A method, system and device for controlling the alignment of a precast beam with a bent cap

Abstract

The application discloses a precast beam and bent cap alignment control method, system and device, relates to the field of bridge construction, and comprises the following steps: a camera module acquires a beam body bottom image; an angle acquisition module acquires inclination data; a distance acquisition module acquires distance ranging values; pixel coordinates of a beam bottom identification mark center are determined according to the bottom image and the inclination data; depth information of the identification mark center relative to the center of the alignment device is determined according to the inclination data and the distance ranging values, position deviation data are obtained, and a bridge erecting machine control system is guided to control the movement of the bridge erecting machine to adjust the position of the precast beam, complete the alignment installation with the bent cap, and replace manual operation with automatic control, only one identification mark is used to replace multiple measurement marks in the prior art, the installation and dismounting process is simple, the alignment device is arranged on the bent cap, the phenomenon that the main beam of the bridge erecting machine is deformed or vibrates is avoided, the situation that the collected data has large errors is avoided, and the precision of beam alignment is improved.

Description

Technical Field

[0001] This invention relates to the field of bridge construction, and in particular to a method, system and device for aligning precast beams and cap beams. Background Technology

[0002] The placement of precast beams is a crucial step in bridge construction. The key to this process lies in adjusting the positional relationship between the precast beam and the rubber bearings and capstone. This ensures that the center of the bottom steel plate, the center of the capstone, and the center of the rubber bearing above the capstone are all aligned in the same vertical direction. Once the alignment and placement of the beams meet the requirements, the precast beams are placed and installed using a bridge erecting machine.

[0003] Currently, there are two main methods for beam placement and alignment. One method involves construction workers visually observing or measuring with a tape measure to obtain the positional deviation between the center of the bottom steel plate of the beam and the center of the rubber support, and then guiding the bridge erecting machine operator to control the movement of the bridge erecting machine to adjust the position of the precast beam. However, the positional deviation value obtained by manual observation or tape measure measurement largely depends on the subjective judgment of the construction workers. Therefore, the accuracy of beam placement and alignment is not high, and there are also safety hazards in the beam placement process. Another method involves using external equipment to equivalently measure or calculate the positional deviation between the center of the steel plate at the bottom of the beam and the center of the rubber bearing. The deviation value guides the movement of the bridge erecting machine to achieve the alignment and installation of the beam. The external equipment includes image acquisition devices. When using external equipment for equivalent measurement and calculation, multiple measurement marks need to be set on the precast beam and the corresponding cap beam. The installation and removal of the measurement marks are all done manually. However, due to the large number of measurement marks, the installation and removal process is quite cumbersome. In addition, the image acquisition device is set at the bottom of the main beam of the bridge erecting machine. During the alignment process, the main beam of the bridge erecting machine is affected by the self-weight of the precast beam, which causes deformation or vibration, increasing the error of the data collected by the image acquisition device and ultimately reducing the accuracy of the beam alignment. Summary of the Invention

[0004] The purpose of this invention is to provide a method, system, and device for aligning precast beams and cap beams. This application replaces manual operation with automated control, uses only one identification mark instead of multiple measurement marks in the prior art, and simplifies the installation and disassembly process. By setting the alignment device on the cap beam, it avoids the situation where deformation or vibration of the main beam of the bridge erecting machine leads to large errors in the collected data, thereby improving the accuracy of beam placement and alignment.

[0005] To solve the above-mentioned technical problems, the present invention provides a method for aligning and controlling precast beams and cap beams, which is applied to the control module of an alignment device. The alignment device further includes a camera module, an angle acquisition module, and a distance acquisition module. The control module is connected to the camera module, the angle acquisition module, and the distance acquisition module respectively.

