A bridge rotation method and system based on real-time monitoring of bridge rotation attitude

Abstract

The present invention relates to a bridge rotation method and system based on real-time monitoring of the bridge rotation attitude, belonging to the technical field of bridge construction. It includes setting a plurality of 360° prisms on the longitudinal center line of the bridge, sending acquisition instructions to the total station at intervals, and acquiring the spatial coordinates of the plurality of 360° prisms. A bridge direction vector is constructed based on the spatial coordinates, and the rotation attitude data is obtained. According to the rotation attitude data, the interval duration, the acquisition instructions, and the control instructions are obtained. The bridge rotation is controlled according to the control instructions. This application can monitor the spatial attitude, angular velocity, and linear velocity of the bridge in real time during the bridge rotation construction process, so as to take corresponding measures in time when abnormalities occur, ensure the smooth completion of the rotation within the specified time, accurately align, and ensure the safety of the railway and the bridge throughout the rotation process.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge construction, and particularly relates to a bridge rotation method and system based on real-time monitoring of bridge rotation attitude. Background Art

[0002] With the rapid development of the traffic road network and urban municipal construction, the situation of various highway, municipal, and railway bridges crossing railways is increasing. According to the conventional bridge construction method, the construction process of such railway-crossing bridges will have a greater impact on the operation of the existing railway, resulting in long-term traffic jams or even paralysis. Therefore, more and more such bridges adopt the rotation construction method. In recent years in China, the total tonnage and span of bridge rotation construction have achieved breakthrough development and improvement, and the research technology of rotation bridge construction control has become more and more mature and reliable. Higher technical requirements have been put forward for the real-time and digital monitoring of the bridge rotation process. Therefore, it is of great practical significance to carry out relevant research on the real-time monitoring of the bridge rotation process based on wireless transmission devices and automation devices.

[0003] The main control parameters of bridge rotation are: designed rotation angle (°), designed rotation distance (m), rotated angle (°), remaining angle (°), rotated distance (m), remaining distance (m), rotation angular velocity (° / min), rotation linear velocity (m / min). Bridge rotation is a short-term dynamic process. Generally, the total duration of the rotation process does not exceed 120 minutes. There are clear requirements for the angular velocity and linear velocity specifications of the bridge rotation during the rotation period, and they must be strictly controlled according to the specification limits; for the last requirement, it is required that the deviation between the actual axis and the designed axis is within the range of ±10 mm.

[0004] If the rotation angular velocity and linear velocity are too fast during the rotation process, it will increase the instability of the bridge, easily change the balance state of the bridge during the rotation process, and may even lead to accidents in severe cases, affecting the safety of railway operation and causing significant economic losses. If the rotation angular velocity and linear velocity are too fast during the rotation process, it will also increase the control difficulty of the bridge, resulting in an axis control error, inaccurate alignment, and even over-rotation phenomenon, affecting the bridge's completed bridge alignment and internal force, and causing construction quality accidents. If the rotation angular velocity and linear velocity are too slow during the rotation process, the rotation cannot be completed within the time period given by the railway administration. The bridge is suspended above the railway line, seriously affecting the safety of railway operation, causing railway-related construction safety accidents, and resulting in personal injuries and significant economic losses.

[0005] Therefore, in the rotation construction, it is necessary to ensure that the rotating bridge rotates steadily, at a moderate speed, and accurately. This requires real-time understanding of the spatial attitude of the rotating bridge and real-time mastery of the angular velocity and linear velocity of the rotating bridge. On the one hand, corresponding measures can be taken in a timely manner when abnormalities occur in the rotating bridge to guide the rotation construction. On the other hand, it can ensure the smooth completion of the rotation within a given time period, accurate centering, and ensure the safety of the railway and the bridge throughout the rotation process.

[0006] Currently, there are mainly two ways to obtain the attitude parameters (coordinates X, Y, Z) of the beam end of the rotating bridge in the monitoring of bridge rotation construction. Method 1: Total station + prism, such as the automatic monitoring system and method for bridge rotation construction (publication number: CN111859501A); Method 2: Satellite positioning + receiver, such as a bridge rotation monitoring system based on satellite positioning (publication number: CN112733217A) and a real-time monitoring method and system for bridge rotation attitude based on GNSS (publication number CN114563809A).

