Intelligent positioning system and method for arbitrary points of anchor pipes in long and large tunnels of suspension bridges

Abstract

The present invention discloses a system and method for intelligently positioning arbitrary points on anchor pipes in long and large tunnels of suspension bridges. The system includes a total station, multiple intelligent prism mounts, multiple clamps, a prism height acquisition module, a clamp distance acquisition module, a base running arc length acquisition module, a theoretical coordinate acquisition module, an actual coordinate acquisition module, a deviation acquisition module, and an installation adjustment module. The total station is mounted on a measurement control point on the inner wall of the tunnel anchor chamber. The prism height acquisition module is used to obtain the height from the center of each prism to the inner wall of the clamp, the clamp distance acquisition module is used to obtain the distance from the cross section of the center of each clamp to the tunnel anchor pipe opening, and the base running arc length acquisition module is used to obtain the running arc length of the base. This application adopts an intelligent positioning and measurement method for arbitrary points, effectively solving the problem of line of sight in the anchor pipe construction area, improving the efficiency of anchor pipe positioning and measurement, and realizing rapid and precise positioning and measurement of anchor pipes in long and large tunnels of suspension bridges.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor pipe positioning and measurement, and in particular to an intelligent positioning system and method for any point of an anchor pipe in a long tunnel of a suspension bridge. Background Art

[0002] Suspension bridges primarily utilize two anchoring structures: gravity anchors and tunnel anchors. The anchoring structure primarily bears the immense structural forces of a suspension bridge, making precise positioning of the anchoring structure one of the most critical measurement tasks. The anchoring structure for ultra-long-span suspension bridges in mountainous areas typically utilizes a tunnel anchor pipe cluster structure, consisting of hundreds or even tens of thousands of anchor pipes clustered within the tunnel anchor chamber. The anchor pipes range in length from 40 to 100 meters. Anchor pipe installation typically takes place in narrow, tapered tunnels with an inclination of 40° to 50° and depths of 40 to 100 meters, creating a harsh positioning and measurement environment. Anchor pipes are typically installed in layers. The long length of the anchor pipes requires multiple rows of supports along their length. Furthermore, the steep inclination of the anchor pipes results in multiple layers of cross-sections of anchor pipe clusters. Consequently, positioning and measurement of the upper anchor pipes are obscured by the supports and tops of the lower anchor pipes, making visibility extremely difficult. The anchor pipe positioning measurement requires high accuracy, with a positioning deviation of ±3mm. The large length of the anchor pipe leads to large deformation, so multi-cross-section and multi-point positioning is required to ensure the straightness of the anchor pipe. Implementing multi-point high-precision positioning of the anchor pipe group in such a narrow space, large inclination and difficult visibility deep tunnel foundation pit poses a challenge to on-site measurement work.

[0003] Traditionally, anchor pipe installation measurement generally uses a positioning method using fixed feature points on the anchor pipe axis or the anchor pipe zenith busbar. This involves installing a U-shaped single prism or multi-prism fixture at each characteristic cross-section of the anchor pipe. The anchor pipe axis or the anchor pipe zenith busbar is adjusted by measuring the deviation between the measured coordinates of a small number of fixed feature points marked on the prism and the theoretical coordinates of the known fixed feature points. The advantage of this positioning method is that it only calculates the theoretical coordinates of a small number of fixed feature points, resulting in a small amount of calculation and a small number of positioning points. However, precisely because of the use of fixed feature points for positioning, due to the narrow working space in the tunnel anchor hole and the obstruction of the anchor pipe group positioning bracket, line of sight for measurement is very difficult. It is necessary to arrange several measurement control points on the inner wall of the narrow tunnel anchor hole and repeatedly place or install multiple total stations to ensure line of sight with the fixed feature points. Setting up several measurement control points on the inner wall of a narrow tunnel anchor hole is difficult due to the small spacing between control points, their short sides, the harsh measurement environment, and the difficulty in setting up points. This makes the control measurement difficult and the accuracy low, making it difficult to achieve the precise positioning of long anchor pipes. Furthermore, the repeated placement or deployment of multiple total stations to ensure line of sight with fixed feature points requires a large number of surveyors and results in low measurement efficiency, which also introduces greater uncertainty errors in anchor pipe positioning. This makes it unsuitable for the complex positioning measurement of large anchor pipes with a large number of measurement points. Therefore, traditional anchor pipe positioning measurement methods suffer from the drawbacks of line of sight, low measurement efficiency, and low accuracy, and urgently need to be improved. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of traditional anchor pipe positioning and measurement systems and methods such as difficulty in visibility, low measurement efficiency and low accuracy, and to provide an intelligent positioning system and method for arbitrary points of anchor pipes in long tunnels of suspension bridges.