[0006] The alignment device is set at a certain distance from the center of the cap beam pad stone, with the center of the cap beam pad stone as the reference point. The center of the alignment device is located on the connecting line between the center points of the cap beam pad stones of two adjacent cap beams. The distance between the center of the alignment device and the center of the cap beam pad stone is a first preset distance. The identification mark is set at a certain distance from the center of the bottom steel plate of the precast beam, with the center of the identification mark located on the connecting line between the center points of the bottom width direction of the precast beam. The distance between the center of the identification mark and the center of the bottom steel plate is a second preset distance. The first preset distance and the second preset distance are equal.

[0007] The alignment control method for the precast beam and the cap beam includes:

[0008] The camera module acquires an image of the bottom of the precast beam.

[0009] The tilt angle data of the alignment device is acquired through the angle acquisition module;

[0010] The distance measurement value from the alignment device to the bottom of the precast beam is obtained through the distance acquisition module;

[0011] The pixel coordinates of the center point of the identification mark are determined based on the bottom image of the precast beam and the tilt angle data of the alignment device.

[0012] The depth information of the center of the identification mark relative to the center of the alignment device is determined based on the distance measurement value at the bottom of the precast beam and the tilt angle data of the alignment device.

[0013] The position deviation data is obtained based on the pixel coordinates of the center point of the identification mark and the depth information, and the position deviation data is sent to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam, thereby completing the alignment of the precast beam with the cap beam.

[0014] Preferably, determining the pixel coordinates of the center point of the identification mark based on the bottom image of the precast beam and the tilt angle data of the alignment device includes:

[0015] Based on the image of the bottom of the precast beam and the tilt angle data of the alignment device, the pixel coordinates of the identification mark are obtained in the alignment device coordinate system with the center of the alignment device as the origin and parallel to the geographic horizontal reference coordinate system.

[0016] The pixel coordinates of the center point of the identification mark at the bottom of the beam are obtained based on the pixel coordinates of the identification mark.

[0017] Preferably, it also includes a communication module, which is connected to the control module;

[0018] Sending the position deviation data to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam, thereby completing the alignment of the precast beam with the cap beam, including:

[0019] The alignment device establishes a communication connection with the bridge erecting machine control system through the communication module, and sends the position deviation data to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam, thereby completing the alignment of the precast beam with the cap beam.

[0020] Preferably, before acquiring the distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module, the method further includes:

[0021] Periodically determine whether a signal indicating that the distance measurement value from the alignment device to the bottom of the precast beam is received from the distance acquisition module;

[0022] If so, a precise alignment signal is sent to the bridge erecting machine control system to enable the bridge erecting machine to precisely align the precast beam when placing it into position;

[0023] If not, a coarse alignment signal is sent to the bridge erecting machine control system to enable the bridge erecting machine to perform coarse beam placement and alignment of the precast beam.

[0024] Preferably, the process of determining the completion of beam alignment includes:

[0025] Determine whether the depth information of the center of the beam bottom identification mark relative to the center of the alignment device is not greater than a preset bonding threshold. The preset bonding threshold is a pre-set threshold that characterizes the bonding between the steel plate at the bottom of the beam and the rubber support. The rubber support is located on the upper part of the cap beam pad stone.

[0026] When the depth information is not greater than the preset fitting threshold, it is determined that the beam placement is completed and a beam placement stop command is sent to the control system of the bridge erecting machine to stop the beam placement.

[0027] Preferably, the identification mark is an identification code.

[0028] Preferably, the distance acquisition module is a laser rangefinder;

[0029] The distance acquisition module obtains the distance measurement value from the alignment device to the bottom of the precast beam, including:

[0030] The distance between the alignment device and the bottom of the precast beam is obtained using the laser rangefinder.

[0031] To solve the above-mentioned technical problems, the present invention also provides a positioning control system for precast beams and cap beams, comprising:

[0032] An image acquisition unit is used to acquire an image of the bottom of the precast beam through the camera module;

[0033] An inclination acquisition unit is used to acquire inclination data of the alignment device through the angle acquisition module.

