Calculation method and system for horizontal rotation construction method rotation target based on three-dimensional scanning technology

Abstract

The application discloses a kind of based on three-dimensional scanning technology's horizontal swivel construction method swivel target calculation method and system, the method includes: obtaining bridge swivel before swivel section initial positioning point coordinate, alignment section positioning point coordinate, swivel section initial point cloud coordinate and alignment section point cloud coordinate;Extract swivel section initial outer edge point, initial outer edge fitting function, alignment section outer edge point, outer edge fitting function, swivel section initial endpoint coordinate and swivel section initial endpoint tangent function and alignment section endpoint coordinate and alignment section endpoint tangent function, calculate bridge swivel target and bridge elevation deviation value;Obtain the swivel section point cloud coordinate and swivel section positioning point coordinate of three-dimensional laser scanning after bridge swivel;Extract outer edge fitting function, swivel section endpoint coordinate and swivel section endpoint tangent function;Calculate bridge current swivel target and current flat swivel angular velocity and bridge current elevation deviation value;Judge whether to end swivel.The application realizes intelligent rapid analysis swivel bridge structure information.

Description

Technical Field

[0001] This invention relates to the field of bridge engineering rotation construction, and in particular to a method and system for calculating the rotation target in a horizontal rotation construction method based on three-dimensional scanning technology. Background Technology

[0002] Bridge rotation construction refers to a construction technique that involves fabricating and shaping the bridge structure at a location outside the design axis, and then rotating the structure into its final position. This technique helps avoid long-term disruptions to navigation and prevents the interference between traffic on existing bridges and the construction of new bridges, thus accelerating construction progress and reducing the overall cost of bridge projects. Among these techniques, the horizontal rotation method is most commonly used in bridge rotation projects in my country and can be applied to the rotation construction of continuous beam bridges, T-shaped rigid frame bridges, and cable-stayed bridges.

[0003] Bridge rotation position monitoring is an engineering measure to monitor bridge displacement during the rotation process. It helps construction personnel to understand the bridge's position and rotation status in a timely manner, and its measurement accuracy directly affects the accuracy of the rotation and positioning. Among them, the bridge rotation angle and elevation deviation are important reference indicators for determining whether adjustments need to be made during the rotation process. The position information of the rotated bridge is usually analyzed and calculated using the polar coordinate method and the line of sight method with a total station. The operation requires multiple people to cooperate, has a low degree of automation, and is relatively cumbersome.

[0004] The bridge rotation angle refers to the angle by which the bridge rotates counterclockwise within a certain period of time. During the bridge rotation process, the bridge's horizontal rotational velocity can be calculated based on the rotational linear velocity at the measuring point, and the difference between the current bridge azimuth and the rotation target can be analyzed.

[0005] The elevation deviation value refers to the difference between the measured elevation and the design elevation of the control point on the cantilever end cross-section of a rotating bridge. It can be used to evaluate the longitudinal tilt of the bridge and to judge the overall balance of the bridge. In the rotation project, a total station is used to conduct timed observations of pre-set measuring points to obtain position coordinate information.

[0006] The working principle of 3D laser scanning: Monochromaticity, coherence, and directionality are the fundamental characteristics of lasers. Based on the principle of pulsed laser ranging, a 3D laser scanner scans an object using pulsed lasers, ultimately storing the object's 3D shape and coordinates as a point cloud. This method analyzes the point cloud data before and after structural rotation to determine the current rotation status of the structure. It can quickly obtain high-precision structural position information, eliminating the need for repeated on-site readings by personnel during the measurement process, thus improving operational efficiency and shortening the bridge rotation adjustment time. Summary of the Invention

[0007] The technical problem to be solved by this invention is to address the shortcomings of the existing technology, which has a complex and slow acquisition process. This invention provides a method and system for calculating the rotation target of the horizontal rotation construction method based on three-dimensional scanning technology. This method is used to calculate the rotation angle and elevation deviation of the bridge during the horizontal rotation construction, thereby obtaining the rotation status of the bridge under the rotation construction state and accurately analyzing the bridge rotation target.

[0008] The technical solution adopted by this invention to solve its technical problem is:

[0009] This invention provides a method for calculating the target of a horizontal rotation construction method based on three-dimensional scanning technology. The method includes the following steps:

[0010] 101. Obtain the initial positioning point coordinates of the rotating segment, the positioning point coordinates of the alignment segment, the initial point cloud coordinates of the rotating segment, and the point cloud coordinates of the alignment segment before the bridge rotates;

[0011] 102. Extract the initial outer edge points of the rotating segment based on the initial point cloud coordinates of the rotating segment;

[0012] 103. Extract four initial outer edge fitting functions for the rotating segment based on the coordinates of the initial outer edge points of the rotating segment;

[0013] 104. Extract the outer edge points of the alignment segment based on the point cloud coordinates of the alignment segment;

[0014] 105. Extract four fitting functions for the outer edge of the alignment segment based on the coordinates of the outer edge points of the alignment segment;

[0015] 106. Extract the initial endpoint coordinates and the initial endpoint tangent function of the rotating segment based on the initial outer edge fitting function of the rotating segment and the initial positioning point coordinates of the rotating segment;

[0016] 107. Extract the coordinates of the endpoints of the alignment segment and the tangent function of the endpoints of the alignment segment based on the fitting function of the outer edge of the alignment segment and the coordinates of the positioning point of the alignment segment;

[0017] 108. Calculate the bridge rotation target based on the tangent function of the initial endpoint of the rotating segment and the tangent function of the endpoint of the aligned segment;

[0018] 109. Calculate the bridge elevation deviation value based on the initial endpoint coordinates of the rotating segment and the endpoint coordinates of the aligned segment;

[0019] 110. Obtain the point cloud coordinates of the rotated segment and the coordinates of the positioning points of the rotated segment from the three-dimensional laser scan after the bridge has rotated;

[0020] 111. Extract the outer edge points of the rotating segment based on the point cloud coordinates of the rotating segment;

[0021] 112. Extract four fitting functions for the outer edge of the rotating segment based on the coordinates of the outer edge points of the rotating segment;

[0022] 113. Extract the endpoint coordinates and endpoint tangent function of the rotating segment based on the fitting function of the outer edge of the rotating segment and the coordinates of the positioning point of the rotating segment;

[0023] 114. Calculate the current rotation target and current horizontal rotation angular velocity of the bridge based on the tangent function at the endpoint of the rotation segment and the tangent function at the endpoint of the alignment segment;

[0024] 115. Calculate the current elevation deviation of the bridge based on the coordinates of the endpoints of the rotating segment and the alignment segment;

[0025] 116. Determine whether to end the rotation based on the deviation between the current target of the bridge rotation and the current elevation.