[0005] In a first aspect, the present application provides an intelligent positioning system for any point of an anchor pipe in a long tunnel of a suspension bridge, characterized by comprising:

[0006] Total station, used to be set up on the inner wall of the tunnel anchor chamber to measure the control points;

[0007] Multiple smart prism mounts are spaced apart on the outer peripheral wall of the tunnel anchor pipe along the axial direction of the tunnel anchor pipe via clamps, each comprising a base frame, a prism, a base adjustment device, and a central controller. The prism is mounted on the base frame, and the central controller is used to drive the base adjustment device to control the operation of the multiple base frames to align with the total station.

[0008] Prism height acquisition module, used to obtain the height from the center of each prism to the inner wall of the clamp ;

[0009] The clamp distance acquisition module is used to obtain the distance from the center cross section of each clamp to the tunnel anchor pipe opening. ;

[0010] Base running arc length acquisition module, used to obtain the base running arc length ;

[0011] Theoretical coordinate acquisition module is used to obtain 、 and , obtain the theoretical coordinates of each prism;

[0012] An actual coordinate acquisition module, connected to the total station for acquiring the actual coordinates of each prism;

[0013] a deviation acquisition module, communicating with the theoretical coordinate acquisition module and the actual coordinate acquisition module, for acquiring the deviation of each prism;

[0014] The installation adjustment module is in communication with the deviation acquisition module and is used to adjust the installation position of the tunnel anchor pipe according to the deviation.

[0015] In some embodiments, the clamp includes two semicircular frames, a hinge bolt, and a fixing bolt, wherein the hinge bolt connects the two semicircular frames, and the fixing bolt fixes the two semicircular frames.

[0016] In some embodiments, the base adjustment device includes:

[0017] A rack, fixed to the outer peripheral wall of the clamp;

[0018] An intelligent gear set includes a gear set and a driving device. The base frame has an open cavity, the gear set is arranged in the open cavity, the control end of the gear set is connected to the driving device, the gear set cooperates with the rack, and the driving device is communicated with the central controller for driving the gear set to move along the rack.

[0019] In some embodiments, the driving device includes a motor and a battery, the motor is electrically connected to the battery, is drivingly connected to the gear set, and is communicatively connected to the central driving controller.

[0020] In some embodiments, a remote controller is further included, and the remote controller is communicatively connected to the central drive controller.

[0021] In some embodiments, the rack is a T-shaped rack.

[0022] In some embodiments, the top surface of the transverse portion of the T-shaped rack is a tooth surface, which is engaged with the gear set, and the vertical portion of the T-shaped rack is fixedly connected to the clamp.

[0023] In some embodiments, the base frame is a square opening frame.

[0024] In a second aspect, the present application provides a method for intelligently locating an arbitrary point of an anchor pipe in a suspension bridge or long tunnel using the intelligent locating system for an arbitrary point of an anchor pipe in a suspension bridge or long tunnel as described in the first aspect of the present application, characterized in that the method comprises the following steps:

[0025] Step S1: Setting up an intelligent total station at a measurement control point on the inner wall of a tunnel anchor chamber, installing a plurality of clamps with intelligent prism mounts on the outer peripheral wall of the tunnel anchor pipe at intervals along the axis of the tunnel anchor pipe, and adjusting the plurality of clamps to align with the axis of the tunnel anchor pipe;

[0026] Step S2: Obtain the height from the center of the prism to the inner wall of the clamp ;

[0027] Step S3: Obtain the distance from the center cross section of each clamp to the tunnel anchor pipe opening ;

[0028] Step S4: pre-install a tunnel anchor pipe with a plurality of clamps for the smart prism mounts, align the prisms on the base frames of the smart prism mounts with the smart total station, and obtain the 0 position of each base frame;

[0029] Step S5: Get the 0 position of each base frame and the running arc length of each base frame relative to the 0 mark line on the corresponding clamp. ;

[0030] Step S6: According to the acquired 、 and , obtain the theoretical coordinates of each prism;

[0031] Step S7: Use an intelligent total station to measure and obtain the actual coordinates of each prism;

[0032] Step S8: Obtain the deviation of each prism based on the theoretical coordinates and actual coordinates of each prism;

[0033] Step S9: Adjust and install each anchor pipe in place according to the deviation of each prism.

