Steel box girder incremental launching construction transverse deviation correction early warning device and method based on computer vision

Abstract

The invention relates to a transverse deviation correction early warning device and method for steel box girder incremental launching construction based on computer vision. The method comprises the steps that (1) a plane coordinate system is established; 2) calculating a scale factor; 3) updating coordinates of the points A and B in real time; 4) determining the rotation angle of the pushing main beam; and (5) calculating the transverse offset to rectify the deviation. The industrial camera is used for replacing a monitoring method of a traditional total station, the method has the advantages of being easy and convenient to install, intelligent and real-time, the transverse offset of any point on the bridge axis can be accurately monitored in real time, once the offset of a certain point of the axis is found, the pushing device can be intelligently controlled immediately to achieve intelligent deviation correction, and meanwhile the detection accuracy is improved. When the axis has a large offset, automatic early warning can be carried out, serious accidents such as overturning of the bridge are avoided, intelligent joint control of monitoring and deviation correction and integration of monitoring and early warning are achieved, the construction speed of pushing is guaranteed, and manual intervention is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge engineering, and in particular relates to a computer vision-based lateral deviation correction and early warning device and method for steel box girder jacking construction. Background Art

[0002] Steel box girders are widely used due to their light weight, good mechanical properties, low construction cost and low impact on traffic and the environment during construction. Commonly used construction methods for steel box girder bridges are hoisting and jacking. Among them, jacking is the most commonly used construction method for steel box girder bridges due to its simple construction equipment, fast construction speed and high safety.

[0003] During the jacking construction process, the stress of the steel box girder is complicated. If the operation of multiple jacking equipment is not synchronized, or the jacking force on both sides of the steel box girder is inconsistent, or the friction force at each point on the slideway is uneven, causing the jacking equipment on both sides to slide relative to each other, or the deviation of the guide beam installation position causes the steel box girder to be skewed, it may cause the steel box girder to shift laterally. Lateral shift will cause uneven force on the steel box girder, which may cause local deformation, cracks or other structural damage. Severe lateral shift may even cause the bridge structure to lose stability, resulting in overturning or rollover accidents.

[0004] The traditional monitoring method for lateral displacement during the jacking process usually uses a total station for monitoring. Multiple measuring points are set up on the steel box girder for observation. Construction technicians are required to continuously measure to determine whether there is displacement, and then control the jacking equipment to correct the deviation. The process is complicated, the human factor has a great influence, and it is difficult to obtain the displacement on the bridge axis in real time, which increases the construction cost and delays the construction period. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a lateral deviation correction and early warning device and method for steel box girder jacking construction based on computer vision. During the jacking construction process, the target video shot by two industrial camera modules arranged on the top of the guide beam updates the position of the bridge axis in real time, provides the lateral offset of each control point on the axis, and automatically controls the jacking device through a controller to correct the offset. At the same time, if a large lateral offset occurs, an alarm is sent to the early warning device for manual intervention, thereby realizing intelligent joint control of monitoring and correction and integration of monitoring and early warning, so as to achieve the purpose of efficient and convenient construction.

[0006] The present invention solves the technical problem by the following technical solutions:

[0007] A computer vision-based lateral deviation correction and early warning device for steel box girder top-pushing construction, comprising:

[0008] The industrial camera module includes two industrial cameras, an electric zoom lens and a fixed camera bracket matching the industrial cameras, and is arranged on the top of the steel box girder guide beam bracket;

[0009] A target, which is arranged at the top center of the temporary pier, with the target surface facing the opposite direction of the top push, serving as a reference for the industrial camera module and providing a coordinate update point;

[0010] An edge computing box, comprising a computing unit and a wireless transmission unit, wherein the edge computing box is arranged on a steel box girder guide beam support;

[0011] The early warning device includes a wireless receiving unit, an early warning device and a controller. The wireless receiving unit is used to receive the lateral offset value of the bridge axis calculated by the edge computing box. The early warning device is arranged at the starting point of the jacking and is used to monitor the offset of the bridge axis during the jacking process in real time, and manually control the jacking process through the controller according to the early warning signal.

[0012] Moreover, the industrial camera module and the edge computing box are connected by wire and powered by a mobile power supply, and a protective baffle is provided between the connecting wires.

[0013] Furthermore, the controller comprises:

[0014] The control console is used to control the hydraulic valve group of the jacking device and set the jacking speed and pressure jacking parameters;

[0015] The programmable logic controller, combined with the lateral deviation values ​​returned by the industrial camera module, automates the real-time conditions and monitors the jacking process.

