveling crane, L011 is a first preset position of the first external traveling crane, L012 is a second preset position of the first external traveling crane, L013 is a third preset position of the first external traveling crane, L014 is a fourth preset position of the first external traveling crane, and L010, L011, L012, L013 and L014 are sequentially increased and arranged in equal difference; setting H (H1, H2, H3 and H4) for the preset position matrix H of the transfer platform, wherein H1 is a first preset position of the transfer platform, H2 is a second preset position of the transfer platform, H3 is a third preset position of the transfer platform, H4 is a fourth preset position of the transfer platform, and H1, H2, H3 and H4 are sequentially increased and arranged in an equal difference manner;

The processing module is further configured to determine a position of the transfer platform according to a relationship between the real-time position information Δl1 of the first external traveling crane and each of the preset positions:

when L010 < [ delta ] L1 is less than or equal to L011, the transfer platform moves from the transfer platform starting position H0 to the transfer platform first preset position H1;

when L011 < [ delta ] L1 is less than or equal to L012, the transfer platform moves from the first preset position H1 to a second preset position H2 of the transfer platform;

when L012 < [ delta ] L1 is less than or equal to L013, the transfer platform moves from the second preset position H2 to a third preset position H3 of the transfer platform;

when L013 < [ delta ] L1 is less than or equal to L014, the transfer platform is moved from the third preset position H3 to the fourth preset position H4 of the transfer platform.

Further, the processing module is configured to control the length measurement unit to measure a length of the prefabricated member on the transfer platform when the transfer platform moves from the transfer platform starting position H0 to the transfer platform first preset position H1, and control the acquisition module to acquire real-time length information Δp of the prefabricated member measured by the length measurement unit, so as to acquire real-time length information Δp of the prefabricated member;

The processing module is further used for setting a preset length matrix P of the prefabricated part and a preset opening and closing size matrix Q of the movable ceiling, and setting P (P1, P2, P3 and P4) for the preset length matrix P of the prefabricated part, wherein P1 is a first preset length of the prefabricated part, P2 is a second preset length of the prefabricated part, P3 is a third preset length of the prefabricated part, P4 is a fourth preset length of the prefabricated part, and P1 is more than P2 and less than P3 and less than P4; setting Q (Q1, Q2, Q3, Q4) for the preset opening and closing size matrix Q of the movable ceiling, wherein Q1 is the first preset opening and closing size of the movable ceiling, Q2 is the second preset opening and closing size of the movable ceiling, Q3 is the third preset opening and closing size of the movable ceiling, Q4 is the fourth preset opening and closing size of the movable ceiling, and Q1 is more than Q2 and less than Q3 and less than Q4;

the processing module is used for setting the opening and closing size of the movable ceiling according to the relation between the real-time length information delta P of the prefabricated parts and the preset length of each prefabricated part:

when deltaP is less than or equal to P1, selecting a first preset opening and closing size Q1 of the movable ceiling as the opening and closing size of the movable ceiling;

when P1 < [ delta ] P is less than or equal to P2, selecting a second preset opening and closing size Q2 of the movable ceiling as the opening and closing size of the movable ceiling;

When P2 < [ delta ] P is less than or equal to P3, selecting a third preset opening and closing size Q3 of the movable ceiling as the opening and closing size of the movable ceiling;

when P3 < [ delta ] P is less than or equal to P4, a fourth preset opening and closing size Q4 of the movable ceiling is selected as the opening and closing size of the movable ceiling.

Further, the processing module is further configured to determine an opening and closing speed of the movable ceiling according to real-time current information Δi1 of the first external driving unit after setting the opening and closing size of the movable ceiling; wherein,

the processing module is further used for setting an external driving preset current matrix I and a movable ceiling opening and closing speed matrix W, and setting I (I1, I2, I3 and I4) for the external driving preset current matrix I, wherein I1 is a first preset current, I2 is a second preset current, I3 is a third preset current, I4 is a fourth preset current, I0 is more than I1 and less than I2 and less than I4, and I4 is less than or equal to rated currents of driving units of the first external driving and the second external driving; setting W (W1, W2, W3 and W4) for the movable ceiling opening and closing speed matrix W, wherein W1 is a first preset opening and closing speed, W2 is a second preset opening and closing speed, W3 is a third preset opening and closing speed, W4 is a fourth preset opening and closing speed, and W1 is more than W2 and less than W3 and less than W4;

The processing module is further configured to set an opening and closing speed of the movable ceiling according to a relationship between the real-time current information Δi1 of the first external driving unit and each preset current:

when delta I1 is less than or equal to I1, selecting the first preset opening and closing speed W1 as the opening and closing speed of the movable ceiling;

when I1 < [ delta ] I1 is less than or equal to I2, selecting the second preset opening and closing speed W2 as the opening and closing speed of the movable ceiling;

when I2 < [ delta ] I1 is less than or equal to I3, selecting the third preset opening and closing speed W3 as the opening and closing speed of the movable ceiling;

when I3 < [ delta ] I1 is less than or equal to I4, the fourth preset opening and closing speed W4 is selected as the opening and closing speed of the movable ceiling.

Further, the processing module is further configured to correct the opening and closing speed of the movable ceiling according to real-time current information Δi2 of the second external driving unit after selecting the I-th preset opening and closing speed Wi as the opening and closing speed of the movable ceiling, where i=1, 2,3, and 4; wherein,

the processing module is also used for setting an opening and closing speed correction coefficient matrix a and setting a (a 1, a2, a3 and a 4), wherein a1 is a first preset opening and closing speed correction coefficient, a2 is a second preset opening and closing speed correction coefficient, a3 is a third preset opening and closing speed correction coefficient, a4 is a fourth preset opening and closing speed correction coefficient, and a1 is more than 1 and a2 is more than 3 and a4 is more than 1.5;

The processing module is further configured to select a correction coefficient according to a relationship between the real-time current information Δi2 of the second external driving unit and each preset current, so as to correct the opening and closing speed of the movable ceiling:

when delta I2 is less than or equal to I1, selecting the first preset opening and closing speed correction coefficient a1 to correct the opening and closing speed of the movable ceiling;

when I1 < [ delta ] I2 is less than or equal to I2, selecting the second preset opening and closing speed correction coefficient a2 to correct the opening and closing speed of the movable ceiling;

when I2 < [ delta ] I2 is less than or equal to I3, selecting the third preset opening and closing speed correction coefficient a3 to correct the opening and closing speed of the movable ceiling;

when I3 < [ delta ] I2 is less than or equal to I4, selecting the fourth preset opening and closing speed correction coefficient a4 to correct the opening and closing speed of the movable ceiling;

when the i-th preset opening and closing speed correction coefficient ai is selected to correct the opening and closing speed of the movable ceiling, i=1, 2,3,4, and the corrected opening and closing speed of the movable ceiling is set to Wi x ai.