[0034] In some embodiments, in step S1, the axes of the plurality of clamps are aligned by adjusting the 0-marked lines of the plurality of clamps to coincide with the zenith generatrix of the tunnel anchor pipe.

[0035] Compared with the prior art, the advantages of the present invention are as follows:

[0036] The arbitrary point intelligent positioning system for anchor pipes in suspension bridges and long tunnels provided by the present application adopts an arbitrary point intelligent positioning device and collects arbitrary point intelligent positioning measurement methods, which effectively solves the problem of very narrow anchor pipe construction areas and dense anchor pipes, and the problem of line of sight in conventional measurement methods, effectively improves measurement efficiency, and overcomes the shortcomings of complex error propagation and large errors in multi-station measurement at different control points, greatly improves measurement accuracy, and realizes rapid and precise positioning measurement of anchor pipes in suspension bridges and long tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a functional module block diagram of the intelligent positioning system for any point on an anchor pipe in a long tunnel of a suspension bridge provided by an embodiment of the present invention;

[0038] Figure 2 2. It is a schematic diagram of a system and method for intelligently positioning an arbitrary point on an anchor pipe in a long tunnel of a suspension bridge according to an embodiment of the present invention;

[0039] Figure 3 Schematic diagram of a clamp, rack rail, and smart prism mount assembled and installed on a tunnel anchor pipe in an embodiment of the present invention;

[0040] Figure 4 Schematic diagram of the assembly of the clamp, rack, and smart prism seat in an embodiment of the present invention;

[0041] Figure 5 yes Figure 4 Schematic diagram of the enlarged structure in the circle;

[0042] Figure 6 is a schematic diagram of a smart prism seat in an embodiment of the present invention;

[0043] Figure 7 1 is a schematic diagram of the side center line of the smart prism holder according to an embodiment of the present invention;

[0044] Figure 8 This is a flow chart of a method for intelligently positioning an arbitrary point on an anchor pipe in a long tunnel of a suspension bridge according to an embodiment of the present invention.

[0045] In the figure, 1. clamp, 2. rack, 3. intelligent prism seat, 4. semicircular frame, 5. hinge bolt, 6. fixing bolt, 7. 0-marked line of radial projection of clamp axis, 8. rack, 9. T-shaped rack, 10. semicircular track, 11. 0-tooth position marking of rack, 12. base frame, 13. intelligent gear set, 14. prism, 15. Center marking line of base frame, 16. Central drive control device, 17. Tunnel anchor pipe, 18. Zenith busbar. DETAILED DESCRIPTION

[0046] Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that the present invention is not intended to be limited to those embodiments. On the contrary, it is intended to cover variations, modifications, and equivalents within the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0047] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Note: The following example is only a specific example and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequence, etc. Those skilled in the art can apply the concepts of the present invention to construct more embodiments not described in this specification by reading this specification.

[0049] The huge structural force of a suspension bridge is mainly borne by the anchoring structure, so the precise positioning of the anchoring structure is one of the most critical measurement tasks during the construction of a suspension bridge. Tunnel anchor pipe construction is generally carried out in a narrow conical tunnel anchor chamber with a large inclination. The tunnel anchor pipe needs to be installed in layers, and multiple rows of brackets are required to support it along the length of the anchor pipe. At the same time, due to the large inclination of the anchor pipe, the anchor pipe group brackets at different cross-sections are multi-layered and crossed, so the positioning measurement of the upper anchor pipe is blocked by the lower anchor pipe bracket and the top of the lower anchor pipe, making it very difficult to see through the positioning measurement. The existing anchor pipe positioning system and method arrange a number of measurement control points on the inner wall of the tunnel anchor chamber in a narrow space. Due to the small spacing between the control points and the short side length, coupled with the harsh measurement environment and difficulty in point arrangement, the control measurement is difficult and the accuracy is low, making it difficult to meet the precise positioning of long and large anchor pipes. At the same time, multiple total stations are placed or installed to ensure their line of sight with fixed feature points, which requires a lot of surveying personnel and low measurement efficiency.