[0026] Furthermore, the equations for selecting the initial outer edge point of the rotating segment in this invention are as follows:

[0027]

[0028] Among them, (x 1,i ,y 1,i,j ,z 1,i,j ) represents the initial point cloud of the rotating segment x = x 1,i The coordinates of each point on the cross section, Δx1 represents the minimum distance between cross sections along the x-axis in the initial point cloud of the rotating segment, l 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The median value of the cross section in the y direction, h 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The median value in the z-direction of the cross section, G 1,i (z,f(y)) represents the rotation segment x = x 1,i Section error and function, f 1,i (y) represents the rotating segment x = x 1,i Cross-section fitting function, A 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i B, the top left edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i C, the top right edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i D, the lower left edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The lower right edge point on the cross section, n1 represents the number of cross sections in the x-axis direction in the initial point cloud of the rotating segment, m 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The number of points on the cross section;

[0029] The fitting equation for the initial outer edge fitting function of the rotating segment is:

[0030]

[0031] Among them, (x 1,i,t ,y 1,i,t ) represents the xOy plane coordinates of the initial outer edge point of the rotating segment, W 1,t (y, w(x)) represents the initial outer edge error and function of the rotating segment, w 1,t (x) represents the initial outer edge fitting function of the rotating segment, n1 represents the number of cross sections in the x-axis direction of the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 1,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0032] Furthermore, the selection equations for the outer edge points of the alignment segment in this invention are as follows:

[0033]

[0034] Among them, (x 2,i ,y 2,i,j ,z 2,i,j ) represents the aligned segment point cloud x = x 2,i The coordinates of each point on the cross section, Δx2 represents the minimum distance between cross sections along the x-axis in the alignment segment point cloud, l 2,i The alignment segment point cloud x = x 2,i The median value of the cross section in the y direction, h 2,i The alignment segment point cloud x = x 2,i The median value in the z-direction of the cross section, G 2,i (z,f(y)) represents the alignment segment x = x 2,i Section error and function, f 2,i (y) represents the alignment segment x = x 2,i Cross-section fitting function, A 2,i The alignment segment point cloud x = x 2,i B, the top left edge point on the cross section 2,i The alignment segment point cloud x = x 2,i C, the top right edge point on the cross section 2,i The initial point cloud of the rotating segment is represented by x = x. 2,i D, the lower left edge point on the cross section 2,i The alignment segment point cloud x = x 2,i The lower right edge point on the cross section, n2 represents the number of cross sections in the x-axis direction in the aligned segment point cloud, m 2,i The alignment segment point cloud x = x 2,i The number of points on the cross section;

[0035] The fitting equation for the fitting function of the outer edge of the alignment segment is:

[0036]

[0037] Among them, (x 2,i,t ,y 2,i,t ) represents the xOy plane coordinates of the outer edge point of the alignment segment, W 2,t (y, w(x)) represents the outer edge error and function of the alignment segment, w 2,t (x) represents the fitting function for the outer edge of the alignment segment, n2 represents the number of cross sections in the x-axis direction of the alignment segment point cloud, and t = 1, 2, 3, 4 represent the alignment segment edge points at x = x 2,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0038] Furthermore, the equations for the initial endpoint coordinates of the rotating segment and the tangent function of the initial endpoint of the rotating segment in this invention are as follows:

[0039]

[0040] Among them, O 1,0 Indicates the initial positioning point of the rotating segment, (x 1,0 ,y 1,0 ,z 1,0 (x) represents the initial positioning point coordinates of the rotating segment. 1,0,t ,y 1,0,t ,z 1,0,t ) represents the initial endpoint coordinates of the rotating segment, d 1,t (x) represents the tangent function at the initial endpoint of the rotating segment, w' 1,t (x) represents the first derivative of the fitting function for the initial outer edge of the rotating segment, n1 represents the number of cross sections in the x-axis direction in the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 1,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0041] The system of equations for the coordinates of the alignment segment endpoints and the tangent function of the alignment segment endpoints is as follows:

[0042]

[0043] Among them, O 2,0 Indicates the alignment segment positioning point, (x 2,0 ,y 2,0 ,z 2,0 (x) represents the coordinates of the alignment segment positioning point. 2,0,t ,y 2,0,t ,z 2,0,t) represents the coordinates of the endpoints of the alignment segment, d 2,t (x) represents the tangent function at the endpoints of the alignment segment, w' 2,t (x) represents the first derivative of the fitting function of the outer edge of the alignment segment, n2 represents the number of cross sections in the x-axis direction of the alignment segment point cloud, and t = 1, 2, 3, 4 represent the points of the alignment segment edge at x = x 2,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0044] Furthermore, the calculation formula for the bridge rotation target of the present invention is as follows:

[0045]

[0046] Where, θ 0,t w' represents the target for the bridge edge rotation. 1,t (x) represents the first derivative of the initial outer edge fitting function of the rotating segment, w' 2,t (x) represents the first derivative of the fitting function for the outer edge of the alignment segment, x 2,0,t The x-coordinate of the endpoint of the alignment segment is represented by x. 1,0,t This represents the x-coordinate of the initial endpoint of the rotating segment. The average rotation target of the bridge is represented by t = 1, 2, 3, 4, which represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0047] The formula for calculating the bridge elevation deviation is as follows:

[0048]

[0049] Where, Δh 0,t The value of the bridge elevation deviation, z 2,0,t This represents the z-direction coordinate of the endpoint of the alignment segment. 1,0,t This represents the z-axis coordinate of the initial endpoint of the rotating segment. The value represents the average elevation deviation of the bridge, and t = 1, 2, 3, 4 represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0050] Furthermore, the equations for selecting the outer edge point of the rotating segment in this invention are as follows:

[0051]

[0052] Among them, (x 3,i ,y 3,i,j ,z 3,i,j ) represents the aligned segment point cloud x = x 3,i The coordinates of each point on the cross section, Δx3 represents the minimum distance between cross sections along the x-axis in the alignment segment point cloud, l3,i The alignment segment point cloud x = x 3,i The median value of the cross section in the y direction, h 3,i The alignment segment point cloud x = x 3,i The median value in the z-direction of the cross section, G 3,i (z,f(y)) represents the alignment segment x = x 3,i Section error and function, f 3,i (y) represents the alignment segment x = x 3,i Cross-section fitting function, A 3,i The alignment segment point cloud x = x 3,i B, the top left edge point on the cross section 3,i The alignment segment point cloud x = x 3,i C, the top right edge point on the cross section 3,i The initial point cloud of the rotating segment is represented by x = x. 3,i D, the lower left edge point on the cross section 3,i The alignment segment point cloud x = x 3,i The lower right edge point on the cross section, n3 represents the number of cross sections in the x-axis direction of the aligned segment point cloud, m 3,i The alignment segment point cloud x = x 3,i The number of points on the cross section;

[0053] The fitting equation for the fitting function of the outer edge of the rotating segment is:

[0054]

[0055] Among them, (x 3,i,t ,y 3,i,t ) represents the xOy plane coordinates of the outer edge point of the rotating segment, W 3,t (y, w(x)) represents the outer edge error and function of the rotating segment, w 3,t (x) represents the fitting function for the outer edge of the rotating segment, n3 represents the number of cross sections in the x-axis direction of the point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the points of the rotating segment edge at x = x 3,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0056] Furthermore, the equations for the endpoint coordinates of the rotating segment and the tangent function of the endpoint of the rotating segment in this invention are as follows:

[0057]

[0058] Among them, O 3,0 Indicates the positioning point of the rotating segment, (x 3,0 ,y 3,0 ,z 3,0 (x) represents the coordinates of the positioning point of the rotating segment. 3,0,t,y 3,0,t ,z 3,0,t ) represents the coordinates of the endpoint of the rotating segment, d 3,t (x) represents the tangent function at the endpoint of the rotating segment, w' 3,t (x) represents the first derivative of the fitting function for the initial outer edge of the rotating segment, n3 represents the number of cross sections in the x-axis direction of the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 3,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0059] The formulas for calculating the bridge's current rotation target and current horizontal rotation angular velocity are as follows:

[0060]

[0061] Where, θ 1,t Indicates the current edge rotation target of the bridge, w' 2,t (x) represents the first derivative of the fitting function for the outer edge of the alignment segment, w' 3,t (x) represents the first derivative of the fitting function of the outer edge of the rotating segment, x 2,0,t The x-coordinate of the endpoint of the alignment segment is represented by x. 3,0,t The x-coordinate of the endpoint of the rotating segment is represented, θ1 represents the current target of the bridge rotation, ω1 represents the current horizontal rotation angular velocity, Δs represents the time taken for the rotating segment to rotate, and t = 1, 2, 3, 4 represent the positions of the endpoint on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0062] Furthermore, the formula for calculating the current elevation deviation value of the bridge according to the present invention is as follows:

[0063]

[0064] Where, Δh 1,t The z represents the current edge elevation deviation value of the bridge. 2,0,t This represents the z-direction coordinate of the endpoint of the alignment segment. 3,0,t This represents the z-axis coordinate of the endpoint of the rotating segment. The value represents the current elevation deviation of the bridge, and t = 1, 2, 3, 4 represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0065] The equations that conclude the rotation are:

[0066]

[0067] in, This indicates the current rotation target of the bridge. θ represents the current elevation deviation of the bridge. min h represents the allowable error for the bridge rotation target. min This indicates the allowable error in the bridge elevation.

[0068] This invention provides a calculation system for the rotating target in a horizontal rotation construction method based on three-dimensional scanning technology. The system includes: a three-dimensional laser scanner, a rotation coordinate reference board, a positioning point marker, and a data processor; wherein:

[0069] The three-dimensional laser scanner is set at a predetermined position where there are no obstructions to the external line of sight of the bridge rotation section and the bridge alignment section. The rotation coordinate reference plate is set at a known spatial coordinate that can be scanned outside the bridge rotation section and the bridge alignment section. The positioning point marker is set at the closure section of the rotation section and the closure section of the alignment section. The data processor is set at the rotation construction signal control point where data transmission can be performed.

[0070] A 3D laser scanner is used to scan the initial positioning point coordinates of the rotating segment, the positioning point coordinates of the alignment segment, the initial point cloud coordinates of the rotating segment, the point cloud coordinates of the alignment segment, the point cloud coordinates of the rotating segment, and the positioning point coordinates of the rotating segment.

[0071] The rotation coordinate reference plate is used to provide reference coordinates;

[0072] The positioning point marker is used to mark the initial positioning point of the rotating segment, the positioning point of the alignment segment, and the positioning point of the rotating segment.

[0073] Furthermore, the data processor of the present invention is used to extract the initial outer edge point of the rotating segment based on the initial point cloud coordinates of the rotating segment; extract four initial outer edge fitting functions of the rotating segment based on the initial outer edge point coordinates of the rotating segment; extract the outer edge point of the alignment segment based on the point cloud coordinates of the alignment segment; extract four outer edge fitting functions of the alignment segment based on the outer edge point coordinates of the alignment segment; extract the initial endpoint coordinates and the initial endpoint tangent function of the rotating segment based on the initial outer edge fitting function and the initial positioning point coordinates of the rotating segment; extract the endpoint coordinates and the endpoint tangent function of the alignment segment based on the outer edge fitting function and the positioning point coordinates of the alignment segment; and extract the endpoint coordinates and the endpoint tangent function of the alignment segment based on the initial endpoint tangent function and the endpoint tangent function of the alignment segment. The process involves: calculating the bridge rotation target using tangent functions; calculating the bridge elevation deviation based on the initial endpoint coordinates of the rotating segment and the endpoint coordinates of the aligned segment; extracting the outer edge points of the rotating segment based on the point cloud coordinates of the rotating segment; extracting four outer edge fitting functions of the rotating segment based on the coordinates of the outer edge points of the rotating segment; extracting the endpoint coordinates and endpoint tangent functions of the rotating segment based on the outer edge fitting functions and the positioning point coordinates of the rotating segment; calculating the current bridge rotation target and current horizontal rotation velocity based on the endpoint tangent functions of the rotating segment and the aligned segment; calculating the current elevation deviation of the bridge based on the endpoint coordinates of the rotating segment and the aligned segment; and determining whether to terminate the rotation based on the current bridge rotation target and current elevation deviation.

[0074] The beneficial effects of this invention are as follows: The calculation method and system for the rotation target of the horizontal rotation construction method based on three-dimensional scanning technology can be used to calculate the rotation angle and elevation deviation of the bridge in the horizontal rotation construction method, thereby obtaining the rotation status of the bridge under the rotation construction state and accurately analyzing the bridge rotation target. While realizing intelligent and rapid analysis of the structural information of the rotating bridge, it provides a reliable basis for subsequent rotation construction work. Attached Figure Description

[0075] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0076] Figure 1 This is a flowchart illustrating the calculation method for the rotating target in the horizontal rotation construction method based on three-dimensional scanning technology in an embodiment of the present invention.

[0077] Figure 2 This is a schematic diagram illustrating the calculation principle of the target rotation method in the horizontal rotation construction method based on three-dimensional scanning technology in an embodiment of the present invention.

[0078] The components include: 1. 3D scanner; 2. Bridge rotation section; 3. Bridge alignment section; 4. Rotation coordinate reference plate; 5. Positioning marker; and 6. Data processor. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0080] Figure 1 This is a flowchart illustrating the calculation method for the rotating target in the horizontal rotation construction method based on three-dimensional scanning technology, as described in this embodiment of the invention. Figure 1 As shown, the calculation method for the rotation target in the horizontal rotation construction method based on three-dimensional scanning technology includes:

[0081] Step 101: Obtain the initial positioning point coordinates of the rotating segment, the positioning point coordinates of the alignment segment, the initial point cloud coordinates of the rotating segment, and the point cloud coordinates of the alignment segment before the bridge rotates;

[0082] Step 102: Extract the initial outer edge points of the rotating segment based on the initial point cloud coordinates of the rotating segment;

[0083] In this embodiment, the equations for selecting the initial outer edge point of the rotating segment are as follows:

[0084]

[0085] Among them, (x 1,i ,y 1,i,j ,z 1,i,j ) represents the initial point cloud of the rotating segment x = x 1,i The coordinates of each point on the cross section, Δx1 represents the minimum distance between cross sections along the x-axis in the initial point cloud of the rotating segment, l 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The median value of the cross section in the y direction, h 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The median value in the z-direction of the cross section, G 1,i (z,f(y)) represents the rotation segment x = x 1,i Section error and function, f 1,i (y) represents the rotating segment x = x 1,i Cross-section fitting function, A 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i B, the top left edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i C, the top right edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i D, the lower left edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The lower right edge point on the cross section, n1 represents the number of cross sections in the x-axis direction in the initial point cloud of the rotating segment, m1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The number of points on the cross section.