Further, the processing module is further configured to set an external driving movement speed matrix S0 and an external driving distance matrix M, and set S0 (S01, S02, S03, S04) for the external driving movement speed matrix S0, where S01 is a first preset movement speed, S02 is the first preset movement speed, S03 is the first preset movement speed, S04 is the first preset movement speed, and S01 < S02 < S03 < S04; setting M (M1, M2, M3 and M4) for the external inter-vehicle distance matrix M, wherein M1 is a first preset external inter-vehicle distance, M2 is a second preset external inter-vehicle distance, M3 is a third preset external inter-vehicle distance, M4 is a fourth preset external inter-vehicle distance, and M1 is more than M2 and less than M3 and less than M4;

The processing module is further configured to determine a moving speed of the first external traveling crane according to a relationship between the real-time position information Δl1 of the first external traveling crane and each preset position:

when L010 < [ delta ] L1 is less than or equal to L011, selecting the first preset moving speed S01 as the moving speed of the first external traveling crane;

when L011 < [ delta ] L1 is less than or equal to L012, selecting the second preset moving speed S02 as the moving speed of the first external traveling crane;

when L012 < [ delta ] L1 is less than or equal to L013, selecting the third preset moving speed S03 as the moving speed of the first external traveling crane;

when L013 < [ delta ] L1 < L014, selecting the fourth preset moving speed S04 as the moving speed of the first external traveling crane;

the processing module is further configured to determine, after determining the moving speed of the first outer vehicle, a distance between the first outer vehicle and the second outer vehicle according to a relationship between the real-time length information Δp of the prefabricated members and a preset length of each of the prefabricated members:

when ΔP < P1, selecting a first preset outside inter-vehicle distance M1 as the distance between the first outside vehicle and the second outside vehicle, and making ΔP < M1 < P1;

When P1 is less than or equal to delta P < P2, selecting a second preset outer driving distance M2 as the distance between the first outer driving and the second outer driving, and enabling delta P to be less than M2 and less than P2;

when P2 is less than or equal to delta P < P3, selecting a third preset outer driving distance M3 as the distance between the first outer driving and the second outer driving, and enabling delta P to be less than M3 and less than P3;

when P3 is less than or equal to DeltaP < P4, selecting a fourth preset outer driving distance M4 as the distance between the first outer driving and the second outer driving, and enabling DeltaP to be less than M4 and less than P4;

the processing module is further configured to set, after the i-th preset outside inter-vehicle distance Mi is selected as the distance between the first outside vehicle and the second outside vehicle, a movement speed of the second outside vehicle according to a relationship between a real-time distance Δm between the first outside vehicle and the second outside vehicle and the i-th preset outside inter-vehicle distance Mi, i=1, 2,3, 4:

when Δm < Mi and the moving speed of the first external traveling crane is the i-th preset moving speed S0i, i=1, 2,3,4, the moving speed of the second external traveling crane is set to S0i×n, and 0 < n < 1;

when Δm > Mi and the moving speed of the first external traveling crane is the i-th preset moving speed S0i, i=1, 2,3,4, the moving speed of the second external traveling crane is set to S0i×k, and 1 < k < 2;

When Δm=mi and the moving speed of the first outer vehicle is the i-th preset moving speed S0i, i=1, 2,3,4, the moving speed of the second outer vehicle is set to the i-th preset moving speed S0i.

Further, the processing module is further configured to set a transfer platform moving speed matrix S1 and a transfer platform preset distance matrix B, and set S1 (S11, S12, S13, S14) for the transfer platform moving speed matrix S1, where S11 is a transfer platform first preset moving speed, S12 is a transfer platform second preset moving speed, S13 is a transfer platform third preset moving speed, S14 is a transfer platform fourth preset moving speed, and S11 is greater than S12 and less than S13 is greater than S14; b (B1, B2, B3 and B4) are set for the preset interval matrix B of the transfer platform, wherein B1 is a first preset interval of the transfer platform, B2 is a second preset interval of the transfer platform, B3 is a third preset interval of the transfer platform, B4 is a fourth preset interval of the transfer platform, and B1 is more than 2 and less than 3 and less than 4;

the processing module is further configured to determine a moving speed of the transfer platform according to a relationship between a real-time position Δb of the transfer platform and a distance between the position B0 to be lifted and a preset distance of each transfer platform:

When delta B-B0 < B1, selecting a first preset moving speed S11 of the transfer platform as the moving speed of the transfer platform;

b1 < |delta B-B0|is less than or equal to B2, and selecting a second preset moving speed S12 of the transfer platform as the moving speed of the transfer platform;

b2 < |DeltaB-B0|is less than or equal to B3, and selecting a third preset moving speed S13 of the transfer platform as the moving speed of the transfer platform;

b3 < |DeltaB-B0|is not more than B4, and the fourth preset moving speed S14 of the transfer platform is selected as the moving speed of the transfer platform.