[0007] For Method 1, the monitoring accuracy is high, and the accuracy can reach the mm level, which can meet the requirements of construction monitoring specifications. However, there are problems of insufficient monitoring frequency and large data analysis errors. For Method 2, there is a problem of insufficient monitoring accuracy. The dynamic satellite positioning monitoring accuracy cannot reach the mm level. At the same time, in adverse climate environments such as mountainous areas and thick clouds, satellite positioning measurement is affected, and monitoring data cannot be provided in real time, unable to meet the requirements of real-time monitoring of bridge rotation.

[0008] At the same time, when converting the attitude parameters (coordinates X, Y, Z) of the beam end of the rotating bridge into the main control parameters of the bridge rotation, the calculation method is generally simplified calculation. For example, the angle is not considered as a spatial angle, and there is a relatively large error in the calculation result, and the accuracy is poor. Summary of the Invention

[0009] To solve the problems of poor accuracy and insufficient real-time performance of the bridge rotation attitude monitoring method, the embodiments of the present application provide a bridge rotation system and method based on real-time monitoring of bridge rotation attitude, which can monitor the spatial attitude, angular velocity, and linear velocity of the bridge during the bridge rotation construction process in real time, so as to take corresponding measures in a timely manner when abnormalities occur, ensure the smooth completion of the rotation within the specified time, accurate centering, and ensure the safety of the railway and the bridge throughout the rotation process.

[0010] In the first aspect, a bridge rotation method based on real-time monitoring of bridge rotation attitude is provided, including:

[0011] Set a plurality of 360° prisms on the longitudinal center line of the bridge, and set a total station outside the bridge;

[0012] Send acquisition commands to the total station at intervals to control the total station to acquire the spatial coordinates of the plurality of 360° prisms;

[0013] Construct a bridge direction vector based on spatial coordinates, and obtain the rotation attitude data according to the bridge direction vector;

[0014] Obtain the duration of the interval, the acquisition instruction, and the control instruction according to the rotation attitude data;

[0015] Control the bridge to rotate according to the control instruction.

[0016] In some embodiments, the multiple 360° prisms include a first 360° prism disposed at the cantilever end of one side of the bridge, a second 360° prism disposed at the rotation center of the bridge, and a third 360° prism disposed at the cantilever end of the other side of the bridge;

[0017] The rotation attitude data includes angular velocity, linear velocity, and spatial attitude data;

[0018] The spatial attitude data includes the rotated distance, the remaining distance, the rotated angle, the remaining angle, and the net spacing.

[0019] In some embodiments, when rotating a single bridge, the bridge direction vector is calculated using the following formula:

[0020]

[0021] Where,

[0022] represents the bridge direction vector of the straight line where the longitudinal center line AO of a single bridge is located at the nth second when rotating a single bridge;

[0023] A represents the first monitoring point where the first 360° prism is located;

[0024] O represents the second monitoring point where the second 360° prism is located;

[0025] n represents time, in seconds, and n is a positive integer not less than 60;

[0026] x An represents the x-axis coordinate of the first 360° prism at the nth second;

[0027] y An represents the y-axis coordinate of the first 360° prism at the nth second;

[0028] z An represents the z-axis coordinate of the first 360° prism at the nth second;

[0029] x On represents the x-axis coordinate of the second 360° prism at the nth second;

[0030] yOn represents the y-axis coordinate of the second 360° prism at the nth second;

[0031] z On represents the z-axis coordinate of the second 360° prism at the nth second.

[0032] In some embodiments, the rotation radian of the bridge per second within a specified time period is calculated using the following formula:

[0033]

[0034] where,

[0035] Δθ n represents the rotation radian of the bridge per second within a specified time period, and the specified time period is the time period after the bridge rotates for 60 seconds.

[0036] In some embodiments, the angular velocity and linear velocity at each moment within a specified time period are calculated using the following formula:

[0037]

[0038] where,

[0039] ω n represents the angular velocity of the bridge at the nth second;

[0040] π represents the pi, and its value is 3.1415;

[0041] v n =(Δθ n +Δθ n-1 +…+Δθ n-59 )L′

[0042] where,

[0043] v n represents the linear velocity of the bridge at the nth second;

[0044] L′ represents the distance between the first 360° prism and the second 360° prism;

[0045] In some embodiments, the spatial attitude data at each moment within a specified time period is calculated using the following formula:

[0046] l n =θ n L′

[0047] where,

[0048] l n represents the rotated distance of the bridge at the nth second;

[0049] θn Denote the total rotation radian of the bridge at the nth second;

[0050] Δl n = l - l n

[0051] Wherein,

[0052] Δl n Denote the remaining distance of the bridge at the nth second;

[0053] l denotes the total rotation distance when the bridge completes the rotation;

[0054]

[0055] Wherein,

[0056] α n Denote the rotated angle of the bridge at the nth second;

[0057] Δα n = α - α n

[0058] Wherein,

[0059] Δα n Denote the remaining angle of the bridge at the nth second;

[0060] α denotes the total rotation angle when the bridge completes the rotation.