[0086] Step 103: Extract four initial outer edge fitting functions for the rotating segment based on the coordinates of the initial outer edge points of the rotating segment;

[0087] In this embodiment, the fitting equation for the initial outer edge fitting function of the rotating segment is:

[0088]

[0089] Among them, (x 1,i,t ,y 1,i,t ) represents the xOy plane coordinates of the initial outer edge point of the rotating segment, W 1,t (y, w(x)) represents the initial outer edge error and function of the rotating segment, w 1,t (x) represents the initial outer edge fitting function of the rotating segment, n1 represents the number of cross sections in the x-axis direction of the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 1,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0090] Step 104: Extract the outer edge points of the alignment segment based on the point cloud coordinates of the alignment segment;

[0091] In this embodiment, the equation set for selecting the outer edge point of the alignment segment is as follows:

[0092]

[0093] Among them, (x 2,i ,y 2,i,j ,z 2,i,j ) represents the aligned segment point cloud x = x 2,i The coordinates of each point on the cross section, Δx2 represents the minimum distance between cross sections along the x-axis in the alignment segment point cloud, l 2,i The alignment segment point cloud x = x 2,i The median value of the cross section in the y direction, h 2,i The alignment segment point cloud x = x 2,i The median value in the z-direction of the cross section, G 2,i (z,f(y)) represents the alignment segment x = x 2,i Section error and function, f 2,i (y) represents the alignment segment x = x 2,i Cross-section fitting function, A 2,i The alignment segment point cloud x = x 2,i B, the top left edge point on the cross section 2,i The alignment segment point cloud x = x 2,iC, the top right edge point on the cross section 2,i The initial point cloud of the rotating segment is represented by x = x. 2,i D, the lower left edge point on the cross section 2,i The alignment segment point cloud x = x 2,i The lower right edge point on the cross section, n2 represents the number of cross sections in the x-axis direction in the aligned segment point cloud, m 2,i The alignment segment point cloud x = x 2,i The number of points on the cross section.

[0094] Step 105: Extract four alignment segment outer edge fitting functions based on the coordinates of the outer edge points of the alignment segment;

[0095] In this embodiment, the fitting equation for the alignment segment outer edge fitting function is:

[0096]

[0097] Among them, (x 2,i,t ,y 2,i,t ) represents the xOy plane coordinates of the outer edge point of the alignment segment, W 2,t (y, w(x)) represents the outer edge error and function of the alignment segment, w 2,t (x) represents the fitting function for the outer edge of the alignment segment, n2 represents the number of cross sections in the x-axis direction of the alignment segment point cloud, and t = 1, 2, 3, 4 represent the alignment segment edge points at x = x 2,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0098] Step 106: Extract the initial endpoint coordinates and the initial endpoint tangent function of the rotating segment based on the initial outer edge fitting function of the rotating segment and the initial positioning point coordinates of the rotating segment;

[0099] In this embodiment, the coordinates of the initial endpoint of the rotating segment and the tangent function of the initial endpoint of the rotating segment are:

[0100]

[0101] Among them, O 1,0 Indicates the initial positioning point of the rotating segment, (x 1,0 ,y 1,0 ,z 1,0 (x) represents the initial positioning point coordinates of the rotating segment. 1,0,t ,y 1,0,t ,z 1,0,t ) represents the initial endpoint coordinates of the rotating segment, d 1,t (x) represents the tangent function at the initial endpoint of the rotating segment, w' 1,t(x) represents the first derivative of the fitting function for the initial outer edge of the rotating segment, n1 represents the number of cross sections in the x-axis direction in the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 1,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0102] Step 107: Extract the coordinates of the endpoints of the alignment segment and the tangent function of the endpoints of the alignment segment based on the fitting function of the outer edge of the alignment segment and the coordinates of the positioning point of the alignment segment;

[0103] In this embodiment, the system of equations for the coordinates of the alignment segment endpoints and the tangent function of the alignment segment endpoints is as follows:

[0104]

[0105] Among them, O 2,0 Indicates the alignment segment positioning point, (x 2,0 ,y 2,0 ,z 2,0 (x) represents the coordinates of the alignment segment positioning point. 2,0,t ,y 2,0,t ,z 2,0,t ) represents the coordinates of the endpoints of the alignment segment, d 2,t (x) represents the tangent function at the endpoints of the alignment segment, w' 2,t (x) represents the first derivative of the fitting function of the outer edge of the alignment segment, n2 represents the number of cross sections in the x-axis direction of the alignment segment point cloud, and t = 1, 2, 3, 4 represent the points of the alignment segment edge at x = x 2,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0106] Step 108: Calculate the bridge rotation target based on the initial endpoint tangent function of the rotating segment and the endpoint tangent function of the aligned segment;

[0107] In this embodiment, the calculation formula for the bridge rotation target is:

[0108]

[0109] Where, θ 0,t w' represents the target for the bridge edge rotation. 1,t (x) represents the first derivative of the initial outer edge fitting function of the rotating segment, w' 2,t (x) represents the first derivative of the fitting function for the outer edge of the alignment segment, x 2,0,t The x-coordinate of the endpoint of the alignment segment is represented by x. 1,0,t This represents the x-coordinate of the initial endpoint of the rotating segment. The average rotation target of the bridge is represented by t, where t = 1, 2, 3, and 4 represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0110] Step 109: Calculate the bridge elevation deviation value based on the initial endpoint coordinates of the rotating segment and the endpoint coordinates of the aligned segment;

[0111] In this embodiment, the formula for calculating the bridge elevation deviation is:

[0112]

[0113] Where, Δh 0,t The value of the bridge elevation deviation, z 2,0,t This represents the z-direction coordinate of the endpoint of the alignment segment. 1,0,t This represents the z-axis coordinate of the initial endpoint of the rotating segment. The value represents the average elevation deviation of the bridge, and t = 1, 2, 3, 4 represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0114] Step 110: Obtain the point cloud coordinates of the rotated segment and the coordinates of the positioning points of the rotated segment from the 3D laser scan of the bridge after rotation;

[0115] Step 111: Extract the outer edge points of the rotating segment based on the point cloud coordinates of the rotating segment;

[0116] In this embodiment, the equation set for selecting the outer edge point of the rotating segment is as follows:

[0117]

[0118] Among them, (x 3,i ,y 3,i,j ,z 3,i,j ) represents the aligned segment point cloud x = x 3,i The coordinates of each point on the cross section, Δx3 represents the minimum distance between cross sections along the x-axis in the alignment segment point cloud, l 3,i The alignment segment point cloud x = x 3,i The median value of the cross section in the y direction, h 3,i The alignment segment point cloud x = x 3,i The median value in the z-direction of the cross section, G 3,i (z,f(y)) represents the alignment segment x = x 3,i Section error and function, f 3,i (y) represents the alignment segment x = x 3,i Cross-section fitting function, A 3,i The alignment segment point cloud x = x 3,i B, the top left edge point on the cross section 3,i The alignment segment point cloud x = x3,i C, the top right edge point on the cross section 3,i The initial point cloud of the rotating segment is represented by x = x. 3,i D, the lower left edge point on the cross section 3,i The alignment segment point cloud x = x 3,i The lower right edge point on the cross section, n3 represents the number of cross sections in the x-axis direction of the aligned segment point cloud, m 3,i The alignment segment point cloud x = x 3,i The number of points on the cross section.