Further, the processing module is further configured to set a preset weight matrix G of the prefabricated component and a jacking matrix K of the jacking unit, and set G (G1, G2, G3, G4) for the preset weight matrix G of the prefabricated component, where G1 is a first preset weight of the prefabricated component, G2 is a second preset weight of the prefabricated component, G3 is a third preset weight of the prefabricated component, G4 is a fourth preset weight of the prefabricated component, and G1 is less than G2 less than G3 less than G4; setting K (K1, K2, K3 and K4) for the jacking matrix K of the jacking unit, wherein K1 is a first preset jacking height of the jacking unit, K2 is a second preset jacking height of the jacking unit, K3 is a third preset jacking height of the jacking unit, K4 is a fourth preset jacking height of the jacking unit, and K1 is more than K2 and more than K3 is more than K4;

The processing module is further used for setting the lifting height of the lifting unit according to the relation between the real-time weight delta G of the prefabricated parts and the preset weight of each prefabricated part so as to lift the prefabricated parts on the lifting unit:

when delta G is smaller than G1, selecting a first preset jacking height K1 of the jacking unit as the jacking height of the jacking unit;

when G1 is less than or equal to delta G and less than G2, selecting a second preset jacking height K2 of the jacking unit as the jacking height of the jacking unit;

when G2 is less than or equal to delta G and less than G3, selecting a third preset jacking height K3 of the jacking unit as the jacking height of the jacking unit;

when G3 is less than or equal to delta G and less than G4, a fourth preset jacking height K4 of the jacking unit is selected as the jacking height of the jacking unit.

Further, the processing module is further configured to set a jacking height correction coefficient matrix c and a preset difference matrix d, and set c (c 1, c2, c3, c 4), wherein c1 is a first preset jacking height correction coefficient, c2 is a second preset jacking height correction coefficient, c3 is a third preset jacking height correction coefficient, c4 is a fourth preset jacking height correction coefficient, and 1 < c2 < c3 < c4 < 1.5; setting a preset difference matrix d and d (d 1, d2, d3 and d 4), wherein d1 is a first preset difference, d2 is a second preset difference, d3 is a third preset difference, d4 is a fourth preset difference, and d1 is more than d2 and less than d3 and less than d4;

The processing module is further configured to select, when an i-th preset opening and closing size Qi of the movable ceiling is selected as the opening and closing size of the movable ceiling and an i-th preset jacking height Ki of the jacking unit is selected as the jacking height of the jacking unit, a jacking height correction coefficient according to a relationship between a difference value between the opening and closing size of the movable ceiling and real-time length information Δp of the prefabricated member and each preset difference value, so as to correct the jacking height of the jacking unit:

when the delta P & lt d1 of the i-Qi-is, selecting the first preset jacking height correction coefficient c1 to correct the jacking height of the jacking unit, wherein the corrected jacking height of the jacking unit is Ki;

when d1 is less than or equal to |Qi-delta P| < d2, selecting the second preset lifting height correction coefficient c2 to correct the lifting height of the lifting unit, wherein the lifting height of the lifting unit after correction is Ki x c2;

when d2 is less than or equal to |Qi-delta P| < d3, selecting the third preset lifting height correction coefficient c3 to correct the lifting height of the lifting unit, wherein the lifting height of the lifting unit after correction is Ki x c3;

When d3 is less than or equal to |qi-delta P| < d4, the fourth preset lifting height correction coefficient c4 is selected to correct the lifting height of the lifting unit, and the lifting height of the lifting unit after correction is Ki x c4.

Compared with the prior art, the method has the beneficial effects that the prefabricated part in the factory shed is hung from the part entrance through the outside by arranging the part entrance on the shed roof of the factory shed main body and covering the movable ceiling on the part entrance, so that the complicated step of hanging the prefabricated part from the factory shed interior to the factory shed exterior can be effectively avoided, and the hanging efficiency of the prefabricated part can be greatly improved by directly hanging the prefabricated part from the factory shed interior.

Further, through the inside driving and the transportation platform that set up, can improve prefabricated component at the inside turnover speed of factory canopy effectively to can improve prefabricated component's handling efficiency effectively, and then can greatly improve the construction progress.

Further, the position of the transfer platform is adjusted according to the position information of the external travelling crane through the arranged processing module, when the external travelling crane moves towards the member entrance, the movable ceiling is controlled to be opened, and the processing unit is further used for controlling the opening and closing of the movable ceiling according to the length of the prefabricated member; the processing unit is further used for controlling the lifting height of the lifting unit according to the weight of the prefabricated part after determining the opening and closing size of the movable ceiling, and the waiting time when the prefabricated part is lifted can be effectively reduced through the accurate control of the prefabricated part and the movable ceiling, so that the lifting efficiency of the prefabricated part is greatly improved.

Further, the processing module determines the position of the transfer platform according to the relation between the real-time position information DeltaL 1 of the first external traveling crane and each preset position, and when the first external traveling crane moves, the position of the transfer platform can be adjusted in real time through the set processing module, so that the transfer platform can move synchronously along with the external traveling crane when the external traveling crane moves, and after the external traveling crane moves to the hoisting position, the transfer platform can also reach the position to be hoisted, so that hoisting time can be greatly saved, and the construction efficiency can be greatly improved.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic cross-sectional view of a fully enclosed prefabricated house shed according to an embodiment of the present invention;

fig. 2 is a side view of a fully enclosed prefabricated house booth according to an embodiment of the present invention.

Fig. 3 is a functional block diagram provided in an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

Referring to fig. 1 and 2, the present embodiment provides a control system for a fully-enclosed prefabricated house shed, which comprises a shed main body 1, an inner crane 6, an outer crane 5, a transfer platform 4 and a control unit, wherein the shed main body 1 is of a steel structure, prefabricated components are manufactured inside the shed main body 1, and component inlets and outlets are formed in the shed top of the shed main body 1, namely, through holes are formed in the shed top of the shed main body 1, so that the prefabricated components manufactured inside the shed main body 1 enter and exit the shed main body 1. The movable ceiling 2 is covered on the member passageway, a slide 22 is arranged on the steel frame at the position of the shed roof 3, the movable ceiling 2 is slidably connected with the slide 22, and the movable ceiling 2 moves along the arrangement direction of the plant shed main body 1. Specifically, a driving unit 21 is disposed at the lower side of the movable ceiling 2, and the movable ceiling 2 is driven to slide on a slide rail 22 disposed on the steel frame by the driving unit 21. The driving unit is preferably a servo motor, and the driving unit of the movable ceiling 2 is electrically connected with the control unit, and the opening and closing of the movable ceiling 2 are controlled by the control unit, specifically, the opening and closing size and the opening and closing speed of the movable ceiling 2 are controlled by the control unit.