[0061] In some embodiments, the control instruction is used to control the bridge to rotate at a constant speed;

[0062] When it is judged according to the rotation attitude data of the bridge that the angular velocity is greater than 1.15° / min or the linear velocity v n is greater than 2.0 m / min, a warning is given, and after reducing the rotation speed of the bridge rotation by using the control instruction, the bridge continues to rotate at a constant speed;

[0063] When it is judged according to the rotation attitude data of the bridge that the remaining angle is 1°, the control instruction is used to control the bridge to rotate multiple times, and the remaining distance after each rotation is reduced by 2 cm to 3 cm.

[0064] In some embodiments, when rotating two side-by-side bridges, the following formula is used to calculate the distance between the first 360° prism on the right bridge and the longitudinal center line of the left bridge:

[0065]

[0066] Wherein,

[0067] It represents the spacing distance from the first 360° prism on the right - hand bridge to the longitudinal center line of the left - hand bridge when rotating two side - by - side bridges.

[0068] A represents the first monitoring point where the first 360° prism is located.

[0069] B represents the third monitoring point where the third 360° prism is located.

[0070] L represents the left - hand bridge.

[0071] R represents the right - hand bridge.

[0072] n represents time, with the unit of seconds, and n is a positive integer.

[0073] It represents the longitudinal center line of the left - hand bridge The bridge direction vector of the straight line where it is located at the nth second.

[0074] It represents the x - axis coordinate of the first 360° prism on the left - hand bridge at the nth second.

[0075] It represents the y - axis coordinate of the first 360° prism on the left - hand bridge at the nth second.

[0076] It represents the z - axis coordinate of the first 360° prism on the left - hand bridge at the nth second.

[0077] It represents the x - axis coordinate of the first 360° prism on the right - hand bridge at the nth second.

[0078] It represents the y - axis coordinate of the first 360° prism on the right - hand bridge at the nth second.

[0079] It represents the z - axis coordinate of the first 360° prism on the right - hand bridge at the nth second.

[0080] In some embodiments, the following formula is used to calculate the net spacing:

[0081]

[0082] Where

[0083] It represents the net spacing between two side - by - side bridges when rotating the two bridges.

[0084] C represents the lateral width of each bridge when rotating two side - by - side bridges.

[0085] A bridge rotation system based on real-time monitoring of the bridge rotation attitude, based on the bridge rotation method based on real-time monitoring of the bridge rotation attitude, the system includes:

[0086] A plurality of 360° prisms, which are arranged on the longitudinal center line of the bridge;

[0087] At least one total station, which is arranged outside the bridge and is used to obtain the spatial coordinates of the plurality of 360° prisms according to the acquisition instruction;

[0088] A control module, which is used to output the acquisition instruction at intervals to obtain the spatial coordinates, and is used to construct a bridge direction vector according to the spatial coordinates, obtain the rotation attitude data according to the bridge direction vector, and obtain the duration of the interval, the acquisition instruction, and the control instruction according to the rotation attitude data;

[0089] A rotation module, which is used to control the rotation of the bridge according to the control instruction.

[0090] The beneficial effects brought by the technical solution provided by this application include:

[0091] The present invention is based on a total station, 360° prisms, a control module, and a transfer module to conduct real-time monitoring of the bridge rotation process. As long as there is a clear view within the rotation range, it can achieve automatic, continuous high-frequency, and high-precision real-time monitoring of the bridge rotation. By real-time monitoring the spatial attitude and key rotation parameters during the bridge rotation construction process, it can grasp the changes of the bridge rotation parameters in real time, so as to give early warnings and take corresponding measures in a timely manner when abnormalities occur, ensuring the construction safety and structural construction quality of the entire rotation process.

[0092] The present invention sets a plurality of monitoring points on the longitudinal center line of the bridge, and uses 360° prisms and total stations to obtain the spatial position coordinates of each monitoring point to construct a bridge direction vector, which can comprehensively consider the influence of the position offset of the bridge rotation on the X-axis, Y-axis, and Z-axis, fully simulate the actual situation of the bridge rotation, and calculate the rotation attitude data using the bridge direction vector, so the calculation method of the key rotation parameters is more accurate and more representative.