[0050] Please refer to Figure 1 and Figure 2 The present application provides an intelligent positioning system for any point of an anchor pipe in a long tunnel of a suspension bridge, comprising:

[0051] Total station 100, used for setting up on the inner wall measurement control point of the tunnel anchor chamber;

[0052] For multiple smart prism mounts 200, please refer to Figure 3, are arranged on the outer peripheral wall of the tunnel anchor pipe at intervals along the axial direction of the tunnel anchor pipe through a clamp, and each includes a base frame, a prism, a base adjustment device and a central controller, the prism is mounted on the base frame, and the central controller is used to drive the base adjustment device to control multiple base frames to operate and align with the total station;

[0053] Prism height acquisition module 300, used to obtain the height from the center of each prism to the inner wall of the clamp ;

[0054] The clamp distance acquisition module 400 is used to obtain the distance from the center cross section of each clamp to the tunnel anchor pipe opening. ;

[0055] The base running arc length acquisition module 500 is used to obtain the base running arc length ;

[0056] The theoretical coordinate acquisition module 600 is connected to the clamp distance acquisition module 400, the base running arc length acquisition module 500 and the theoretical coordinate acquisition module 600 for obtaining the coordinates of the clamp distance acquisition module 400. 、 and , obtain the theoretical coordinates of each prism;

[0057] An actual coordinate acquisition module 700 is connected to the total station for acquiring the actual coordinates of each prism;

[0058] a deviation acquisition module 800 , which is in communication with the theoretical coordinate acquisition module 600 and the actual coordinate acquisition module, and is used to acquire the deviation of each prism;

[0059] The installation adjustment module 900 is in communication with the deviation acquisition module and is used to adjust the installation position of the tunnel anchor pipe according to the deviation.

[0060] The intelligent positioning system for anchor pipes at arbitrary points in suspension bridges and long tunnels provided in this application adopts an intelligent prism mount at arbitrary points to collect intelligent positioning measurement methods for arbitrary points, effectively solving the problem of very narrow anchor pipe construction areas and dense anchor pipes, and the problem of line of sight in conventional measurement methods, thereby effectively improving measurement efficiency. At the same time, it overcomes the shortcomings of complex error propagation and large errors in multi-station measurement at different control points, greatly improving measurement accuracy, and realizing rapid and precise positioning measurement of anchor pipes in suspension bridges and long tunnels.

[0061] in, Representative prisms, 1≤ ≤N, where N is the number of prisms or clamps on a single tunnel anchor pipe.

[0062] in, Representative prisms 14, 1≤ ≤N, where N is the number of prisms 14 or clamps 1 on a single tunnel anchor pipe 17 .

[0063] In one embodiment, the prism 14 height acquisition module is implemented as a measuring ruler, which measures the distance between the center line of the prism 14 and the inner wall of the clamp 1 fixed to the base frame 12 of the prism 14.

[0064] In one embodiment, the vertical height between the center of the prism 14 and the inner wall of the clamp 1 to which the base frame 12 of the prism 14 is fixed is measured using a measuring ruler.

[0065] In one embodiment, the clamp 1 distance acquisition module is implemented as a ruler or a distance meter, which carves a pipe opening radial line at the pipe opening of the tunnel anchor pipe 17 and then measures the distance between the pipe opening radial line and the cross section of each clamp 1.

[0066] In one embodiment, the distance between the central cross section of each clamp 1 and the pipe opening of the tunnel anchor pipe 17 is obtained by measuring the distance between the pipe opening radial line and the central cross section of each clamp 1 .

[0067] In one embodiment, the central cross section of the clamp 1 is defined as a cross section of the clamp 1 , and the cross section is perpendicular to the central axis of the clamp 1 .