Specifically, the interior crane 6 is disposed inside the booth main body 1, and the interior crane 6 is used for lifting the prefabricated member to a position to be lifted right below the member entrance. Be provided with mounting platform on the inside stand of factory canopy main part 1, be provided with slide or slide rail on mounting platform, set up inside driving 6 on slide or slide rail to make inside driving 6 slide on slide or slide rail, thereby make inside driving 6 remove in the inside of factory canopy main part 1, thereby can hoist and mount the prefabricated component that makes to transfer on platform 4. The driving mechanism is also arranged on the inner travelling crane 6, the driving mechanism of the inner travelling crane 6 is electrically connected with the control unit, the movement and the hoisting action of the inner travelling crane 6 are controlled by the control unit, and meanwhile, the operation of the inner travelling crane can be controlled by arranging an independent control device.

It can be seen that, in this embodiment, by providing the component access opening on the roof 3 of the factory shed main body 1, covering the movable ceiling 2 on the component access opening, the prefabricated component in the factory shed is hung from the component access opening through the outside, so that the complicated step of hanging the prefabricated component from the factory shed interior to the factory shed exterior can be effectively avoided, and the hanging efficiency of the prefabricated component can be greatly improved by directly hanging the prefabricated component from the factory shed interior.

Specifically, the outer crane 5 is installed outside the booth body 1 in a sleeved manner and slides in the installation direction of the booth body 1, and the outer crane 5 is used to hoist out the prefabricated components in the booth body 1 from the component entrance/exit. The outside forms 5 and is the type structure of falling U, and the both sides of factory canopy main part 1 are provided with twice driving slide rail 51, and driving slide rail 51 sets up along the setting direction of factory canopy main part 1, and the lower extreme of outside driving 5 is provided with driving unit 52, and driving unit 52 is preferably servo motor, slides on driving unit 52 drive outside driving slide rail 51 to, driving unit 52 and the control unit electricity of outside driving 5 are connected, control driving unit work through the control unit to make outside driving slide rail 51 slide.

Specifically, the outer traveling crane 5 is provided with two outer traveling cranes, which are divided into a first outer traveling crane 53 and a second outer traveling crane 54, and the first outer traveling crane 53 and the second outer traveling crane 54 are both provided with the traveling crane slide rail 51 to move on the traveling crane slide rail 51, and the two outer traveling cranes are arranged side by side and cooperate to hoist the prefabricated member.

Specifically, the running rail 51 is further provided with a displacement sensor, and the displacement sensor is used for monitoring the position of the external running vehicle on the running rail 51. The control unit is connected with the displacement sensor to acquire the position information of the external driving. It will be appreciated by those skilled in the art that the displacement sensor may be installed at a position capable of measuring the displacement of the outer trolley 5, and the specific installation position and installation mode may be set according to the actual situation.

Specifically, the transfer platform 4 is disposed inside the factory shed main body 1, and the transfer platform 4 is used for transferring prefabricated components manufactured in the factory shed main body 1 to a position to be lifted. The inside crane 6 is used for hoisting the prefabricated part in the factory shed main body 1 onto the transfer platform, and the prefabricated part is transferred to a position to be hoisted through the transfer platform 4.

Specifically, two platform slide rails 41 are provided on the ground in the booth main body 1, and the platform slide rails 41 are provided along the installation direction of the booth main body 1. The transfer platform 4 is provided on the platform rail 41 and slides in the direction in which the platform rail 41 is provided. Displacement sensors are provided on the platform rails 41 to detect positional information of the transfer platform 4 on the platform rails 41, thereby determining the position of the transfer platform 4 within the booth body 1.

It can be seen that through the inside driving 6 and the transportation platform 4 that set up, can improve the turnover speed of prefabricated component at the inside of factory canopy effectively to can improve the handling efficiency of prefabricated component effectively, and then can greatly improve the construction progress.

Specifically, the transfer platform 4 is provided with a jacking unit and a weighing unit, the jacking unit is used for jacking the prefabricated part to a preset height, the weighing unit is used for weighing the prefabricated part, the jacking unit is preferably an electric cylinder, and the weighing unit is preferably a weighing sensor. Specifically, the transfer platform includes a bottom plate 42, a driving wheel 46 is disposed on a lower side surface of the bottom plate 42, and the driving wheel 46 is slidably connected to the platform rail 41, so that the transfer platform 4 slides on the platform rail 41 in a translational manner, and the driving wheel 46 is driven by a servo motor. The upper side of the bottom plate 42 is uniformly provided with a plurality of electric cylinders 43, the electric cylinders 43 are synchronously controlled by a synchronous jacking system, the upper side of the electric cylinders 43 is provided with a top plate 47, the top plate 47 is relatively parallel to the bottom plate 42, the electric cylinders 43 are arranged between the top plate 47 and the bottom plate 42, and the top plate 47 is driven to lift by the electric cylinders 43; a plurality of weighing sensors 44 are arranged on the upper side face of the top plate 47, a placement plate 45 is arranged on the weighing sensors 44, the placement plate 45 is used for placing the prefabricated parts 40, and the prefabricated parts 40 are weighed through the weighing sensors 44. Specifically, the servo motor, the electric cylinder 43 and the weighing sensor 44 are electrically connected with the control unit, the lifting height and weight information acquired by the electric cylinder 43 and the weighing sensor 44 are acquired by the control unit, and meanwhile, the control unit is also used for controlling the lifting height and the moving position of the transfer platform 4.

Specifically, a length measuring unit is arranged on the upright post of the factory shed main body 1 and used for measuring the length of the prefabricated component on the transfer platform 4, and the length measuring unit is electrically connected with the control unit. The length measuring unit is preferably a laser length measuring instrument.

Specifically, the control unit is electrically connected with the jacking unit, the weighing unit and the length measuring unit respectively, and the control unit is also electrically connected with the driving mechanisms of the movable ceiling 2, the inner travelling crane 6, the outer travelling crane 5 and the transfer platform 4.