[0093] The monitoring system of the present invention can monitor and give early warnings about the collision problem during the simultaneous rotation construction of the left and right bridges. When the distance between the left and right rotating bridges is less than the limit value, it can immediately send out a warning message and adjust the rotation traction speed to ensure that there is no collision between the beam bodies during the bridge rotation process, ensuring the stability and safety of the entire bridge rotation construction process. Description of the Drawings

[0094] To more clearly illustrate the technical solution of the present invention, the following will briefly introduce the drawings required for the description of the invention content. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0095] Figure 1 It is a flowchart of the bridge rotation method based on real-time monitoring of the bridge rotation attitude in the embodiment of the present application.

[0096] Figure 2 It is one of the schematic diagrams of the bridge rotation method based on real-time monitoring of the bridge rotation attitude when rotating a single bridge in the embodiment of the present application.

[0097] Figure 3 It is another schematic diagram of the bridge rotation method based on real-time monitoring of the bridge rotation attitude when rotating a single bridge in the embodiment of the present application.

[0098] Figure 4 It is one of the schematic diagrams of the bridge rotation method based on real-time monitoring of the bridge rotation attitude when rotating two side-by-side bridges in the embodiment of the present application.

[0099] Figure 5 It is another schematic diagram of the bridge rotation method based on real-time monitoring of the bridge rotation attitude when rotating two side-by-side bridges in the embodiment of the present application. Detailed implementation manners

[0100] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the present invention. Obviously, the drawings only describe some embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0101] Based on the problems existing in the prior art, the present invention proposes a bridge rotation method and system based on real-time monitoring of the bridge rotation attitude. A plurality of monitoring points are set on the longitudinal center line of the bridge 1, and a 360° prism and a total station 2 are used to obtain the spatial position coordinates of each monitoring point to construct a bridge direction vector, which can comprehensively consider the influence of the position offset of the bridge 1 in the X-axis, Y-axis, and Z-axis during rotation, fully simulate the actual situation of the bridge 1 rotation, and calculate the rotation attitude data using the bridge direction vector. Then, the calculation method of the key parameters of rotation is more accurate and more representative.

[0102] The rotation process of bridge 1 is monitored in real time based on a total station 2, a 360° prism, a control module 3, and a transfer module. As long as there is line-of-sight within the rotation range, automatic, continuous, high-frequency, and high-precision real-time monitoring of the rotation of bridge 1 can be achieved. By monitoring the spatial attitude and key rotation parameters of bridge 1 during the rotation construction process in real time, the changes in the rotation parameters of bridge 1 can be grasped in real time, so as to give early warnings and take corresponding measures in a timely manner when abnormalities occur, ensuring the construction safety and structural construction quality of the entire rotation process.

[0103] Specifically, as Figure 1 shown, the above method includes:

[0104] Step S1: Set multiple 360° prisms on the longitudinal center line of bridge 1, and set a total station 2 outside bridge 1.

[0105] Step S2: Send acquisition instructions to the total station 2 at intervals to control the total station 2 to acquire the spatial coordinates of the above multiple 360° prisms.

[0106] Step S3: Construct a bridge direction vector based on the spatial coordinates, and obtain the rotation attitude data according to the bridge direction vector.

[0107] Step S4: Obtain the duration of the above interval, the above acquisition instructions, and the control instructions according to the rotation attitude data.

[0108] Step S5: Control the rotation of bridge 1 according to the control instructions.

[0109] In this embodiment, when rotating a single bridge 1, the total station 2 can be set on either side of bridge 1. When rotating two side-by-side bridges 1, the total station 2 is set outside the two bridges 1, and one total station 2 monitors one beam body.

[0110] Furthermore, as Figures 2 to 4 shown, the above multiple 360° prisms include a first 360° prism A set at the cantilever end on one side of bridge 1, a second 360° prism O set at the rotation center of bridge 1, and a third 360° prism B set at the cantilever end on the other side of bridge 1.

[0111] The above rotation attitude data includes angular velocity, linear velocity, and spatial attitude data.

[0112] The above spatial attitude data includes the rotated distance, the remaining distance, the rotated angle, the remaining angle, and the net distance.