[0034] The distance acquisition unit is used to acquire the distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module;

[0035] A pixel coordinate determination unit is used to determine the pixel coordinates of the center point of the identification mark based on the bottom image of the precast beam and the tilt angle data of the alignment device.

[0036] The depth information determination unit is used to determine the depth information of the center of the identification mark relative to the center of the alignment device based on the distance measurement value of the bottom of the precast beam and the tilt angle data of the alignment device;

[0037] The beam-dropping control unit is used to obtain position deviation data based on the pixel coordinates of the center point of the identification mark and the depth information, and send the position deviation data to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam and thus complete the beam-dropping alignment of the precast beam and the cap beam.

[0038] To address the aforementioned technical problems, the present invention also provides an alignment device, comprising:

[0039] Memory, used to store computer programs;

[0040] A control module, connected to the memory, is used to execute the computer program to implement the steps of the above-described alignment control method for precast beams and cap beams;

[0041] It also includes a camera module, an angle acquisition module, and a distance acquisition module, and the control module is connected to the camera module, the angle acquisition module, and the distance acquisition module respectively.

[0042] Preferably, it also includes a power module and a fixing module. The power module is connected to the memory, control module, camera module, angle acquisition module and distance acquisition module respectively, and the fixing module is disposed outside the alignment device.

[0043] The power module is used to supply power;

[0044] The fixing module is used to fix the alignment device in a preset position.

[0045] This application provides a method, system, and alignment device for aligning precast beams and cap beams. Using the center of the bottom steel plate of the beam and the center of the cap beam pad as reference points, identification marks and alignment devices are set at certain distances from the corresponding reference points, ensuring that the distance from the center of the identification mark to the center of the bottom steel plate is equal to the distance from the center of the alignment device to the center of the cap beam pad. A camera module acquires images of the bottom of the beam; an angle acquisition module acquires tilt angle data; a distance acquisition module acquires distance measurement values; the pixel coordinates of the center of the identification mark on the bottom of the beam are determined based on the bottom image and tilt angle data; the depth information of the center of the identification mark relative to the center of the alignment device is determined based on the tilt angle data and distance measurement values, thereby obtaining position deviation data. This data guides the bridge erecting machine control system to control the movement of the bridge erecting machine to adjust the position of the precast beam and complete the alignment and installation with the cap beam. This application replaces manual operation with automated control, uses only one identification mark instead of multiple measurement marks in the prior art, simplifies the installation and disassembly process, and sets the alignment device on the cap beam, avoiding large data acquisition errors caused by deformation or vibration of the main beam of the bridge erecting machine, thus improving the accuracy of beam placement and alignment. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart of a method for aligning and controlling precast beams and cap beams provided by the present invention;

[0048] Figure 2 A schematic diagram of the overall structure of a precast beam and cap beam provided by the present invention;

[0049] Figure 3 A schematic diagram of a precast beam provided by the present invention;

[0050] Figure 4 A schematic diagram of a cap beam provided by the present invention;

[0051] Figure 5 This is a schematic diagram of a physical alignment device provided by the present invention;

[0052] Figure 6 This is a schematic diagram of the alignment device provided by the present invention. Detailed Implementation

[0053] The core of this invention is to provide a method, system, and device for aligning precast beams and cap beams. This application replaces manual operation with automated control, uses only one identification mark instead of multiple measurement marks in the prior art, and simplifies the installation and disassembly process. By setting the alignment device on the cap beam, it avoids the situation where the main beam of the bridge erecting machine is deformed or vibrated, which would lead to large errors in the collected data, thus improving the accuracy of beam placement and alignment.