[0068] In one embodiment, the distance between the central cross section of each clamp 1 and the pipe opening of the tunnel anchor pipe 17 is the distance along the axial direction of the tunnel anchor pipe 17 .

[0069] In one embodiment, the theoretical coordinate acquisition module is implemented as a computer, a calculator or a handheld computer. 、 and , the theoretical coordinates of each prism 14 can be calculated and obtained.

[0070] In one embodiment, if Figure 4 and Figure 5 As shown, the clamp 1 includes two semicircular frames 4 , a hinge bolt 5 and a fixing bolt 6 . The hinge bolt 5 connects the two semicircular frames 4 , and the fixing bolt 6 fixes the two semicircular frames 4 .

[0071] In one embodiment, if Figure 4 and Figure 5 As shown, the hinge bolt 5 connects the edges of the two semicircular frames 4 together, and the two fixing bolts 6 pass through the two ends of a connecting rod and are respectively connected to the bolt holes of the outer wall lugs of the two semicircular frames 4, thereby firmly connecting the two semicircular frames 4 into a circular clamp 1.

[0072] In one embodiment, please refer to Figure 6 and Figure 7 The base adjustment device includes a rack 2 and an intelligent gear set 13. The intelligent gear set 13 includes a gear set and a driving device. The rack 2 is fixed to the outer peripheral wall of the clamp 1; the base frame 12 is provided with an open cavity, and the gear set is arranged in the open cavity. The control end of the gear set is connected to the driving device, the gear set cooperates with the rack 2, and the driving device is communicated with the central controller for driving the gear set to move along the rack 2.

[0073] In one embodiment, the rack rail 2 is a circular rack rail 2 , and the circular rack rail 2 is coaxially fixedly mounted on the outer peripheral wall of the clamp 1 .

[0074] In one embodiment, the rack rail 2 is a detachable spliced ​​circular rack rail 2 , which is formed by splicing the end faces of two semi-circular ring rails 10 .

[0075] In one embodiment, the cross-sectional shape of the rack 2 is T-shaped, which is a T-shaped rack 9. The top surface of the transverse portion of the T-shaped rack 9 is a tooth surface, which is engaged with the gear set. The vertical portion of the T-shaped rack 9 is fixedly connected to the clamp 1. The gear set moves along the circular rack 2 under the drive of the driving device, thereby driving the prism 14 on the base frame 12 to move circumferentially along the outer peripheral wall of the tunnel anchor pipe 17 until it is in line of sight with the total station. During this process, the moving arc length of the base frame 12 will be acquired by the base operation arc length acquisition module.

[0076] In one embodiment, the open cavity is defined as a chamber having an opening.

[0077] In one embodiment, the base frame 12 is a square open frame, a prism 14 is vertically fixed on the top surface of the base frame 12 , and a gear set is provided inside the open frame, which drives the base frame 12 to move circumferentially along the rack 2 .

[0078] In one embodiment, the driving device includes a motor and a battery. The motor is fixed to the outer wall of the base frame 12 , the motor is electrically connected to the battery, the motor is drive-connected to the gear set, and is connected to the central drive controller 16 .

[0079] In one embodiment, a remote controller is further included, and the remote controller is in communication with the central drive controller 16 .

[0080] Based on the same invention concept, please refer to Figure 8 The present application provides a method for intelligently positioning an arbitrary point of an anchor pipe 17 in a long tunnel of a suspension bridge, comprising the following steps:

[0081] Step S1: Setting up an intelligent total station at a measurement control point on the inner wall of a tunnel anchor chamber, installing multiple clamps 1 with intelligent prism holders 3 on the outer peripheral wall of the tunnel anchor pipe 17 at intervals along the axis of the tunnel anchor pipe 17, and adjusting the multiple clamps 1 to align with the axis of the tunnel anchor pipe 17;

[0082] Step S2: Obtain the height from the center of the prism 14 to the inner wall of the clamp 1 ;

[0083] Step S3: Obtain the distance from the center cross section of each clamp 1 to the tunnel anchor pipe 17 opening ;

[0084] Step S4: pre-install a tunnel anchor pipe 17 with a plurality of clamps 1 for the smart prism seats 3 to be installed, adjust the prisms 14 on the base frames 12 of each smart prism seat 3 to align with the smart total station, and obtain the 0 position of each base frame 12;

[0085] Step S5: Get the 0 position of each base frame 12 and the running arc length of each base frame 12 relative to the 0 mark line on the corresponding clamp 1 ;

[0086] Step S6: According to the acquired 、 and , obtain the theoretical coordinates of each prism 14;

[0087] Step S7: Use an intelligent total station to measure and obtain the actual coordinates of each prism 14;

[0088] Step S8: Obtain the deviation of each prism 14 according to the theoretical coordinates and actual coordinates of each prism 14;

[0089] Step S9: Adjust and install each anchor pipe in place according to the deviation of each prism 14.