[0113] Among them, the longitudinal bridge direction is defined as the X-axis, and at the same time as the mileage direction, with the forward direction being the large mileage (positive) and the backward direction being the small mileage (negative). The transverse bridge direction is defined as the Y-axis, and at the same time as the offset, with the right direction being (negative) and the left direction being (positive). The vertical direction is defined as the Z-axis, and at the same time as the elevation, with the downward direction being (negative) and the upward direction being (positive).

[0114] After the construction of Bridge 1 is completed, the designed rotation angle α (°) of Bridge 1, the designed rotation radian θ (radian, θ = α × π / 180), and the designed cantilever length L of the rotation ′ (m) are obtained, and the designed rotation distance l (m, l = θ × L).

[0115] After the rotation preparation work of Bridge 1 is completed and before the rotation is about to start, the initial attitude parameters of Bridge 1 are obtained. Monitoring point A is arranged at the longitudinal center line of the cantilever end in the large mileage direction of Bridge 1, monitoring point O is arranged at the intersection of the transverse center line and the longitudinal center line of Bridge 1, and monitoring point B is arranged at the longitudinal center line of the cantilever end in the small mileage direction of Bridge 1. Monitoring points A, O, and B are all located on the longitudinal center line of the rotating Bridge 1. The attitude monitoring coordinate parameters of the rotating Bridge 1 are obtained as

[0116] When the rotation of Bridge 1 starts, the total station 2 is set and controlled through the control module 3, and the monitoring points are monitored once every second. The monitoring time T = 0, 1, 2, 3, 4…n…N seconds, and the attitude monitoring coordinate parameters of Bridge 1 at the nth second are obtained as

[0117] The attitude coordinate parameters of the rotating Bridge 1 obtained during the rotation process of Bridge 1 are converted into the rotation control parameters of Bridge 1, that is, the bridge direction vector is constructed according to the spatial coordinates, and the rotation attitude data is obtained according to the bridge direction vector.

[0118] In a specific embodiment, as Figure 2 and Figure 3 shown, the solid line frame represents the attitude of Bridge 1 at the start of rotation, and the dashed line frame represents the attitude of Bridge 1 when the rotation is in place. When rotating a single Bridge 1, the following formula (1) is used to calculate the above-mentioned bridge direction vector:

[0119]

[0120] Among them, represents the bridge direction vector of the straight line where the longitudinal center line AO of a single Bridge 1 is located at the nth second when rotating a single Bridge 1. n represents time, with the unit of second, and n is a positive integer not less than 60. x An represents the x-axis coordinate of the first 360° prism at the nth second. y An represents the y-axis coordinate of the first 360° prism at the nth second. z AnRepresents the z-axis coordinate of the first 360° prism at the nth second. x On Represents the x-axis coordinate of the second 360° prism at the nth second. y O Represents the y-axis coordinate of the second 360° prism at the nth second. z O Represents the z-axis coordinate of the second 360° prism at the nth second.

[0121] Since the vector product coordinate formula is Then, the rotation radian of Bridge 1 in each second within the specified time period is calculated using the following formula (2):

[0122]

[0123] where, Δθ n Represents the rotation radian of Bridge 1 in each second within the specified time period. The above specified time period is the time period after 60 seconds of the rotation of Bridge 1. For example, Δθ n Is the angle by which Bridge 1 rotates within 1 second at the nth second and the (n - 1)th second, in radians. Δθ 60 Is the angle by which Bridge 1 rotates within 1 second at the 60th second and the 59th second, in radians. Based on the radian rotated per second, cumulative calculations can be performed to obtain the total rotation radian of Bridge 1 within any time period.

[0124] The angular velocity (° / min) at each moment within the specified time period is calculated using the following formula (3):

[0125]

[0126] where, ω n Represents the angular velocity of Bridge 1 at the nth second. π represents the pi, with a value of 3.1415. When n is less than 60 seconds, the angular velocity is not calculated.

[0127] The linear velocity (m / min) at each moment within the specified time period is calculated using the following formula (4):

[0128] v n =(Δθ n +Δθ n-1 +…+Δθ n-59 )L′ (4)

[0129] where, v n Represents the linear velocity of Bridge 1 at the nth second. L′ represents the distance between the first 360° prism and the second 360° prism.

[0130] The rotated distance at each moment within the specified time period is calculated using the following formula (5):

[0131] l n = θ n L′(5)

[0132] Wherein, l n represents the rotated distance of Bridge 1 at the nth second. θ n represents the total rotation radian of Bridge 1 at the nth second.