[0119] Step 112: Extract four fitting functions for the outer edge of the rotating segment based on the coordinates of the outer edge points of the rotating segment;

[0120] In this embodiment, the fitting equation for the fitting function of the outer edge of the rotating segment is:

[0121]

[0122] Among them, (x 3,i,t ,y 3,i,t ) represents the xOy plane coordinates of the outer edge point of the rotating segment, W 3,t (y, w(x)) represents the outer edge error and function of the rotating segment, w 3,t (x) represents the fitting function for the outer edge of the rotating segment, n3 represents the number of cross sections in the x-axis direction of the point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the points of the rotating segment edge at x = x 3,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0123] Step 113: Extract the endpoint coordinates and endpoint tangent function of the rotating segment based on the fitting function of the outer edge of the rotating segment and the coordinates of the positioning point of the rotating segment;

[0124] In this embodiment, the system of equations relating the coordinates of the endpoint of the rotating segment to the tangent function of the endpoint of the rotating segment is as follows:

[0125]

[0126] Among them, O 3,0 Indicates the positioning point of the rotating segment, (x 3,0 ,y 3,0 ,z 3,0 (x) represents the coordinates of the positioning point of the rotating segment. 3,0,t ,y 3,0,t ,z 3,0,t ) represents the coordinates of the endpoint of the rotating segment, d 3,t (x) represents the tangent function at the endpoint of the rotating segment, w' 3,t(x) represents the first derivative of the fitting function for the initial outer edge of the rotating segment, n3 represents the number of cross sections in the x-axis direction of the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 3,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0127] Step 114: Calculate the current rotation target and current horizontal rotation angular velocity of the bridge based on the tangent function of the endpoint of the rotation segment and the tangent function of the endpoint of the alignment segment;

[0128] In this embodiment, the formulas for calculating the current rotation target of the bridge and the current horizontal rotation angular velocity are as follows:

[0129]

[0130] Where, θ 1,t Indicates the current edge rotation target of the bridge, w' 2,t (x) represents the first derivative of the fitting function for the outer edge of the alignment segment, w' 3,t (x) represents the first derivative of the fitting function of the outer edge of the rotating segment, x 2,0,t The x-coordinate of the endpoint of the alignment segment is represented by x. 3,0,t This represents the x-coordinate of the endpoint of the rotating segment. The target value for the current rotation of the bridge is represented by ω1, the current horizontal rotation angular velocity is represented by Δs, the time taken for the rotating segment to rotate is represented by t = 1, 2, 3, 4, which represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0131] Step 115: Calculate the current elevation deviation of the bridge based on the coordinates of the endpoints of the rotating segment and the alignment segment;

[0132] In this embodiment, the formula for calculating the current elevation deviation of the bridge is:

[0133]

[0134] Where, Δh 1,t The z represents the current edge elevation deviation value of the bridge. 2,0,t This represents the z-direction coordinate of the endpoint of the alignment segment. 3,0,t This represents the z-axis coordinate of the endpoint of the rotating segment. The value represents the current elevation deviation of the bridge, and t = 1, 2, 3, 4 represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0135] Step 116: Determine whether to end the rotation based on the deviation between the current target rotation of the bridge and the current elevation.

[0136] In this embodiment, the equations for ending the rotation are:

[0137]

[0138] in, This indicates the current rotation target of the bridge. θ represents the current elevation deviation of the bridge. min h represents the allowable error for the bridge rotation target. min This indicates the allowable error in the bridge elevation.

[0139] Figure 2 This is a schematic diagram illustrating the calculation principle of the target rotation method in the horizontal rotation construction method based on three-dimensional scanning technology in an embodiment of the present invention. Figure 2 As shown, the calculation system for the target rotation in the horizontal rotation construction method based on three-dimensional scanning technology includes: 1. a three-dimensional scanner, 2. a bridge rotation segment, 3. a bridge alignment segment, 4. a rotation coordinate reference plate, 5. a positioning marker, and 6. a data processor.

[0140] The three-dimensional laser scanner 1, bridge rotation section 2, bridge alignment section 3, rotation coordinate reference plate 4, positioning marker 5, and data processor 6 are configured as follows: The three-dimensional laser scanner 1 is set at a predetermined position where there are no obstructions to the external view of the bridge rotation section 2 and bridge alignment section 3; the rotation coordinate reference plate 4 is set at a known spatial coordinate that can be scanned by the three-dimensional laser scanner 1 outside the bridge rotation section 2 and bridge alignment section 3; the positioning marker 5 is set at the closure section of the bridge rotation section 2 and the closure section of the bridge alignment section 3; and the data processor 6 is set at the rotation construction signal control point where data transmission can be performed.

[0141] The three-dimensional laser scanner is used to scan the initial positioning point coordinates of the rotating segment, the positioning point coordinates of the alignment segment, the initial point cloud coordinates of the rotating segment, the point cloud coordinates of the alignment segment, the point cloud coordinates of the rotating segment, and the positioning point coordinates of the rotating segment.

[0142] The rotation coordinate reference plate is used to provide reference coordinates;

[0143] The positioning point marker is used to mark the initial positioning point of the rotating segment, the positioning point of the alignment segment, and the positioning point of the rotating segment;

[0144] The data processor is used to extract the initial outer edge points of the rotating segment based on the initial point cloud coordinates of the rotating segment; extract four initial outer edge fitting functions of the rotating segment based on the initial outer edge point coordinates of the rotating segment; extract the outer edge points of the alignment segment based on the point cloud coordinates of the alignment segment; extract four alignment segment outer edge fitting functions based on the outer edge point coordinates of the alignment segment; extract the initial endpoint coordinates and the initial endpoint tangent function of the rotating segment based on the initial outer edge fitting function of the rotating segment and the initial positioning point coordinates of the rotating segment; extract the endpoint coordinates and the endpoint tangent function of the alignment segment based on the outer edge fitting function of the alignment segment and the positioning point coordinates of the alignment segment; and calculate based on the initial endpoint tangent function of the rotating segment and the endpoint tangent function of the alignment segment. The bridge rotation target is determined as follows: The bridge elevation deviation is calculated based on the initial endpoint coordinates of the rotating segment and the endpoint coordinates of the aligned segment; the outer edge points of the rotating segment are extracted based on the point cloud coordinates of the rotating segment; four outer edge fitting functions of the rotating segment are extracted based on the coordinates of the outer edge points; the endpoint coordinates and tangent functions of the rotating segment are extracted based on the outer edge fitting functions and the positioning point coordinates of the rotating segment; the current bridge rotation target and current horizontal rotation velocity are calculated based on the endpoint coordinates of the rotating segment and the aligned segment; the current elevation deviation is calculated based on the endpoint coordinates of the rotating segment and the aligned segment; and the rotation is terminated based on the current bridge rotation target and the current elevation deviation.

[0145] In this embodiment, the equations for selecting the initial outer edge point of the rotating segment are as follows:

[0146]

[0147] Among them, (x 1,i ,y 1,i,j ,z 1,i,j ) represents the initial point cloud of the rotating segment x = x 1,i The coordinates of each point on the cross section, Δx1 represents the minimum distance between cross sections along the x-axis in the initial point cloud of the rotating segment, l 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The median value of the cross section in the y direction, h 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The median value in the z-direction of the cross section, G 1,i (z,f(y)) represents the rotation segment x = x 1,i Section error and function, f 1,i (y) represents the rotating segment x = x 1,i Cross-section fitting function, A 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i B, the top left edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,iC, the top right edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i D, the lower left edge point on the cross section 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The lower right edge point on the cross section, n1 represents the number of cross sections in the x-axis direction in the initial point cloud of the rotating segment, m 1,i The initial point cloud of the rotating segment is represented by x = x. 1,i The number of points on the cross section.