[0090] In one embodiment, in step S1 , the 0-marked lines of the plurality of clamps 1 are adjusted to coincide with the zenithal generatrix 18 of the tunnel anchor pipe 17 so that the axes of the two are aligned.

[0091] In a more specific embodiment, a method for intelligently positioning an arbitrary point of an anchor pipe 17 in a long tunnel of a suspension bridge includes the following steps:

[0092] 1. Install and fix the total station at the measurement control point on the inner wall of the tunnel anchor chamber;

[0093] 2. A zero-marked line 7 is marked on each of the side surfaces and top surface of the clamp 1 along the axis, which is the radial projection of the clamp axis. The zero-marked line on the bottom surface is used to coincide with the zenithal generatrix 18 of the tunnel anchor pipe 17, and the zero-marked lines on both side surfaces are used to coincide with the zero-tooth position marked lines of the rack rail 2;

[0094] A base frame center line 15 is respectively marked on the outer side surface of the base frame 12, wherein the base frame center line 15 is a line marked at the height center position of the base frame 12;

[0095] The rack rail 2 is marked with a tooth position 0 marking 11 of the rack;

[0096] Fix the smart prism seat 3 to the corresponding clamp 1, and make the central cross section of the rack 2 of the smart prism seat 3 coincide with the central cross section of the corresponding clamp 1, and the 0 tooth position marking of the rack 2 coincide with the 0 tooth marking on the clamp 1;

[0097] The central cross section of the clamp 1 is the cross section at the center position of the clamp 1 in the axial direction.

[0098] The zenithal busbar 18 of the tunnel anchor pipe 17 is a line that passes through the most protruding position of the outer peripheral wall after the tunnel anchor pipe 17 is pre-installed obliquely and is parallel to the central axis of the tunnel anchor pipe 17 .

[0099] The tooth position 0 marking line of the rack rail 2 is a circular line at the center line of the base frame 12 centered on the tooth surface of the rack rail 2 .

[0100] Install multiple clamps 1 and the smart prism holders 3 mounted thereon on any one of the outer peripheral walls of the tunnel anchor pipe 17, which is easily visible to the total station, at the upper, middle, or lower part of the tunnel anchor pipe 17. That is, install the clamps 1 with the smart prism holders 3 at intervals on the outer peripheral wall of the tunnel anchor pipe 17 along the axial direction. Adjust the zero-marked line of the clamps 1 to coincide with the zenith busbar 18 of the tunnel anchor pipe 17.

[0101] 3. Measure the distance between the tunnel anchor pipe 17 opening and the cross section of each clamp 1 in the axial direction of the tunnel anchor pipe 17 and record the distance. ;

[0102] 4. Use the remote control to adjust the smart prism holder 3 through the central controller so that the center score lines 15 marked on the two outer surfaces of the base frame 12 coincide with the 0 score lines on both sides of the clamp 1. At this time, the central controller records and stores the 0 position of each base frame 12 respectively;

[0103] 5. Use the remote control to remotely control the central controller to start the motor, drive the gear set to drive the base frame 12 to move circumferentially along the rack 2 until the prism 14 on the base frame 12 is aligned with the total station's line of sight, and control the brake base frame 12 to stop it;

[0104] 6. The central controller records and stores the arc length of each base frame 12 relative to the zero-marked line of the clamp 1 during the visual alignment adjustment process. , and transfer it into the calculator;