[0133] The remaining distances at each moment within the specified time period are calculated using the following formula (6):

[0134] Δl n = l - l n (6)

[0135] Wherein, Δl n represents the remaining distance of Bridge 1 at the nth second. l represents the total rotation distance when Bridge 1 completes the rotation.

[0136] The rotated angle of Bridge 1 at the nth second is calculated using the following formula (7):

[0137]

[0138] Wherein, α n represents the rotated angle of Bridge 1 at the nth second.

[0139] The remaining angle of Bridge 1 at the nth second is calculated using the following formula (8):

[0140] Δα n = α - α n (8)

[0141] Wherein, Δα n represents the remaining angle of Bridge 1 at the nth second. α represents the total rotation angle when Bridge 1 completes the rotation.

[0142] Furthermore, the rotation of Bridge 1 is controlled to rotate at a constant speed using a control command.

[0143] When it is determined according to the rotation attitude data of Bridge 1 that the angular velocity is greater than 1.15° / min or the linear velocity v n is greater than 2.0 m / min, a warning is given, and after reducing the rotation speed of Bridge 1 using the control command, Bridge 1 continues to rotate at a constant speed.

[0144] When it is determined according to the rotation attitude data of Bridge 1 that the remaining angle is 1°, the control command is used to control Bridge 1 to rotate multiple times, and the remaining distance after each rotation is reduced by 2 cm to 3 cm.

[0145] Specifically, when the angular velocity ω n is greater than 1.15° / min, or the linear velocity vn When it is greater than 2.0 m / min, a warning is given and the rotation speed of the rotation of Bridge 1 is reduced. The rotation of Bridge 1 is carried out at a constant speed until the remaining angle Δα n is 1°, and it enters the precise adjustment stage. The adjustment process is carried out according to the remaining distance Δl n Each time it is reduced by 2 cm to 3 cm until the final precise centering.

[0146] The coordinates of point A in Formulas (1)-(8) can also be replaced with the coordinates of point B, so as to calculate the rotation attitude of the bridge based on point B.

[0147] In another specific embodiment, as Figure 4 and Figure 5 shown, the solid line frame is the attitude of Bridge 1 at the start of rotation, and the dashed line frame is the attitude of Bridge 1 when the rotation is in place. When the left and right Bridges 1 rotate simultaneously, there will be a collision problem during the rotation process, and relevant monitoring is required. The attitude coordinate parameters of the left Bridge 1 at the nth second are The attitude coordinate parameters of the right Bridge 1 at the nth second are After the rotation of Bridge 1 is in place, the designed minimum clear distance between the left bridge deck of Bridge 1 and the right bridge deck of Bridge 1 is D (m), the widths of the left and right bridge decks of Bridge 1 are both C (m), and the minimum designed distance between the longitudinal centerlines of the left and right bridge decks of Bridge 1 is D + C (m).

[0148] At the nth moment during the rotation of the left and right Bridges 1, the monitoring point at the beam end of the right rotating bridge 1 to the longitudinal centerline of the left rotating beam body The distance is Let the longitudinal centerline of the left rotating beam body The direction vector of the straight line where it is located is The following formula (9) is used to calculate the interval distance from the first 360° prism located on the right Bridge 1 to the longitudinal centerline of the left Bridge 1:

[0149]

[0150] Among them, represents the interval distance from the first 360° prism located on the right Bridge 1 to the longitudinal centerline of the left Bridge 1 when the two side-by-side Bridges 1 are rotated. A represents the first monitoring point where the first 360° prism is located. B represents the third monitoring point where the third 360° prism is located. L represents the left Bridge 1. R represents the right Bridge 1. n represents time, with the unit of second, and n is a positive integer. represents the longitudinal centerline of the left Bridge 1 The bridge direction vector of the straight line where it is located at the nth second. Represents the x-axis coordinate of the first 360° prism on the left bridge 1 at the nth second. Represents the y-axis coordinate of the first 360° prism on the left bridge 1 at the nth second. Represents the z-axis coordinate of the first 360° prism on the left bridge 1 at the nth second. Represents the x-axis coordinate of the first 360° prism on the right bridge 1 at the nth second. Represents the y-axis coordinate of the first 360° prism on the right bridge 1 at the nth second. Represents the z-axis coordinate of the first 360° prism on the right bridge 1 at the nth second.