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , Figure 1 The flowchart illustrates a method for aligning precast beams and cap beams provided by this invention. Figure 2 This is a schematic diagram of the overall structure of a precast beam and cap beam provided by the present invention. Figure 3 This is a structural schematic diagram of a precast beam provided by the present invention. Figure 4 This is a schematic diagram of the structure of a cap beam provided by the present invention. Figure 5 This is a schematic diagram of a physical alignment device provided by the present invention. Figure 6 This is a schematic diagram of the alignment device provided by the present invention. The method is applied to the control module 41 of the alignment device 4. The alignment device 4 also includes a camera module 42, an angle acquisition module 44, and a distance acquisition module 43. The control module 41 is connected to the camera module 42, the angle acquisition module 44, and the distance acquisition module 43 respectively. The alignment device 4 is set at a certain distance from the center of the cap beam pad 6, with the center of the cap beam pad 6 as the reference point. The center of the alignment device 4 is located on the connecting line between the center points of the cap beam pad 6 of two adjacent cap beams 7. The distance between the center of the alignment device 4 and the center of the cap beam pad 6 is a first preset distance. With the center of the bottom steel plate 2 of the precast beam 1 as the reference point, an identification mark 3 is set at a certain distance from the center of the bottom steel plate 2. The center of the identification mark 3 is located on the connecting line between the center points of the bottom width direction of the precast beam 1. The distance between the center of the identification mark 3 and the center of the bottom steel plate 2 is a second preset distance. The first preset distance and the second preset distance are equal.

[0056] The method includes:

[0057] S11: Obtain an image of the bottom of the precast beam 1 through camera module 42;

[0058] S12: Acquire tilt angle data of alignment device 4 through angle acquisition module 44;

[0059] S13: Obtain the distance measurement value from the alignment device 4 to the bottom of the precast beam through the distance acquisition module 43;

[0060] S14: Determine the pixel coordinates of the center point of the identification mark 3 based on the bottom image of the precast beam 1 and the tilt angle data of the alignment device 4;

[0061] S15: Determine the depth information of the center of the identification mark 3 relative to the center of the alignment device 4 based on the distance measurement value at the bottom of the precast beam 1 and the tilt angle data of the alignment device 4.

[0062] S16: Obtain position deviation data based on the pixel coordinates and depth information of the center point of the identification mark 3, and send the position deviation data to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam and thus complete the alignment of the precast beam 1 and the cap beam 7.

[0063] The purpose of this embodiment is to achieve the alignment and installation of the precast beam 1 and the cap beam 7. The bottom of the precast beam 1 is provided with a beam bottom steel plate 2, and the upper surface of the cap beam 7 is cast with a cap beam pad stone 6. A rubber support 5 is provided on the upper surface of the cap beam pad stone 6. To ensure precise alignment between the cap beam 7 and the precast beam 1, the centers of the cap beam pad stone 6, the rubber support 5, and the beam bottom steel plate 2 must be on the same vertical line. This embodiment introduces an identification mark 3 and an alignment device 4. The identification mark 3 is placed at the bottom of the precast beam 1, and the alignment device 4 is placed on the upper surface of the cap beam 7. The center point of the cap beam pad stone 6 is used as a reference point. The alignment device 5 is installed at a distance from the cap beam pad stone 6. A positioning device 4 is set at a certain distance from the center point. The center of the positioning device 4 is located on the connecting line between the center points of the cap beam pads 6 of two adjacent cap beams 7. The distance between the center point of the positioning device 4 and the center point of the cap beam pad 6 is a first preset distance. Taking the center point of the bottom steel plate 2 of the beam as a reference, an identification mark 3 is set at a certain distance from the center point of the bottom steel plate 2 of the beam. The center point of the identification mark 3 is located on the connecting line between the center points of the width direction of the bottom of the precast beam 1. The distance between the center point of the identification mark 3 and the center point of the bottom steel plate 2 of the beam is a second preset distance. The first preset distance and the second preset distance are equal. Figure 2 and Figure 3 As shown, both the first and second preset distances are represented by d. Therefore, the alignment relationship between the precast beam 1 and the cap beam 7 can be obtained by calculation to obtain the positional deviation data between the center of the identification mark 3 and the center of the alignment device 4, which improves the reliability of the scheme.