[0148] In this embodiment, the fitting equation for the initial outer edge fitting function of the rotating segment is:

[0149]

[0150] Among them, (x 1,i,t ,y 1,i,t ) represents the xOy plane coordinates of the initial outer edge point of the rotating segment, W 1,t (y, w(x)) represents the initial outer edge error and function of the rotating segment, w 1,t (x) represents the initial outer edge fitting function of the rotating segment, n1 represents the number of cross sections in the x-axis direction of the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 1,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0151] In this embodiment, the equation set for selecting the outer edge point of the alignment segment is as follows:

[0152]

[0153] Among them, (x 2,i ,y 2,i,j ,z 2,i,j ) represents the aligned segment point cloud x = x 2,i The coordinates of each point on the cross section, Δx2 represents the minimum distance between cross sections along the x-axis in the alignment segment point cloud, l 2,i The alignment segment point cloud x = x 2,i The median value of the cross section in the y direction, h 2,i The alignment segment point cloud x = x 2,i The median value in the z-direction of the cross section, G 2,i (z,f(y)) represents the alignment segment x = x 2,i Section error and function, f 2,i (y) represents the alignment segment x = x 2,i Cross-section fitting function, A 2,i The alignment segment point cloud x = x 2,i B, the top left edge point on the cross section 2,iThe alignment segment point cloud x = x 2,i C, the top right edge point on the cross section 2,i The initial point cloud of the rotating segment is represented by x = x. 2,i D, the lower left edge point on the cross section 2,i The alignment segment point cloud x = x 2,i The lower right edge point on the cross section, n2 represents the number of cross sections in the x-axis direction in the aligned segment point cloud, m 2,i The alignment segment point cloud x = x 2,i The number of points on the cross section.

[0154] In this embodiment, the fitting equation for the alignment segment outer edge fitting function is:

[0155]

[0156] Among them, (x 2,i,t ,y 2,i,t ) represents the xOy plane coordinates of the outer edge point of the alignment segment, W 2,t (y, w(x)) represents the outer edge error and function of the alignment segment, w 2,t (x) represents the fitting function for the outer edge of the alignment segment, n2 represents the number of cross sections in the x-axis direction of the alignment segment point cloud, and t = 1, 2, 3, 4 represent the alignment segment edge points at x = x 2,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0157] In this embodiment, the system of equations relating the initial endpoint coordinates of the rotating segment to the tangent function of the initial endpoint of the rotating segment is as follows:

[0158]

[0159] Among them, O 1,0 Indicates the initial positioning point of the rotating segment, (x 1,0 ,y 1,0 ,z 1,0 (x) represents the initial positioning point coordinates of the rotating segment. 1,0,t ,y 1,0,t ,z 1,0,t ) represents the initial endpoint coordinates of the rotating segment, d 1,t (x) represents the tangent function at the initial endpoint of the rotating segment, w' 1,t (x) represents the first derivative of the fitting function for the initial outer edge of the rotating segment, n1 represents the number of cross sections in the x-axis direction in the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 1,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0160] In this embodiment, the system of equations for the coordinates of the alignment segment endpoints and the tangent function of the alignment segment endpoints is as follows:

[0161]

[0162] Among them, O 2,0 Indicates the alignment segment positioning point, (x 2,0 ,y 2,0 ,z 2,0 (x) represents the coordinates of the alignment segment positioning point. 2,0,t ,y 2,0,t ,z 2,0,t ) represents the coordinates of the endpoints of the alignment segment, d 2,t (x) represents the tangent function at the endpoints of the alignment segment, w' 2,t (x) represents the first derivative of the fitting function of the outer edge of the alignment segment, n2 represents the number of cross sections in the x-axis direction of the alignment segment point cloud, and t = 1, 2, 3, 4 represent the points of the alignment segment edge at x = x 2,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0163] In this embodiment, the calculation formula for the bridge rotation target is:

[0164]

[0165] Where, θ 0,t w' represents the target for the bridge edge rotation. 1,t (x) represents the first derivative of the initial outer edge fitting function of the rotating segment, w' 2,t (x) represents the first derivative of the fitting function for the outer edge of the alignment segment, x 2,0,t The x-coordinate of the endpoint of the alignment segment is represented by x. 1,0,t This represents the x-coordinate of the initial endpoint of the rotating segment. The average rotation target of the bridge is represented by t, where t = 1, 2, 3, and 4 represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0166] In this embodiment, the formula for calculating the bridge elevation deviation is:

[0167]

[0168] Where, Δh 0,t The value of the bridge elevation deviation, z 2,0,t This represents the z-direction coordinate of the endpoint of the alignment segment. 1,0,t This represents the z-axis coordinate of the initial endpoint of the rotating segment. The value represents the average elevation deviation of the bridge, and t = 1, 2, 3, 4 represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0169] In this embodiment, the equation set for selecting the outer edge point of the rotating segment is as follows:

[0170]

[0171] Among them, (x 3,i ,y 3,i,j ,z 3,i,j ) represents the aligned segment point cloud x = x 3,i The coordinates of each point on the cross section, Δx3 represents the minimum distance between cross sections along the x-axis in the alignment segment point cloud, l 3,i The alignment segment point cloud x = x 3,i The median value of the cross section in the y direction, h 3,i The alignment segment point cloud x = x 3,i The median value in the z-direction of the cross section, G 3,i (z,f(y)) represents the alignment segment x = x 3,i Section error and function, f 3,i (y) represents the alignment segment x = x 3,i Cross-section fitting function, A 3,i The alignment segment point cloud x = x 3,i B, the top left edge point on the cross section 3,i The alignment segment point cloud x = x 3,i C, the top right edge point on the cross section 3,i The initial point cloud of the rotating segment is represented by x = x. 3,i D, the lower left edge point on the cross section 3,i The alignment segment point cloud x = x 3,i The lower right edge point on the cross section, n3 represents the number of cross sections in the x-axis direction of the aligned segment point cloud, m 3,i The alignment segment point cloud x = x 3,i The number of points on the cross section.