[0151] At the nth moment during the rotation of the left and right bridges 1, the monitoring point at the beam end of the left rotating bridge 1 To the longitudinal center line of the right rotating beam The distance is Let the longitudinal center line of the left rotating beam The direction vector of the line where it is located is The following formula (10) is used to calculate the interval distance from the third 360° prism on the left bridge 1 to the longitudinal center line of the right bridge 1:

[0152]

[0153] Where, Represents the interval distance from the third 360° prism on the left bridge 1 to the longitudinal center line of the right bridge 1 when the two side-by-side bridges 1 are rotated.

[0154] Furthermore, the following formula (11) is used to calculate the above-mentioned net distance

[0155]

[0156] Where, Represents the net distance from the A end of the monitoring point on the right bridge 1 to the left rotating bridge 1.

[0157] Furthermore, the following formula (12) is used to calculate the above-mentioned net distance

[0158]

[0159] Where, Represents the net distance from the B end of the monitoring point on the left bridge 1 to the right rotating bridge 1.

[0160] When Or When it is less than D, a warning is issued, and it is necessary to reduce the rotation speed of the right - hand bridge 1 during rotation and increase the net distance between the left - hand beam and the right - hand beam.

[0161] In this embodiment, when the two bridges 1 are rotating, point B of the left - hand bridge 1 and point A of the right - hand bridge 1 are the points most likely to collide with the opposite - side bridge. Therefore, as long as the net distances between these two points and the opposite - side bridge are monitored and the net distances are ensured to be not less than the safety value, the collision between the two bridges 1 can be avoided. The monitoring system of the present invention can monitor and give early warnings about the collision problem during the simultaneous rotation construction of the left - hand and right - hand rotating bridges 1. When the distance between the left - hand and right - hand rotating bridges 1 is less than the limit value, a warning message can be immediately sent out, and the rotation traction speed can be adjusted to ensure that there is no collision between the beam bodies during the rotation of the bridge 1, and the stability and safety of the entire process of the bridge 1 rotation construction are guaranteed.

[0162] The present invention also provides a bridge 1 rotation system based on the above - mentioned method, including a plurality of 360° prisms, at least one total station 2, a control module 3, and a rotation module. The control module 3 is connected to control the total station 2 and the rotation module, and can control the total station 2 to frequently collect the spatial coordinates fed back by the prisms, and control the rotation module to perform real - time rotation construction on the bridge 1. The total station 2 has an automatic motor function and an automatic aiming function.

[0163] A plurality of 360° prisms are arranged on the longitudinal center line of the bridge 1. The total station 2 is arranged outside the bridge 1 and is used to obtain the spatial coordinates of the above - mentioned plurality of 360° prisms according to the acquisition instruction. The control module 3 is used to intermittently output the above - mentioned acquisition instruction to obtain the above - mentioned spatial coordinates, and is used to construct a bridge direction vector according to the above - mentioned spatial coordinates, obtain rotation attitude data according to the bridge direction vector, and obtain the above - mentioned interval duration, the above - mentioned acquisition instruction, and the control instruction according to the rotation attitude data. The rotation module is used to control the rotation of the bridge 1 according to the control instruction.