[0016] A method for lateral deviation correction of steel box girder jacking construction based on computer vision, the method comprising the following steps:

[0017] S1. Set a reference point at the starting point of the jacking along the bridge axis, take this reference point as the origin O, take the jacking forward direction as the positive x-axis, take the direction along the bridge axis as the x-axis, take the x-axis rotated 90° counterclockwise as the positive y-axis, and establish a plane coordinate system perpendicular to the bridge axis as the y-axis;

[0018] S2. Arrange industrial camera modules at the top of the two guide beams as measuring points 1 and 2, and determine the initial coordinates A(x A ,y A ), B(x B ,y B ), and calculate the scaling factor based on the ratio of the actual size of the checkerboard on the target to the pixel size

[0019] S3. According to the needs of engineering monitoring, select the position of any control point P on the bridge axis and determine the initial coordinates P (x P ,yP ), set up targets on each temporary pier, and update the real-time coordinates of points A and B in real time according to the video of the target taken by the industrial camera, which is A'(x' A ,y' A ), B'(x' B ,y' B );

[0020] S4. According to the initial coordinates and real-time coordinates of the two industrial cameras, the rotation angle of the top push main beam is determined as

[0021] Then the rotation matrix

[0022] S5. Assume the initial coordinates P(x p ,y p ), the real-time coordinates of point P can be obtained through the real-time coordinates of points A and B

[0023] Then the lateral offset of the bridge axis at this point Δy=(y' p -y p )×sf;

[0024] According to the lateral offset of the bridge axis at the control point P, the jacking equipment is automatically controlled to perform precise deviation correction.

[0025] Moreover, during the jacking construction process, if the early warning device receives a lateral deviation of a control point on the bridge axis calculated by the edge computing box that is greater than the warning value, the early warning device sends a warning signal for the control point, suspends the jacking construction, and corrects the lateral deviation manually through the controller.

[0026] The advantages and beneficial effects of the present invention are:

[0027] The present invention replaces the traditional total station monitoring method with an industrial camera, which has the characteristics of easy installation, intelligence and real-time. It can accurately monitor the lateral offset of any point on the bridge axis in real time. Once the offset of a certain point on the axis is found, the jacking device can be immediately controlled to realize intelligent correction. At the same time, if there is a large offset of the axis, it will automatically warn to avoid serious accidents such as overturning of the bridge. It realizes the intelligent joint control of monitoring and correction, the integration of monitoring and early warning, ensures the construction speed of jacking, and reduces manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the layout of the measuring point positions of the present invention;

[0029] Figure 2 The following is a top view of the layout of the measuring points;

[0030] Figure 3 This is a schematic diagram of the position of the target of the present invention installed on a temporary pier;

[0031] Figure 4 It is a structural schematic diagram of the early warning device of the present invention;

[0032] Figure 5 It is an operation flow chart of the present invention. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below through specific examples. The following examples are only illustrative and not restrictive, and the protection scope of the present invention cannot be limited thereto.

[0034] Figure 1 It is a schematic diagram of the layout of measuring point positions of the computer vision-based lateral intelligent deviation correction and limiting method and early warning device for top-pushing construction of steel box beams of the present invention; Figure 2 It is a top view schematic diagram of the measurement point position layout of the computer vision-based lateral intelligent deviation correction and limiting method and early warning device for top-pushing construction of steel box beams of the present invention; Figure 3 It is a schematic diagram of the position of the target of the computer vision-based intelligent deviation correction and limiting method and early warning device for steel box girder jacking construction installed on the temporary pier; Figure 4 It is a structural schematic diagram of the early warning device of the present invention; Figure 5 It is an operation flow chart of the computer vision-based lateral intelligent deviation correction and limiting method and early warning device for steel box girder jacking construction of the present invention;

[0035] like Figure 5 As shown, the present invention provides a computer vision-based intelligent lateral deviation correction method for steel box girder top-pushing construction, comprising the following steps:

[0036] like Figure 1 , 2 As shown, first install the measuring equipment, arrange industrial camera modules at the measuring points 1 and 2 at the top of the two guide beams 2, and Figure 3 Install targets at each temporary pier 3 position and at the starting point of the jacking according to Figure 4 Install early warning devices;

[0037] A reference point is set at the starting point of the jacking along the bridge axis, and a plane coordinate system is established with this reference point as the origin O, the jacking forward direction as the positive direction of the x-axis, the direction along the bridge axis as the x-axis, the x-axis rotated 90° counterclockwise as the positive direction of the y-axis, and the y-axis perpendicular to the bridge axis as the direction;

[0038] Calculate the scale factor based on the ratio of the actual size of the checkerboard on the target to the pixel size

[0039] Determine the initial coordinates A(x A ,yA ), B(x B ,y B );

[0040] According to the needs of engineering monitoring, the position of the control point P on the bridge axis is selected and the initial coordinates P(x P ,y P ), where the number of control points P can be selected arbitrarily, and only one point is used as an example for calculation here;

[0041] The built-in algorithm in the edge computing box automatically processes the target video on each temporary pier taken by the industrial camera, and updates the coordinates of points A and B in real time to A'(x' A ,y' A ), B'(x' B ,y' B );

[0042] According to the initial coordinates and real-time coordinates of the industrial camera at measuring points 1 and 2, the rotation angle of the push part is calculated. The formula is as follows:

[0043]

[0044] Then the rotation matrix

[0045] Update the real-time coordinates of the control point P

[0046] The lateral offset of the bridge axis at this control point is Δy = (y' p -y p )×sf;

[0047] If the lateral deviation of the point is less than the warning value, the controller automatically controls the pushing device to perform lateral deviation correction;

[0048] If the lateral deviation of the point is greater than the warning value, the early warning device will sound an alarm, suspend pushing, and manually correct the deviation through the controller.