Specifically, as shown in fig. 3, the control unit includes an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the jacking height information of the jacking unit, the weight information weighed by the weighing unit and the length information measured by the length measuring unit, the acquisition module is also used for acquiring the position information of the movable ceiling 2, the inner travelling crane 6, the outer travelling crane 5 and the transfer platform 4, the processing module is used for adjusting the position of the transfer platform 4 according to the position information of the outer travelling crane 5, when the outer travelling crane 5 moves towards the member entrance, the movable ceiling 2 is controlled to be opened, and the processing unit is also used for controlling the opening and closing of the movable ceiling 2 according to the length of the prefabricated member; the processing unit is also used for controlling the jacking height of the jacking unit according to the weight of the prefabricated part after determining the opening and closing size of the movable ceiling 2, and the control module is used for controlling the movable ceiling 2, the inner travelling crane 6, the outer travelling crane 5 and the transfer platform 4 according to the control instruction output by the processing module.

Specifically, the processing module is used for adjusting the position of the transfer platform according to the position information of the external travelling crane, controlling the movable ceiling to be opened when the external travelling crane moves towards the component entrance, controlling the opening and closing size of the movable ceiling according to the length of the prefabricated component when the movable ceiling is controlled to be opened, controlling the jacking height of the jacking unit according to the weight of the prefabricated component after determining the opening and closing size of the movable ceiling, and lifting the prefabricated component out of the component entrance through the external travelling crane after the jacking unit drives the prefabricated component to move to a preset height.

It can be seen that the position of the transfer platform 4 is adjusted according to the position information of the external travelling crane 5 through the arranged processing module, when the external travelling crane 5 moves towards the component entrance, the movable ceiling 2 is controlled to be opened, and the processing unit is also used for controlling the opening and closing of the movable ceiling 2 according to the length of the prefabricated component; the processing unit is further used for controlling the lifting height of the lifting unit according to the weight of the prefabricated part after determining the opening and closing size of the movable ceiling 2, and the waiting time when the prefabricated part is lifted can be effectively reduced through the accurate control of the prefabricated part and the movable ceiling 2, so that the lifting efficiency of the prefabricated part is greatly improved.

When the embodiment is implemented in a specific manner, when the prefabricated components in the factory shed main body need to be lifted, the external travelling crane is moved towards the direction of the component entrance, meanwhile, the internal travelling crane is controlled to lift the prefabricated components in the factory shed main body 1 onto the transfer platform, the transfer platform is moved to the position to be lifted below the component entrance, and after the external travelling crane is moved to the preset position, the prefabricated components on the transfer platform are lifted out of the factory shed main body through the external travelling crane and lifted to the preset position.

Specifically, the outside driving sets up two side by side, is first outside driving and the outside driving of second respectively, and first outside driving is close to the setting of component access & exit, and two outside driving move along the setting direction of factory canopy main part.

The acquisition module is electrically connected with the driving units of the first external driving unit and the second external driving unit to acquire real-time current information delta I1 of the first external driving unit and real-time current information delta I2 of the second external driving unit, and transmits the acquired current information to the processing module; the acquisition module is also used for acquiring real-time weight information DeltaW of the weighing unit; the processing module is also used for determining initial current information I0 of the driving units of the first external driving unit and the second external driving unit and determining initial weight information W0 of the weighing unit;

The processing module is also used for determining whether to hoist the prefabricated component on the transfer platform according to the relation between the real-time current information and the initial current information of the driving units of the first external crane and the second external crane:

when DeltaI 1 is more than I0, or DeltaI 1 is more than I0 and DeltaI 2 is more than I0, judging that the first external travelling crane and the second external travelling crane are in a motion state, comparing real-time weight information DeltaW of the weighing unit with initial weight information W0 of the weighing unit, and determining whether to hoist the prefabricated member on the transfer platform according to the comparison result:

when DeltaW is less than or equal to W0, the prefabricated part is hoisted to the transfer platform through the internal travelling crane, and then the transfer platform is moved to the transfer platform starting position H0.

It can be seen that whether to hoist the prefabricated part on the transfer platform is determined by the processing module according to the relation between the real-time current information and the initial current information of the driving units of the first external crane and the second external crane, and when the first external crane and the second external crane are judged to be in a motion state, the real-time weight information delta W of the weighing unit is compared with the initial weight information W0 of the weighing unit, and whether to hoist the prefabricated part on the transfer platform is determined according to the comparison result, so that whether to hoist the prefabricated part on the transfer platform is controlled according to the motion state of the external crane, and the working efficiency can be effectively improved.

Specifically, the processing module is further configured to collect real-time position information Δl1 of the first external crane in real time through the collecting module when the position of the transfer platform is adjusted according to the position information of the external crane, and a first external crane preset position matrix L01 and a transfer platform preset position matrix H are preset in the processing module, and for the first external crane preset position matrix L01, L01 (L010, L011, L012, L013, L014) is set, where L010 is a preset initial position of the first external crane, L011 is a first preset position of the first external crane, L012 is a second preset position of the first external crane, L013 is a third preset position of the first external crane, L014 is a fourth preset position of the first external crane, and L010, L011, L012, L013 and L014 are sequentially increased and arranged in equal difference; setting H (H1, H2, H3 and H4) for a transfer platform preset position matrix H, wherein H1 is a first preset position of the transfer platform, H2 is a second preset position of the transfer platform, H3 is a third preset position of the transfer platform, H4 is a fourth preset position of the transfer platform, and H1, H2, H3 and H4 are sequentially increased and arranged in an equal difference manner;

the processing module is further used for determining the position of the transfer platform according to the relation between the real-time position information delta L1 of the first external travelling crane and each preset position:

when L011 < [ delta ] L1 is less than or equal to L012, the transfer platform moves from the first preset position H1 to the second preset position H2 of the transfer platform;

when L012 is less than or equal to DeltaL 1 and less than or equal to L013, the transfer platform is moved from the second preset position H2 to a third preset position H3 of the transfer platform;

It can be seen that the processing module determines the position of the transfer platform according to the relation between the real-time position information DeltaL 1 of the first external traveling crane and each preset position, and adjusts the operation position range of the transfer platform in real time according to the operation position range of the first external traveling crane, so that the operation position of the transfer platform can be effectively adjusted according to the operation position of the first external traveling crane, the transfer platform can be adjusted according to the operation position of the first external traveling crane, and the transfer platform can be synchronously moved to the position to be lifted after the first external traveling crane is operated to the preset position, so that the adjustment efficiency of the transfer platform is improved, and the construction efficiency can be effectively improved.