[0164] The above are only the specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A bridge rotation method based on real-time monitoring of the bridge rotation attitude, characterized in that, Including: A plurality of 360° prisms are arranged on the longitudinal center line of the bridge, and a total station is arranged outside the bridge; Collecting instructions are sent to the total station at intervals to control the total station to collect the spatial coordinates of the plurality of 360° prisms; Construct a bridge direction vector according to the spatial coordinates, and obtain the rotation attitude data according to the bridge direction vector; According to the rotation attitude data, obtain the interval duration, the collection instruction, and the control instruction; Control the rotation of the bridge according to the control instruction; The plurality of 360° prisms include a first 360° prism arranged at the cantilever end on one side of the bridge, a second 360° prism arranged at the rotation center of the bridge, and a third 360° prism arranged at the cantilever end on the other side of the bridge; The rotation attitude data includes angular velocity, linear velocity, and spatial attitude data; The spatial attitude data includes the rotated distance, the remaining distance, the rotated angle, the remaining angle, and the net spacing; When rotating a single bridge, the bridge direction vector is calculated using the following formula: Wherein, Indicates the longitudinal center line of a single bridge when the single bridge is rotated The bridge direction vector of the straight line where it is located at the nth second; A represents the first monitoring point where the first 360° prism is located; O represents the second monitoring point where the second 360° prism is located; n represents time, with the unit of second, and n is a positive integer not less than 60; Represents the x-axis coordinate of the first 360° prism at the nth second; Represents the y-axis coordinate of the first 360° prism at the nth second; Represents the z-axis coordinate of the first 360° prism at the nth second; Represents the x-axis coordinate of the second 360° prism at the nth second; Represents the y-axis coordinate of the second 360° prism at the nth second; Represents the z-axis coordinate of the second 360° prism at the nth second; The rotation radian of the bridge per second within a specified time period is calculated using the following formula: Wherein, Indicates the rotation radian of the bridge per second within a specified time period, where the specified time period is the time period after 60 seconds of the bridge's rotation; When rotating two side-by-side bridges, the interval distance from the first 360° prism on the right bridge to the longitudinal center line of the left bridge is calculated using the following formula: Wherein, Indicates the spacing distance from the first 360° prism on the right bridge to the longitudinal center line of the left bridge when rotating two side-by-side bridges; A represents the first monitoring point where the first 360° prism is located; B represents the third monitoring point where the third 360° prism is located; L represents the left bridge; R represents the right bridge; n represents time, with the unit of second, and n is a positive integer; Indicates the longitudinal center line of the left bridge The bridge direction vector of the straight line where it is located at the nth second; Represents the x-axis coordinate of the first 360° prism on the left bridge at the nth second; Represents the y-axis coordinate of the first 360° prism on the left bridge at the nth second; Indicates the z-axis coordinate of the first 360° prism on the left bridge at the nth second; Denote the x-axis coordinate of the first 360° prism on the right bridge at the nth second; Represents the y-axis coordinate of the first 360° prism on the right bridge at the nth second; Denote the z-axis coordinate of the first 360° prism on the right bridge at the nth second; It is characterized in that the net spacing is calculated using the following formula: Wherein, Indicates the net spacing between two bridges when rotating the two side-by-side bridges; C represents the transverse width of each bridge when rotating two side-by-side bridges; The minimum clear distance between two side-by-side bridges is designed to be D. When it is less than D, a warning is given and the rotation traction speed is adjusted.

2. The bridge rotation method based on real-time monitoring of the bridge rotation attitude according to claim 1, characterized in that The angular velocity and linear velocity at each moment within a specified time period are calculated using the following formula: Wherein, represents the angular velocity of the bridge at the nth second; π represents pi, with a value of 3.1415; Wherein, Indicates the linear velocity of the bridge at the nth second; Indicates the distance between the first 360° prism and the second 360° prism.

3. The bridge rotation method based on real-time monitoring of the bridge rotation attitude according to claim 1, wherein The spatial attitude data at each moment within a specified time period is calculated using the following formula: Wherein, Indicates the rotated distance of the bridge at the nth second; Indicates the total rotation radian of the bridge at the nth second; Indicates the distance between the first 360° prism and the second 360° prism; Wherein, Indicates the remaining distance of the bridge at the nth second; Indicates the total rotation distance when the bridge completes the rotation. Wherein, Indicates the rotated angle of the bridge at the nth second; Wherein, Indicates the remaining angle of the bridge at the nth second; Indicates the total rotation angle when the bridge completes the rotation.

4. The bridge rotation method based on real-time monitoring of the bridge rotation attitude according to claim 1, characterized in that, Control the bridge to rotate at a constant speed using the control instruction; Judge that when the angular velocity is greater than 1.15° / min or the linear velocity is greater than 2.0 m / min according to the rotation attitude data of the bridge, give an early warning, and after reducing the rotation speed of the bridge rotation using the control instruction, make the bridge continue to rotate at a constant speed; When it is judged according to the rotation attitude data of the bridge that the remaining angle is 1°, use the control instruction to control the bridge to rotate multiple times, and the remaining distance after each rotation is reduced by 2 cm to 3 cm.

5. A bridge rotation system based on real-time monitoring of the bridge rotation attitude, based on the bridge rotation method based on real-time monitoring of the bridge rotation attitude according to any one of claims 1-4, characterized in that The system includes: A plurality of 360° prisms, which are arranged on the longitudinal center line of the bridge; At least one total station, which is arranged outside the bridge and is used to obtain the spatial coordinates of the plurality of 360° prisms according to the collection instruction; A control module, which is used to output the collection instruction at intervals to obtain the spatial coordinates, and is used to construct a bridge direction vector according to the spatial coordinates, obtain the rotation attitude data according to the bridge direction vector, and is used to obtain the interval duration, the collection instruction, and the control instruction according to the rotation attitude data; A rotation module, which is used to control the rotation of the bridge according to the control instruction.

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