[0064] Specifically, when the beam is hoisted to a certain position above the cap beam 7, the camera module 42 takes a picture to obtain an image of the bottom of the precast beam 1, the angle acquisition module 44 acquires the tilt angle data of the alignment device 4, and the distance acquisition module 43 acquires the distance measurement value from the alignment device 4 to the bottom of the precast beam 1. Based on the bottom image of the beam and the tilt angle data, the control module 41 calculates and processes the data to obtain the pixel coordinates of the beam bottom identification mark 3 in the coordinate system of the alignment device 4, which is parallel to the geographical horizontal reference coordinate system with the center of the alignment device 4 as the origin. This allows the acquisition of the pixel coordinates of the center point of the beam bottom identification mark 3. Simultaneously, the control module 41 calculates and processes the data according to the pre-defined coordinate system. The distance measurement value and inclination angle data of the bottom of beam 1 are calculated and processed to obtain the depth information of the identification mark 3 relative to the alignment device 4 in the elevation direction of the geographic horizontal reference coordinate system. Finally, based on the pixel coordinates of the center point of the identification mark 3 at the bottom of the beam and the depth information of the identification mark 3 relative to the alignment device 4, the position deviation data of the center of the identification mark 3 relative to the center of the alignment device 4 is obtained. The position deviation data is then sent to the control system of the bridge erecting machine in real time through the communication module of the control module 41 in the alignment device 3. The control system of the bridge erecting machine controls the bridge erecting machine to adjust the position of the precast beam 1 and complete the alignment and installation with the cap beam 7.

[0065] It should be noted that each precast beam 1 has two steel plates at its bottom, located at the front and rear ends of the beam bottom. A line connecting the center points of the steel plates 2 at the front and rear ends is drawn using a marker. Using the center of the steel plates 2 as a reference point, identification markers 3 are set at a first preset distance from the center of the front and rear steel plates 2, respectively. The position of the identification markers 3 is adjusted so that their center point lies on the line connecting the center points of the steel plates 2 in the width direction. The value of the first preset distance is determined based on the actual bridge design dimensions during construction, and must satisfy the following condition: the first preset distance is greater than the sum of half the width of the steel plates 2 and half the width of the identification markers 3, and less than the difference between the vertical distance from the center of the identification markers 3 to the edge of the wide side of the precast beam 1 on the same side and half the width of the steel plates 2.

[0066] It should be noted that, taking the center of the cap beam pad 6 as a reference point, an alignment device 4 is installed at a second preset distance from the center of the cap beam pad 6. Alignment devices 4 are installed near the cap beam pads 6 of two adjacent cap beams 7. The center of the alignment device 4 is located on the line connecting the center points of the cap beam pads 6 of the two adjacent cap beams 7. The second preset distance is the distance between the center point of the alignment device 4 and the center point of the cap beam pad 6. The value of the second preset distance is determined based on the design dimensions of the cap beams during actual construction. Furthermore, the value of the second preset distance is greater than the sum of half the width of the cap beam pad 6 and half the width of the alignment device 4, and less than the difference between the vertical distance from the center of the cap beam pad 6 to the long side line of the cap beam 7 on the same side and half the width of the alignment device 4. Additionally, before installing the alignment device 4, any burrs from the pouring near the cap beam pad 6 must be removed.

[0067] It should be noted that the alignment device 4 includes a control module 41, a camera module 42, a distance acquisition module 43, and an angle acquisition module 44. The camera module 42 is located at the center of the alignment device 4 and is mounted on the cap beam along with the alignment device. It is used to take pictures to obtain images of the identification marks on the bottom of the beam during the beam lowering process. The positions of other modules can be set according to the actual situation, and no additional restrictions are made here.