[0172] In this embodiment, the fitting equation for the fitting function of the outer edge of the rotating segment is:

[0173]

[0174] Among them, (x 3,i,t ,y 3,i,t ) represents the xOy plane coordinates of the outer edge point of the rotating segment, W 3,t (y, w(x)) represents the outer edge error and function of the rotating segment, w 3,t(x) represents the fitting function for the outer edge of the rotating segment, n3 represents the number of cross sections in the x-axis direction of the point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the points of the rotating segment edge at x = x 3,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0175] In this embodiment, the system of equations relating the coordinates of the endpoint of the rotating segment to the tangent function of the endpoint of the rotating segment is as follows:

[0176]

[0177] Among them, O 3,0 Indicates the positioning point of the rotating segment, (x 3,0 ,y 3,0 ,z 3,0 (x) represents the coordinates of the positioning point of the rotating segment. 3,0,t ,y 3,0,t ,z 3,0,t ) represents the coordinates of the endpoint of the rotating segment, d 3,t (x) represents the tangent function at the endpoint of the rotating segment, w' 3,t (x) represents the first derivative of the fitting function for the initial outer edge of the rotating segment, n3 represents the number of cross sections in the x-axis direction of the initial point cloud of the rotating segment, and t = 1, 2, 3, 4 represent the initial edge points of the rotating segment at x = x 3,i The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

[0178] In this embodiment, the formulas for calculating the current rotation target of the bridge and the current horizontal rotation angular velocity are as follows:

[0179]

[0180] Where, θ 1,t Indicates the current edge rotation target of the bridge, w' 2,t (x) represents the first derivative of the fitting function for the outer edge of the alignment segment, w' 3,t (x) represents the first derivative of the fitting function of the outer edge of the rotating segment, x 2,0,t The x-coordinate of the endpoint of the alignment segment is represented by x. 3,0,t This represents the x-coordinate of the endpoint of the rotating segment. The target value for the current rotation of the bridge is represented by ω1, the current horizontal rotation angular velocity is represented by Δs, the time taken for the rotating segment to rotate is represented by t = 1, 2, 3, 4, which represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0181] In this embodiment, the formula for calculating the current elevation deviation of the bridge is:

[0182]

[0183] Where, Δh 1,t The z represents the current edge elevation deviation value of the bridge. 2,0,t This represents the z-direction coordinate of the endpoint of the alignment segment. 3,0,t This represents the z-axis coordinate of the endpoint of the rotating segment. The value represents the current elevation deviation of the bridge, and t = 1, 2, 3, 4 represent the positions of the endpoints on the cross section as upper left, upper right, lower left, and lower right, respectively.

[0184] In this embodiment, the equations for ending the rotation are:

[0185]

[0186] in, This indicates the current rotation target of the bridge. θ represents the current elevation deviation of the bridge. min h represents the allowable error for the bridge rotation target. min This indicates the allowable error in the bridge elevation.

[0187] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for calculating a rotation target of a horizontal rotation construction method based on a three-dimensional scanning technique, characterized by, The method comprises the following steps: Step 101, obtaining initial positioning point coordinates of a rotation segment, positioning point coordinates of an alignment segment, initial point cloud coordinates of the rotation segment and point cloud coordinates of the alignment segment before bridge rotation; Step 102, extracting initial outer edge points of the rotation segment according to the initial point cloud coordinates of the rotation segment; Step 103, extracting four initial outer edge fitting functions of the rotation segment according to the initial outer edge point coordinates of the rotation segment; Step 104, extracting outer edge points of the alignment segment according to the point cloud coordinates of the alignment segment; Step 105, extracting four outer edge fitting functions of the alignment segment according to the outer edge point coordinates of the alignment segment; Step 106, extracting initial end point coordinates and initial end point tangent functions of the rotation segment according to the initial outer edge fitting functions of the rotation segment and the initial positioning point coordinates of the rotation segment; Step 107, extracting end point coordinates and end point tangent functions of the alignment segment according to the outer edge fitting functions of the alignment segment and the positioning point coordinates of the alignment segment; Step 108, calculating a bridge rotation target according to the initial end point tangent functions of the rotation segment and the end point tangent functions of the alignment segment; Step 109, calculating a bridge elevation deviation value according to the initial end point coordinates of the rotation segment and the end point coordinates of the alignment segment; Step 110, obtaining point cloud coordinates of the rotation segment and positioning point coordinates of the rotation segment after bridge rotation through three-dimensional laser scanning; Step 111, extracting outer edge points of the rotation segment according to the point cloud coordinates of the rotation segment; Step 112, extracting four outer edge fitting functions of the rotation segment according to the outer edge point coordinates of the rotation segment; Step 113, extracting end point coordinates and end point tangent functions of the rotation segment according to the outer edge fitting functions of the rotation segment and the positioning point coordinates of the rotation segment; Step 114, calculating a current bridge rotation target and a current rotation angular velocity according to the end point tangent functions of the rotation segment and the end point tangent functions of the alignment segment; Step 115, calculating a current bridge elevation deviation value according to the end point coordinates of the rotation segment and the end point coordinates of the alignment segment; Step 116, judging whether to end rotation according to the current bridge rotation target and the current elevation deviation value; The equation set of the end point coordinates and the end point tangent functions of the rotation segment is: ； wherein, represents the swivel segment positioning point, represents the swivel segment positioning point coordinate, represents the swivel segment end point coordinate, represents the swivel segment end point tangent function, represents the first derivative of the swivel segment initial outer edge fitting function, represents the swivel segment initial point cloud in the number of cross sections in the axial direction, respectively represent the positions of the swivel segment initial edge points in the cross sections are respectively the upper left, upper right, lower left, and lower right. The calculation formula of the current bridge rotation target and the current rotation angular velocity is: ； wherein, represents the bridge current edge swivel target, represents the first derivative of the alignment segment outer edge fit function, represents the first derivative of the swivel segment outer edge fit function, represents the alignment segment end point directional coordinates, represents the swivel segment end point directional coordinates, represents the bridge current swivel target, represents the current pan angle velocity, represents the time taken for the swivel segment to swivel, respectively represent the positions of the end points on the cross section as top left, top right, bottom left, bottom right, respectively; The calculation formula of the current bridge elevation deviation value is: ； wherein, represents the bridge current edge elevation deviation value, represents the alignment segment end point directional coordinates, represents the rotation segment end point directional coordinates, represents the bridge current elevation deviation value, respectively represent the positions of the end points on the cross section as top left, top right, bottom left, bottom right, respectively; The equation set of the end of rotation is: ； wherein, represents the bridge current swivel target, represents the bridge current elevation deviation value, represents the bridge swivel target allowable error, represents the bridge elevation allowable error.

2. The method of claim 1, wherein the method is characterized by: The selection equation set of the initial outer edge points of the rotation segment is: ； wherein, represents the initial point cloud of the swivel section coordinates of each point in a cross section, represents the initial point cloud of the swivel section minimum distance between cross sections in axial direction, represents the initial point cloud of the swivel section in a cross section direction median value, represents the initial point cloud of the swivel section in a cross section direction median value, represents the swivel section cross section error sum function, represents the swivel section cross section fitting function, represents the initial point cloud of the swivel section upper left corner edge point in a cross section, represents the initial point cloud of the swivel section upper right corner edge point in a cross section, represents the initial point cloud of the swivel section lower left corner edge point in a cross section, represents the initial point cloud of the swivel section lower right corner edge point in a cross section, represents the initial point cloud of the swivel section number of cross sections in axial direction, represents the initial point cloud of the swivel section number of points in a cross section; The fitting equation of the initial outer edge fitting functions of the rotation segment is: ； wherein, represents the initial outer edge point of the swivel segment planar coordinates, represents the initial outer edge error function of the swivel segment represents the initial outer edge fitting function of the swivel segment represents the initial point cloud in the swivel segment the number of cross sections in the axial direction, respectively represent the positions of the initial edge points of the swivel segment in the cross sections are respectively the upper left, upper right, lower left, and lower right.