[0105] 7. Calculate the distance from the center cross section of the tunnel anchor pipe 17 to the tunnel anchor pipe 17 mouth according to the spatial straight line equation of the top busbar 18 of the tunnel anchor pipe 17 and the distance from the center cross section of the clamp 1 to the tunnel anchor pipe 17 mouth. , the arc length of the base frame 12 relative to the 0 score line on the clamp 1 , and the known height from the center of the prism 14 to the inner wall of the clamp 1 , calculate the theoretical coordinates of the prisms 14 on each smart prism seat 3, and thus obtain the theoretical coordinates of each prism 14;

[0106] 8. Use an intelligent total station to obtain the actual coordinates of the prisms 14 on each base frame 12 after line-of-sight alignment;

[0107] 9. Based on the theoretical coordinates and actual coordinates of the prisms 14 on each base frame 12, obtain the deviation of the prisms 14 on each base frame 12, thereby obtaining the deviation of the fixing point of each clamp 1 of the tunnel anchor pipe 17;

[0108] 10. Adjust the tunnel anchor pipe 17 according to the deviation of each prism 14 so that it is accurately installed in place.

[0109] In this application, the principle of obtaining the theoretical coordinates of each prism 14 is:

[0110] With the center point of the tunnel anchor pipe 17 as the origin, the central axis of the tunnel anchor pipe 17 as the X-axis, the direction between the zenith busbar 18 of the tunnel anchor pipe 17 and the center point of the pipe mouth as the Z-axis, and the direction perpendicular to the X-axis and Z-axis as the Y-axis, spatial coordinates are constructed to obtain various spatial equations;

[0111] Since the installation inclination angle of the tunnel anchor pipe 17 is known, the spatial equation of the center axis OO' of the precisely installed anchor pipe is also known. The spatial relationship between the anchored zenithal busbar 18 and the center axis of the tunnel anchor pipe 17 is also known. The zenithal busbar 18 is obtained by the radial offset radius along the center axis of the tilted anchor pipe. Therefore, the spatial straight line equation of the zenithal busbar 18 can be obtained.

[0112] The distance between each prism 14 and the tunnel anchor pipe 17 before sight alignment can be measured;

[0113] The running distance or arc length of the base frame 12 during the sight alignment process Can be obtained through the central controller;

[0114] Therefore, the equation of the space straight line passing through the zenith generatrix 18, and 、 and , obtain the theoretical coordinates of each prism 14 under theoretical conditions, that is, when the tunnel anchor pipe 17 is accurately installed in place.

[0115] After each prism 14 is aligned with the total station after visual alignment and debugging, the actual coordinates of each prism 14 aligned with it can be directly obtained by the total station, and the deviation of each part of the pre-installed tunnel anchor pipe 17 can be obtained based on the deviation between the actual coordinates and the theoretical coordinates.

[0116] In one embodiment, the total station may be implemented as an intelligent total station, including a total station module and a communication module. In addition to having the functions of a total station, it also has the function of information transmission.

[0117] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0118] The present invention may implement all or part of the above-described method processes by instructing related hardware through a computer program. The computer program may be stored in a computer-readable storage medium. When executed by a processor, the computer program may implement the steps of each of the above-described method embodiments. The computer program includes computer program code, which may be in source code form, object code form, an executable file, or some intermediate form. Computer-readable media may include any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signals, telecommunications signals, and software distribution media. It should be noted that the content of a computer-readable medium may be appropriately expanded or reduced based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media do not include electric carrier signals or telecommunications signals.

[0119] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0120] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of a computer device, connecting all parts of the entire computer device using various interfaces and circuits.

[0121] The memory can be used to store computer programs and / or modules. The processor implements the various functions of the computer device by running or executing the computer programs and / or modules stored in the memory and accessing the data stored in the memory. The memory may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (e.g., a sound playback function, an image playback function, etc.); the data storage area may store data generated based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, the memory may include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0122] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, servers, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage) containing computer-usable program code.