[0068] In summary, this application provides a method for aligning a precast beam 1 with a cap beam 7. Using the center of the bottom steel plate 2 and the center of the cap beam pad 6 as reference points, identification markers 3 and alignment devices 4 are set at certain distances from the centers of the bottom steel plate 2 and the cap beam pad 6, respectively, ensuring that the distance from the center of the identification marker 3 to the center of the bottom steel plate 2 is equal to the distance from the center of the alignment device 4 to the center of the cap beam pad 6. A camera module 42 captures an image of the bottom of the precast beam 1; an angle acquisition module 44 acquires the tilt angle data of the alignment device 4; a distance acquisition module 43 acquires the distance measurement value from the alignment device 4 to the bottom of the precast beam 1; the pixel coordinates of the center point of the identification marker 3 at the bottom of the beam 1 are determined based on the image and tilt angle data; and the depth information of the center of the identification marker 3 relative to the center of the alignment device 4 is determined based on the distance measurement value and tilt angle data. By replacing manual operation with automated control, the position deviation data is obtained by comparing the pixel coordinates of the center point of the beam bottom identification mark 3 and the depth information of the center of the beam bottom identification mark 3 relative to the center of the alignment device 4 with the coordinates of the center of the alignment device 4. The data is then sent to the control system of the bridge erecting machine. The control system of the bridge erecting machine controls the precast beam 1 and the cap beam 7 to be aligned and installed. Only one identification mark 3 is used to replace multiple measurement marks in the prior art, and the installation and disassembly process is simple. In addition, the camera module 42 is located at the center of the alignment device 4 and is installed on the upper surface of the cap beam 7 along with the alignment device 4. This avoids the situation where the main beam of the bridge erecting machine is deformed or vibrated due to the weight of the beam, which would greatly reduce the shooting accuracy of the camera module 42, thus improving the alignment accuracy.

[0069] Based on the above embodiments:

[0070] As a preferred embodiment, the pixel coordinates of the center point of the identification mark 3 are determined based on the bottom image of the precast beam 1 and the tilt angle data of the alignment device 4, including:

[0071] Based on the image of the bottom of the precast beam 1 and the tilt angle data of the alignment device 4, the pixel coordinates of the identification mark 3 are obtained in the alignment device 4 coordinate system, which takes the center of the alignment device as the origin and is parallel to the geographic horizontal reference coordinate system.

[0072] The pixel coordinates of the center point of the identification mark 3 at the bottom of the beam are obtained based on the pixel coordinates of the identification mark 3.

[0073] In this embodiment, the key is to obtain the pixel coordinates of the center point of the identification mark at the bottom of the beam based on the pixel coordinates of the identification mark 3. Once the pixel coordinates of the identification mark are determined, the center point can be found based on the structure of the identification mark 3, and the pixel coordinates of the center point can be determined. When obtaining the pixel coordinates of the identification mark, it is necessary to obtain the pixel coordinates in the coordinate system of the alignment device 4 based on the image of the bottom of the precast beam 1 and the tilt angle data of the alignment device 4. It is necessary to convert the coordinates in the camera coordinate system to the pixel coordinates in the coordinate system of the alignment device 4. The process is executed by the control module 41, which improves the automation level of the solution.

[0074] In a preferred embodiment, a communication module is also included, which is connected to the control module 41;

[0075] The position deviation data is sent to the bridge erecting machine control system so that the control system can control the bridge erecting machine to adjust the position of the precast beam 1, thereby completing the alignment of the precast beam 1 with the cap beam 7, including:

[0076] A communication connection is established between the alignment device and the bridge erecting machine control system through the communication module, and the position deviation data is sent to the bridge erecting machine control system so that the bridge erecting machine control system can control the bridge erecting machine to adjust the position of the precast beam 1 and thus complete the alignment of the precast beam 1 and the cap beam 7.

[0077] The control module 41 can also be connected to a communication module. The communication module can send position deviation data to the bridge erecting machine control system. The communication module can be, but is not limited to, an antenna module or other devices that can send position deviation data to the bridge erecting machine control system remotely. After receiving the position deviation data, the bridge erecting machine control system can adjust the position of the precast beam accordingly to complete the alignment of the precast beam with the cap beam. The whole process is automated, which improves the automation level of the scheme.