3. The method of claim 1, wherein the method is characterized by: The selection equation set of the outer edge points of the alignment segment is: ； wherein, represents the aligned segment point cloud coordinates of each point in a cross section, represents the aligned segment point cloud minimum distance between cross sections in the axial direction, represents the aligned segment point cloud in a cross section direction median value, represents the aligned segment point cloud in a cross section direction median value, represents the aligned segment cross section error sum function, represents the aligned segment cross section fitting function, represents the aligned segment point cloud upper left corner edge point in a cross section, represents the aligned segment point cloud upper right corner edge point in a cross section, represents the initial point cloud of the rotation body segment lower left corner edge point in a cross section, represents the aligned segment point cloud lower right corner edge point in a cross section, represents the aligned segment point cloud number of cross sections in the axial direction, represents the aligned segment point cloud number of points in a cross section; The fitting equation of the outer edge fitting functions of the alignment segment is: ； wherein, represents the aligned segment edge points, planar coordinates, represents the aligned segment edge error and function, represents the aligned segment edge fitting function, represents the aligned segment point cloud in the number of cross sections in the axial direction, respectively represent the positions of the aligned segment edge points in the cross sections are respectively top left, top right, bottom left, and bottom right.

4. The method of claim 1, wherein the method is characterized by: The equation set of the initial end point coordinates and the initial end point tangent functions of the rotation segment is: ； in, This indicates the initial positioning point of the rotating segment. This indicates the coordinates of the initial positioning point of the rotating segment. This indicates the initial endpoint coordinates of the rotating segment. This represents the tangent function at the initial endpoint of the rotating segment. This represents the first derivative of the fitting function for the initial outer edge of the rotating segment. Indicating the initial point cloud of the rotating segment The number of cross sections in the axial direction, These respectively represent the initial edge points of the rotating segment at... The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively. The equation set of the end point coordinates and the end point tangent functions of the alignment segment is: ； in, This indicates the positioning point of the alignment segment. This indicates the coordinates of the alignment segment positioning point. Indicates the coordinates of the endpoints of the alignment segment. This represents the tangent function at the endpoints of the alignment segment. This represents the first derivative of the fitting function for the outer edge of the alignment segment. Indicating the alignment segment point cloud The number of cross sections in the axial direction, These respectively represent the edge points of the alignment segment at... The positions on the cross-section are top left, top right, bottom left, and bottom right, respectively.

5. The method of claim 1, wherein the method is characterized by: The calculation formula of the bridge rotation target is: ； wherein, denotes the bridge edge swivel target, denotes the first derivative of the swivel segment initial outer edge fitting function, denotes the first derivative of the alignment segment outer edge fitting function, denotes the alignment segment end point directional coordinates, denotes the swivel segment initial end point directional coordinates, denotes the bridge average swivel target, denotes the end points' positions on the cross section, respectively, as top left, top right, bottom left, bottom right; The calculation formula of the bridge elevation deviation value is: ； wherein, represents the bridge elevation deviation value, represents the alignment segment end point directional coordinates, represents the swivel segment initial end point directional coordinates, represents the bridge average elevation deviation value, respectively represent the positions of the end points on the cross section as top left, top right, bottom left, bottom right, respectively.

6. The method of claim 1, wherein the method is characterized by: The selection equation set of the outer edge points of the rotation segment is: ； wherein, represents the aligned segment point cloud coordinates of each point in the cross section, represents the aligned segment point cloud minimum distance between cross sections in the axial direction, represents the aligned segment point cloud in the cross section direction median value, represents the aligned segment point cloud in the cross section direction median value, represents the aligned segment cross section error sum function, represents the aligned segment cross section fitting function, represents the aligned segment point cloud upper left corner edge point in the cross section, represents the aligned segment point cloud upper right corner edge point in the cross section, represents the rotation body segment initial point cloud lower left corner edge point in the cross section, represents the aligned segment point cloud lower right corner edge point in the cross section, represents the aligned segment point cloud number of cross sections in the axial direction, represents the aligned segment point cloud number of points in the cross section; The fitting equation of the outer edge fitting functions of the rotation segment is: ； wherein, represents the outer edge points of the swivel segment planar coordinates, represents the outer edge error and function of the swivel segment represents the outer edge fitting function of the swivel segment represents the positions of the edge points of the swivel segment number of cross sections in the axial direction, respectively represent the positions of the edge points of the swivel segment on the cross sections are respectively top left, top right, bottom left, and bottom right.

7. A computing system for a swivel target of a horizontal swivel construction method based on a three-dimensional scanning technique, for implementing the computing method for a swivel target of a horizontal swivel construction method based on a three-dimensional scanning technique according to any one of claims 1 to 6, characterized in that, The system comprises a three-dimensional laser scanner, a rotation coordinate reference plate, a positioning point marker, a data processor, wherein: The three-dimensional laser scanner is arranged at a predetermined position outside the bridge rotation segment and the bridge alignment segment without any obstruction in the line of sight, the rotation coordinate reference plate is arranged at a known space coordinate that can be scanned outside the bridge rotation segment and the bridge alignment segment, the positioning point marker is arranged at the closure section of the rotation segment and the closure section of the alignment segment, and the data processor is arranged at the rotation construction signal control that can transmit data. The three-dimensional laser scanner is used to scan the initial positioning point coordinate of the rotation segment, the positioning point coordinate of the alignment segment, the initial point cloud coordinate of the rotation segment, the point cloud coordinate of the alignment segment, the point cloud coordinate of the rotation segment and the positioning point coordinate of the rotation segment. The rotation coordinate reference plate is used to provide a reference coordinate. The positioning point marker is used to mark the initial positioning point of the rotation segment, the positioning point of the alignment segment and the positioning point of the rotation segment. 8.The system for calculating a rotation object of a horizontal swing method based on a three-dimensional scanning technique according to claim 7, wherein, The data processor is used to extract the initial outer edge point of the rotation segment according to the initial point cloud coordinate of the rotation segment, extract four initial outer edge fitting functions of the rotation segment according to the initial outer edge point coordinate of the rotation segment, extract the outer edge point of the alignment segment according to the point cloud coordinate of the alignment segment, extract four outer edge fitting functions of the alignment segment according to the outer edge point coordinate of the alignment segment, extract the initial end point coordinate and the initial end point tangent function of the rotation segment according to the initial outer edge fitting function of the rotation segment and the initial positioning point coordinate of the rotation segment, extract the end point coordinate and the end point tangent function of the alignment segment according to the outer edge fitting function of the alignment segment and the positioning point coordinate of the alignment segment, calculate the bridge rotation target according to the initial end point tangent function of the rotation segment and the end point tangent function of the alignment segment, calculate the bridge elevation deviation value according to the initial end point coordinate of the rotation segment and the end point coordinate of the alignment segment, extract the outer edge point of the rotation segment according to the point cloud coordinate of the rotation segment, extract four outer edge fitting functions of the rotation segment according to the outer edge point coordinate of the rotation segment, extract the end point coordinate and the end point tangent function of the rotation segment according to the outer edge fitting function of the rotation segment and the positioning point coordinate of the rotation segment, calculate the current rotation target and the current rotation angle velocity of the bridge according to the end point tangent function of the rotation segment and the end point tangent function of the alignment segment, calculate the current elevation deviation value of the bridge according to the end point coordinate of the rotation segment and the end point coordinate of the alignment segment, and determine whether to end the rotation according to the current rotation target and the current elevation deviation value of the bridge.

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