Specifically, the processing module is used for controlling the length measuring unit to measure the length of the prefabricated part on the transfer platform when the transfer platform moves from the transfer platform starting position H0 to the transfer platform first preset position H1, and controlling the collecting module to collect real-time length information DeltaP of the prefabricated part measured by the length measuring unit so as to obtain real-time length information DeltaP of the prefabricated part;

the processing module is further used for setting a preset length matrix P of the prefabricated part and a preset opening and closing size matrix Q of the movable ceiling, and setting P (P1, P2, P3 and P4) for the preset length matrix P of the prefabricated part, wherein P1 is a first preset length of the prefabricated part, P2 is a second preset length of the prefabricated part, P3 is a third preset length of the prefabricated part, P4 is a fourth preset length of the prefabricated part, and P1 is more than P2 and less than P3 and less than P4; setting Q (Q1, Q2, Q3, Q4) for a preset opening and closing size matrix Q of the movable ceiling, wherein Q1 is a first preset opening and closing size of the movable ceiling, Q2 is a second preset opening and closing size of the movable ceiling, Q3 is a third preset opening and closing size of the movable ceiling, Q4 is a fourth preset opening and closing size of the movable ceiling, and Q1 is more than Q2 and less than Q3 and less than Q4;

The processing module is used for setting the opening and closing size of the movable ceiling according to the relation between the real-time length information delta P of the prefabricated components and the preset length of each prefabricated component:

It can be seen that the processing module is used for setting the opening and closing size of the movable ceiling according to the relation between the real-time length information delta P of the prefabricated components and the preset length of each prefabricated component, and the opening and closing size of the movable ceiling can be effectively adjusted by adjusting the opening and closing size of the movable ceiling according to the length of the prefabricated components, so that the control efficiency of the movable ceiling during opening and closing is improved.

Specifically, the processing module is further configured to determine an opening and closing speed of the movable ceiling according to real-time current information Δi1 of the first external driving unit after setting the opening and closing size of the movable ceiling; wherein,

The processing module is also used for setting an external driving preset current matrix I and a movable ceiling opening and closing speed matrix W, and setting I (I1, I2, I3 and I4) for the external driving preset current matrix I, wherein I1 is a first preset current, I2 is a second preset current, I3 is a third preset current, I4 is a fourth preset current, I0 is more than I1 and less than I2 is more than I3 and less than or equal to rated currents of driving units of the first external driving and the second external driving; setting W (W1, W2, W3 and W4) for a movable ceiling opening and closing speed matrix W, wherein W1 is a first preset opening and closing speed, W2 is a second preset opening and closing speed, W3 is a third preset opening and closing speed, W4 is a fourth preset opening and closing speed, and W1 is more than W2 and less than W3 and less than W4;

the processing module is also used for setting the opening and closing speed of the movable ceiling according to the relation between the real-time current information delta I1 of the first external driving unit and each preset current:

when delta I1 is less than or equal to I1, selecting a first preset opening and closing speed W1 as the opening and closing speed of the movable ceiling;

when I1 < [ delta ] I1 is less than or equal to I2, selecting a second preset opening and closing speed W2 as the opening and closing speed of the movable ceiling;

when I2 < [ delta ] I1 is less than or equal to I3, selecting a third preset opening and closing speed W3 as the opening and closing speed of the movable ceiling;

When I3 < [ delta ] I1 is less than or equal to I4, a fourth preset opening and closing speed W4 is selected as the opening and closing speed of the movable ceiling.

It can be seen that the processing module is further configured to set the opening and closing speed of the movable ceiling according to the relationship between the real-time current information Δi1 of the first external driving unit and each preset current, and by controlling the opening and closing speed of the movable ceiling according to the current of the first external driving unit, the opening and closing speed of the movable ceiling can be effectively controlled.

Specifically, the processing module is further configured to correct the opening and closing speed of the movable ceiling according to real-time current information Δi2 of the second external driving unit after selecting the I-th preset opening and closing speed Wi as the opening and closing speed of the movable ceiling, where i=1, 2,3, and 4; wherein,

the processing module is also used for setting an opening and closing speed correction coefficient matrix a and setting a (a 1, a2, a3 and a 4), wherein a1 is a first preset opening and closing speed correction coefficient, a2 is a second preset opening and closing speed correction coefficient, a3 is a third preset opening and closing speed correction coefficient, a4 is a fourth preset opening and closing speed correction coefficient, a1 is more than 1 and a2 is more than 3 and a4 is more than 1.5;

the processing module is further used for selecting a correction coefficient according to the relation between the real-time current information delta I2 of the second external driving unit and each preset current so as to correct the opening and closing speed of the movable ceiling:

When delta I2 is less than or equal to I1, a first preset opening and closing speed correction coefficient a1 is selected to correct the opening and closing speed of the movable ceiling;

when I1 < [ delta ] I2 is less than or equal to I2, selecting a second preset opening and closing speed correction coefficient a2 to correct the opening and closing speed of the movable ceiling;

when I2 < [ delta ] I2 is less than or equal to I3, selecting a third preset opening and closing speed correction coefficient a3 to correct the opening and closing speed of the movable ceiling;

when I3 < [ delta ] I2 is less than or equal to I4, a fourth preset opening and closing speed correction coefficient a4 is selected to correct the opening and closing speed of the movable ceiling;

Specifically, the processing module is further configured to set an outer driving movement speed matrix S0 and an outer driving distance matrix M, and set S0 (S01, S02, S03, S04) for the outer driving movement speed matrix S0, where S01 is a first preset movement speed, S02 is the first preset movement speed, S03 is the first preset movement speed, S04 is the first preset movement speed, and S01 < S02 < S03 < S04; setting M (M1, M2, M3, M4) for an external inter-vehicle distance matrix M, wherein M1 is a first preset external inter-vehicle distance, M2 is a second preset external inter-vehicle distance, M3 is a third preset external inter-vehicle distance, M4 is a fourth preset external inter-vehicle distance, and M1 is more than M2 and less than M3 and less than M4;