[0078] The control module 41 can be equipped with a built-in communication module, which can establish a connection and communication with the bridge erecting machine control system through a local area network. It is not limited to connecting an additional communication module. Users can set it according to actual conditions and needs, which improves the flexibility of the solution.

[0079] Meanwhile, communication between the control module 41 and the bridge erecting machine control system can also be achieved via wired connection, not limited to wireless connection, providing users with additional options.

[0080] As a preferred embodiment, before acquiring the distance measurement value from the alignment device 4 to the bottom of the precast beam 1 through the distance acquisition module 43, the method further includes:

[0081] Periodically determine whether a signal indicating the ability to acquire the distance measurement value from the alignment device 4 to the bottom of the precast beam 1 is received from the distance acquisition module 43;

[0082] If so, send a precise alignment signal to the bridge erecting machine control system to enable the bridge erecting machine to precisely place and align the precast beam 1.

[0083] If not, send a coarse alignment signal to the bridge erecting machine control system to enable the bridge erecting machine to perform coarse beam placement and alignment of the precast beam 1.

[0084] Since the distance acquisition module 43 has a range of collectable distances, when the precast beam 1 is moved above the cap beam 7 by the bridge erecting machine, the distance acquisition module 43 may not be able to obtain the distance measurement value from the bottom of the precast beam 1 to the cap beam 7. When the bridge erecting machine control system does not receive the corresponding signal, the bridge erecting machine control system continues to control the bridge erecting machine to lower the precast beam 1 until the bridge erecting machine control system can receive the corresponding signal. Then, the lowering process enters the alignment device control mode, and the alignment device 4 controls the bridge erecting machine to lower the beam. This step adds automated control again and improves the user experience.

[0085] It should be noted that when the distance acquisition module 43 sends a signal indicating that it can acquire the distance measurement value from the alignment device 4 to the bottom of the precast beam 1, a precise alignment signal is sent to the bridge erecting machine control system to enable the bridge erecting machine to precisely lower the precast beam 1 for alignment. At this time, the precise lowering of the beam can proceed to the alignment lowering step. If the distance acquisition module 43 does not send a signal indicating that it can acquire the distance measurement value from the alignment device 4 to the bottom of the precast beam 1, a coarse alignment signal is sent to the bridge erecting machine control system to enable the bridge erecting machine to coarsely lower the precast beam 1 for alignment, controlling the lowering of the beam to a certain distance, until the distance acquisition module 43 sends a signal indicating that it can acquire the distance measurement value from the alignment device 4 to the bottom of the precast beam 1.

[0086] The beam dropping distance and speed in the coarse alignment process do not require particularly fine control. It is sufficient to drop the beam a certain distance to meet the requirements of fine beam dropping alignment. In the fine beam dropping process, the beam is dropped in stages to achieve higher alignment accuracy. Coarse and fine alignment are performed at different stages to improve the comprehensiveness and feasibility of the solution.

[0087] As a preferred embodiment, the process of determining the completion of beam alignment includes:

[0088] Determine whether the depth information of the center of the beam bottom identification mark 3 relative to the center of the alignment device 4 is not greater than the preset bonding threshold. The preset bonding threshold is a pre-set threshold that represents the bonding of the beam bottom steel plate 2 and the rubber support 5. The rubber support 5 is located on the upper part of the cap beam pad stone 6.

[0089] When the depth information is not greater than the preset fitting threshold, the beam placement is confirmed to be complete and a beam placement stop command is sent to the control system of the bridge erecting machine to stop the beam placement.

[0090] As the beam lowering process proceeds, the distance measurement value between the precast beam 1 and the cap beam 7 gradually decreases. When the distance is no greater than the preset bonding threshold, it indicates that the bottom steel plate 2 of the beam and the rubber support 5 have been bonded. A beam lowering stop command is sent to the control system of the bridge erecting machine to stop the beam lowering. This indicates that the beam lowering and alignment of the precast beam 1 has been completed. The entire process is fully automated, which enhances the automation level of the scheme.