[0049] In summary, the present invention greatly simplifies the monitoring and correction operations during the construction process by optimizing the arrangement of measurement points and intelligently controlling the jacking equipment. By arranging the target video shot by the industrial camera module at the top of the guide beam, the edge computing box updates the bridge axis offset in real time, and combines the early warning device for automatic correction or manual intervention, thereby realizing the intelligent monitoring and correction of the lateral offset during the jacking process of the bridge structure. This method not only effectively reduces the complexity and cost of the measurement point arrangement, but also improves the construction efficiency and accuracy, and provides key technical support for the construction and optimization of the intelligent correction system during the bridge jacking process.

[0050] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A computer vision-based lateral deviation correction and early warning device for steel box girder top-pushing construction, characterized in that: include: The industrial camera module includes two industrial cameras, an electric zoom lens and a fixed camera bracket matching the industrial cameras, and is arranged on the top of the steel box girder guide beam bracket; A target, which is arranged at the top center of the temporary pier, with the target surface facing the opposite direction of the top push, serving as a reference for the industrial camera module and providing a coordinate update point; An edge computing box, comprising a computing unit and a wireless transmission unit, wherein the edge computing box is arranged on a steel box girder guide beam support; The early warning device includes a wireless receiving unit, an early warning device and a controller. The wireless receiving unit is used to receive the lateral offset value of the bridge axis calculated by the edge computing box. The early warning device is arranged at the starting point of the jacking and is used to monitor the offset of the bridge axis during the jacking process in real time, and manually control the jacking process through the controller according to the early warning signal.

2. According to the computer vision-based lateral deviation correction and early warning device for steel box girder top-pushing construction in claim 1, it is characterized by: The industrial camera module and the edge computing box are connected by wire and powered by a mobile power supply, and a protective baffle is provided between the connecting wires.

3. According to the computer vision-based lateral deviation correction and early warning device for steel box girder top-pushing construction in claim 1, it is characterized by: The controller comprises: The control console is used to control the hydraulic valve group of the jacking device and set the jacking speed and pressure jacking parameters; The programmable logic controller, combined with the lateral deviation values ​​returned by the industrial camera module, automates the real-time conditions and monitors the jacking process.

4. A method for lateral deviation correction of steel box girder jacking construction based on computer vision, characterized in that: Based on the computer vision-based lateral deviation correction and early warning device for top-pushing construction of steel box beams according to any one of claims 1 to 3, the steps of the method are: S1. Set a reference point at the starting point of the jacking along the bridge axis, take this reference point as the origin O, take the jacking forward direction as the positive x-axis, take the direction along the bridge axis as the x-axis, take the x-axis rotated 90° counterclockwise as the positive y-axis, and establish a plane coordinate system perpendicular to the bridge axis as the y-axis; S2. Arrange industrial camera modules at the top of the two guide beams as measuring points 1 and 2, and determine the initial coordinates A(x A ,y A ), B(x B ,y B ), and calculate the scaling factor based on the ratio of the actual size of the checkerboard on the target to the pixel size S3. According to the needs of engineering monitoring, select the position of any control point P on the bridge axis and determine the initial coordinates P (x P ,y P ), set up targets on each temporary pier, and update the real-time coordinates of points A and B in real time according to the video of the target taken by the industrial camera, which is A'(x' A ,y' A ), B'(x' B ,y' B ); S4. According to the initial coordinates and real-time coordinates of the two industrial cameras, the rotation angle of the top push main beam is determined as Then the rotation matrix S5. Assume the initial coordinates P(x p ,y p ), the real-time coordinates of point P can be obtained through the real-time coordinates of points A and B Then the lateral offset of the bridge axis at this point Δy=(y' p -y p )×sf; According to the lateral offset of the bridge axis at the control point P, the jacking equipment is automatically controlled to perform precise deviation correction.

5. The method for lateral deviation correction in top-pushing construction of steel box beams based on computer vision according to claim 4 is characterized in that: During the jacking construction process, if the early warning device receives a lateral deviation of a control point on the bridge axis calculated by the edge computing box that is greater than the warning value, the early warning device sends a warning signal for the control point, suspends the jacking construction, and corrects the lateral deviation manually through the controller.

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