The processing module is further used for determining the moving speed of the first external travelling crane according to the relation between the real-time position information delta L1 of the first external travelling crane and each preset position:

when L010 < [ delta ] L1 is less than or equal to L011, selecting a first preset moving speed S01 as the moving speed of the first external traveling crane;

when L011 < [ delta ] L1 is less than or equal to L012, selecting a second preset moving speed S02 as the moving speed of the first external traveling crane;

when L012 < [ delta ] L1 is less than or equal to L013, selecting a third preset moving speed S03 as the moving speed of the first external traveling crane;

when L013 < [ delta ] L1 < L014, selecting a fourth preset moving speed S04 as the moving speed of the first external traveling crane;

the processing module is further configured to determine, after determining the moving speed of the first external traveling crane, a distance between the first external traveling crane and the second external traveling crane according to a relationship between the real-time length information Δp of the prefabricated members and the preset lengths of the prefabricated members:

when DeltaP < P1, selecting a first preset outer driving distance M1 as the distance between the first outer driving and the second outer driving, and enabling DeltaP < M1 < P1;

when P1 is less than or equal to delta P < P2, selecting a second preset outer travelling distance M2 as the distance between the first outer travelling crane and the second outer travelling crane, and enabling delta P to be less than M2 and less than P2;

When P2 is less than or equal to delta P < P3, selecting a third preset outer travelling distance M3 as the distance between the first outer travelling crane and the second outer travelling crane, and enabling delta P to be less than M3 and less than P3;

when P3 is less than or equal to DeltaP < P4, selecting a fourth preset outer travelling distance M4 as the distance between the first outer travelling crane and the second outer travelling crane, and enabling DeltaP to be less than M4 and less than P4;

the processing module is further configured to set, after selecting the i-th preset outside inter-vehicle distance Mi as a distance between the first outside vehicle and the second outside vehicle, a movement speed of the second outside vehicle according to a relationship between a real-time distance Δm between the first outside vehicle and the second outside vehicle and the i-th preset outside inter-vehicle distance Mi, i=1, 2,3, 4:

when Δm < Mi and the moving speed of the first external traveling crane is the i-th preset moving speed S0i, i=1, 2,3,4, the moving speed of the second external traveling crane is set as S0i n, and 0 < n < 1;

Specifically, the processing module is further configured to set a transfer platform movement speed matrix S1 and a transfer platform preset interval matrix B, and set S1 (S11, S12, S13, S14) for the transfer platform movement speed matrix S1, where S11 is a first preset movement speed of the transfer platform, S12 is a second preset movement speed of the transfer platform, S13 is a third preset movement speed of the transfer platform, S14 is a fourth preset movement speed of the transfer platform, and S11 is greater than S12 and less than S13 and less than S14; b (B1, B2, B3 and B4) are set for a preset interval matrix B of the transfer platform, wherein B1 is a first preset interval of the transfer platform, B2 is a second preset interval of the transfer platform, B3 is a third preset interval of the transfer platform, B4 is a fourth preset interval of the transfer platform, and B1 is more than B2 is less than B3 and less than B4;

the processing module is also used for determining the moving speed of the transfer platform according to the relation between the space between the real-time position delta B of the transfer platform and the position B0 to be lifted and the preset space of each transfer platform:

b1 < |delta B-B0|is less than or equal to B2, and a second preset moving speed S12 of the transfer platform is selected as the moving speed of the transfer platform;

B2 < |delta B-B0|is less than or equal to B3, and a third preset moving speed S13 of the transfer platform is selected as the moving speed of the transfer platform;

b3 < |DeltaB-B0|is not more than B4, and a fourth preset moving speed S14 of the transfer platform is selected as the moving speed of the transfer platform.

Specifically, the processing module is further configured to set a preset weight matrix G of the prefabricated component and a jacking matrix K of the jacking unit, and set G (G1, G2, G3, G4) for the preset weight matrix G of the prefabricated component, where G1 is a first preset weight of the prefabricated component, G2 is a second preset weight of the prefabricated component, G3 is a third preset weight of the prefabricated component, G4 is a fourth preset weight of the prefabricated component, and G1 is greater than G2 and less than G3 and less than G4; setting K (K1, K2, K3 and K4) for a jacking matrix K of the jacking unit, wherein K1 is a first preset jacking height of the jacking unit, K2 is a second preset jacking height of the jacking unit, K3 is a third preset jacking height of the jacking unit, K4 is a fourth preset jacking height of the jacking unit, and K1 is more than K2 is more than K3 is more than K4;

the processing module is also used for setting the lifting height of the lifting unit according to the relation between the real-time weight delta G of the prefabricated parts and the preset weight of each prefabricated part so as to lift the prefabricated parts on the lifting unit:

when G3 is less than or equal to delta G and less than G4, the fourth preset jacking height K4 of the jacking unit is selected as the jacking height of the jacking unit.

Specifically, the processing module is further configured to set a jacking height correction coefficient matrix c and a preset difference matrix d, and set c (c 1, c2, c3, c 4), wherein c1 is a first preset jacking height correction coefficient, c2 is a second preset jacking height correction coefficient, c3 is a third preset jacking height correction coefficient, c4 is a fourth preset jacking height correction coefficient, and c1 is greater than 1 and less than c2 is greater than c3 and less than c4 and less than 1.5; setting a preset difference matrix d and d (d 1, d2, d3 and d 4), wherein d1 is a first preset difference, d2 is a second preset difference, d3 is a third preset difference, d4 is a fourth preset difference, and d1 is more than d2 and less than d3 and less than d4;

When the delta P & lt d1 of the step-Qi, selecting a first preset jacking height correction coefficient c1 to correct the jacking height of the jacking unit, wherein the jacking height of the jacking unit after correction is Ki x c1;

when d1 is less than or equal to the |Qi-delta P| < d2, selecting a second preset jacking height correction coefficient c2 to correct the jacking height of the jacking unit, wherein the jacking height of the jacking unit after correction is Ki x c2;

when d2 is less than or equal to the |Qi-delta P| < d3, selecting a third preset jacking height correction coefficient c3 to correct the jacking height of the jacking unit, wherein the jacking height of the jacking unit after correction is Ki x c3;

when d3 is less than or equal to the |Qi-delta P| < d4, a fourth preset jacking height correction coefficient c4 is selected to correct the jacking height of the jacking unit, and the jacking height of the jacking unit after correction is Ki x c4.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims

1. A control system for a fully enclosed prefabricated house booth, comprising:

2. The control system of a fully enclosed prefabricated house booth according to claim 1,

The two external travelling cranes are arranged side by side and are marked as a first external travelling crane and a second external travelling crane, the first external travelling crane is arranged close to the member entrance and the member exit, and the two external travelling cranes move along the arrangement direction of the factory shed main body;

3. The control system of a fully enclosed prefabricated house booth according to claim 2,

the processing module is further configured to collect real-time position information Δl1 of the first external traveling crane in real time through the collecting module when the position of the transfer platform is adjusted according to the position information of the external traveling crane, and a first external traveling crane preset position matrix L01 and a transfer platform preset position matrix H are preset in the processing module, wherein L01 (L010, L011, L012, L013, L014) is set for the first external traveling crane preset position matrix L01, wherein L010 is a preset initial position of the first external traveling crane, L011 is a first preset position of the first external traveling crane, L012 is a second preset position of the first external traveling crane, L013 is a third preset position of the first external traveling crane, L014 is a fourth preset position of the first external traveling crane, and L010, L011, L012, L013 and L014 are sequentially increased and arranged in equal difference; setting H (H1, H2, H3 and H4) for the preset position matrix H of the transfer platform, wherein H1 is a first preset position of the transfer platform, H2 is a second preset position of the transfer platform, H3 is a third preset position of the transfer platform, H4 is a fourth preset position of the transfer platform, and H1, H2, H3 and H4 are sequentially increased and arranged in an equal difference manner;

4. The control system of a fully enclosed prefabricated house booth according to claim 3,

the processing module is used for controlling the length measuring unit to measure the length of the prefabricated part on the transfer platform when the transfer platform moves from the transfer platform starting position H0 to the transfer platform first preset position H1, and controlling the collecting module to collect real-time length information delta P of the prefabricated part measured by the length measuring unit so as to obtain the real-time length information delta P of the prefabricated part;

5. The control system of a fully enclosed prefabricated house booth according to claim 4,

the processing module is further used for determining the opening and closing speed of the movable ceiling according to the real-time current information delta I1 of the first external driving unit after the opening and closing size of the movable ceiling is set; wherein,

6. The control system of a fully enclosed prefabricated house booth according to claim 5,

the processing module is further configured to correct the opening and closing speed of the movable ceiling according to real-time current information Δi2 of the second external driving unit after selecting the I-th preset opening and closing speed Wi as the opening and closing speed of the movable ceiling, where i=1, 2,3, and 4; wherein,

7. The control system of a fully enclosed prefabricated house booth according to claim 4,

the processing module is further configured to set an external driving movement speed matrix S0 and an external driving distance matrix M, and set S0 (S01, S02, S03, S04) for the external driving movement speed matrix S0, where S01 is a first preset movement speed, S02 is the first preset movement speed, S03 is the first preset movement speed, S04 is the first preset movement speed, and S01 < S02 < S03 < S04; setting M (M1, M2, M3 and M4) for the external inter-vehicle distance matrix M, wherein M1 is a first preset external inter-vehicle distance, M2 is a second preset external inter-vehicle distance, M3 is a third preset external inter-vehicle distance, M4 is a fourth preset external inter-vehicle distance, and M1 is more than M2 and less than M3 and less than M4;

8. The control system of a fully enclosed prefabricated house booth according to claim 4,

the processing module is further configured to set a transfer platform moving speed matrix S1 and a transfer platform preset distance matrix B, and set S1 (S11, S12, S13, S14) for the transfer platform moving speed matrix S1, where S11 is a first preset moving speed of the transfer platform, S12 is a second preset moving speed of the transfer platform, S13 is a third preset moving speed of the transfer platform, S14 is a fourth preset moving speed of the transfer platform, and S11 is greater than S12 and less than S13 is greater than S14; b (B1, B2, B3 and B4) are set for the preset interval matrix B of the transfer platform, wherein B1 is a first preset interval of the transfer platform, B2 is a second preset interval of the transfer platform, B3 is a third preset interval of the transfer platform, B4 is a fourth preset interval of the transfer platform, and B1 is more than 2 and less than 3 and less than 4;

9. The control system of a fully enclosed prefabricated house booth according to claim 8,

the processing module is further used for setting a preset weight matrix G of the prefabricated part and a jacking matrix K of the jacking unit, and setting G (G1, G2, G3 and G4) for the preset weight matrix G of the prefabricated part, wherein G1 is a first preset weight of the prefabricated part, G2 is a second preset weight of the prefabricated part, G3 is a third preset weight of the prefabricated part, G4 is a fourth preset weight of the prefabricated part, and G1 is more than G2 and less than G3 and less than G4; setting K (K1, K2, K3 and K4) for the jacking matrix K of the jacking unit, wherein K1 is a first preset jacking height of the jacking unit, K2 is a second preset jacking height of the jacking unit, K3 is a third preset jacking height of the jacking unit, K4 is a fourth preset jacking height of the jacking unit, and K1 is more than K2 and more than K3 is more than K4;

10. The control system of a fully enclosed prefabricated house booth according to claim 9,

the processing module is further used for setting a jacking height correction coefficient matrix c and a preset difference matrix d, and setting c (c 1, c2, c3 and c 4), wherein c1 is a first preset jacking height correction coefficient, c2 is a second preset jacking height correction coefficient, c3 is a third preset jacking height correction coefficient, c4 is a fourth preset jacking height correction coefficient, and c1 is more than 1 and less than c2 and less than c3 and less than c4 and less than 1.5; setting a preset difference matrix d and d (d 1, d2, d3 and d 4), wherein d1 is a first preset difference, d2 is a second preset difference, d3 is a third preset difference, d4 is a fourth preset difference, and d1 is more than d2 and less than d3 and less than d4;