[0123] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0124] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0126] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. An intelligent positioning system for any point of anchor pipe in a long tunnel of a suspension bridge, characterized by: include: Total station, used to be set up on the inner wall of the tunnel anchor chamber to measure the control points; Multiple smart prism mounts are each spaced apart on the outer peripheral wall of the tunnel anchor pipe along the axial direction of the tunnel anchor pipe via a clamp, and each includes a base frame, a prism, a base adjustment device, and a central controller. The prism is mounted on the base frame, and the central controller is used to drive the base adjustment device to control the operation of the multiple base frames to align with the total station; Prism height acquisition module, used to obtain the height from the center of each prism to the inner wall of the clamp ; The clamp distance acquisition module is used to obtain the distance from the center cross section of each clamp to the tunnel anchor pipe opening. ; Base running arc length acquisition module, used to obtain the base running arc length ; Theoretical coordinate acquisition module is used to obtain 、 and , obtain the theoretical coordinates of each prism; An actual coordinate acquisition module, connected to the total station for acquiring the actual coordinates of each prism; a deviation acquisition module, communicating with the theoretical coordinate acquisition module and the actual coordinate acquisition module, for acquiring the deviation of each prism; An installation adjustment module, in communication with the deviation acquisition module, for adjusting the installation position of the tunnel anchor pipe according to the deviation; in, Representative prisms; The clamp comprises two semicircular frames, a hinge bolt and a fixing bolt, wherein the hinge bolt connects the two semicircular frames, and the fixing bolt fixes the two semicircular frames; The base adjustment device comprises: A rack, fixed to the outer peripheral wall of the clamp; An intelligent gear set includes a gear set and a driving device. The base frame has an open cavity, the gear set is arranged in the open cavity, the control end of the gear set is connected to the driving device, the gear set cooperates with the rack, and the driving device is communicated with the central controller for driving the gear set to move along the rack.

2. The intelligent positioning system for anchor pipes at arbitrary points in long tunnels of suspension bridges as claimed in claim 1, characterized in that: The driving device includes a motor and a battery. The motor is electrically connected to the battery, drivingly connected to the gear set, and communicatively connected to a central driving controller.

3. The intelligent positioning system for anchor pipes at arbitrary points in long tunnels of suspension bridges as claimed in claim 2, characterized in that: It also includes a remote controller, which is communicatively connected to the central drive controller.

4. The intelligent positioning system for anchor pipes at arbitrary points in long tunnels of suspension bridges as claimed in claim 1, characterized in that: The rack rail is a T-shaped rack rail.

5. The intelligent positioning system for any point of anchor pipe in a long tunnel of a suspension bridge according to claim 4, characterized in that: The top surface of the transverse portion of the T-shaped rack is a tooth surface, which is engaged with the gear set, and the vertical portion of the T-shaped rack is fixedly connected to the clamp.

6. The intelligent positioning system for any point of anchor pipe in a long tunnel of a suspension bridge according to claim 1, characterized in that: The base frame is a square opening frame.

7. A method for intelligently locating any point on an anchor pipe in a suspension bridge or long tunnel using the intelligent locating system for anchor pipes in a suspension bridge or long tunnel as claimed in claim 1, characterized in that: The following steps are involved: Step S1: Setting up an intelligent total station at a measurement control point on the inner wall of a tunnel anchor chamber, installing a plurality of clamps with intelligent prism mounts on the outer peripheral wall of the tunnel anchor pipe at intervals along the axis of the tunnel anchor pipe, and adjusting the plurality of clamps to align with the axis of the tunnel anchor pipe; Step S2: Obtain the height from the center of the prism to the inner wall of the clamp ; Step S3: Obtain the distance from the center cross section of each clamp to the tunnel anchor pipe opening ; Step S4: pre-install a tunnel anchor pipe with a plurality of clamps for the smart prism mounts, align the prisms on the base frames of the smart prism mounts with the smart total station, and obtain the 0 position of each base frame; Step S5: Get the 0 position of each base frame and the running arc length of each base frame relative to the 0 mark line on the corresponding clamp. ; Step S6: According to the acquired 、 、 , obtain the theoretical coordinates of each prism; Step S7: Use an intelligent total station to measure and obtain the actual coordinates of each prism; Step S8: Obtain the deviation of each prism based on the theoretical coordinates and actual coordinates of each prism; Step S9: Adjust and install each anchor pipe in place according to the deviation of each prism.

8. The method for intelligently positioning any point of an anchor pipe in a long tunnel of a suspension bridge according to claim 7, characterized in that: In step S1, the axes of the two are aligned by adjusting the 0-marked lines of the plurality of clamps to coincide with the zenithal busbar of the tunnel anchor pipe.

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