[0091] The process of lowering the precast beam 1 controlled by the bridge erecting machine can be carried out in steps. This ensures more precise alignment between the center of the bottom steel plate 2 and the center of the rubber bearing 2, thereby ensuring high accuracy in the alignment and installation of the precast beam 1 and the cap beam 7. From the perspective of the bridge erecting machine's control system, by setting the single beam lowering height, after the single beam lowering is completed, the bridge erecting machine's control system sends a single beam lowering completion command to the alignment device 4. At this time, the camera module 42, the angle acquisition module 44, and the distance acquisition module 43 respectively re-acquire images, angles, and distance measurement values. After being calculated and processed by the control module 41, new position deviation data is obtained and sent to the bridge erecting machine's control system. The bridge erecting machine's control system adjusts the position of the precast beam 1 according to the new position deviation data. After the position adjustment is completed, the next beam lowering process begins. The beam lowering steps are then repeated until the final beam lowering is completed.

[0092] In a preferred embodiment, identification mark 3 is an identification code.

[0093] The identification mark 3 can be, but is not limited to, an identification code, or can also be a QR code, barcode, etc., as a mark for the alignment of the precast beam 1 and the cap beam 7. The specific setting shall be based on the actual situation, and no additional restrictions are made here.

[0094] Identification mark 3 only needs to be affixed to the bottom of the precast beam 1. The whole process is very simple and improves the efficiency of the staff.

[0095] In a preferred embodiment, the distance acquisition module 43 is a laser rangefinder;

[0096] The distance measurement value from the alignment device 4 to the bottom of the precast beam 1 is obtained through the distance acquisition module 43, including:

[0097] The distance between the alignment device 4 and the bottom of the precast beam 1 is obtained by using a laser rangefinder.

[0098] Obtaining the distance measurement value from the alignment device 4 to the bottom of the precast beam 1 using a laser rangefinder is a common technical operation, making the solution closer to actual use. In addition, the distance acquisition module 43 can be, but is not limited to, a laser rangefinder, or other distance acquisition devices, which improves the flexibility of the solution.

[0099] The present invention also provides a positioning control system for precast beams and cap beams, comprising:

[0100] The image acquisition unit is used to acquire images of the bottom of the precast beam through the camera module;

[0101] The tilt acquisition unit is used to acquire tilt data of the alignment device through the angle acquisition module.

[0102] The distance acquisition unit is used to obtain the distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module;

[0103] The pixel coordinate determination unit is used to determine the pixel coordinates of the center point of the identification mark based on the bottom image of the precast beam and the tilt angle data of the alignment device.

[0104] The depth information determination unit is used to determine the depth information of the center of the identification mark relative to the center of the alignment device based on the distance measurement value of the bottom of the precast beam and the tilt angle data of the alignment device;

[0105] The beam-dropping control unit is used to obtain position deviation data based on the pixel coordinates and depth information of the center point of the identification mark and send the position deviation data to the bridge erecting machine control system so that the bridge erecting machine control system can control the bridge erecting machine to adjust the position of the precast beam and thus complete the beam-dropping alignment of the precast beam and the cap beam.

[0106] The pixel coordinate determination unit includes:

[0107] The pixel coordinate determination unit for the identification mark is used to obtain the pixel coordinates of the identification mark in the alignment device coordinate system, which is parallel to the geographic horizontal reference coordinate system, based on the image of the bottom of the precast beam and the tilt angle data of the alignment device.

[0108] The pixel coordinate determination unit for the center point of the identification mark is used to obtain the pixel coordinates of the center point of the identification mark at the bottom of the beam based on the pixel coordinates of the identification mark.

[0109] It also includes a communication module, which is connected to the control module;

[0110] The beam lowering control unit includes:

[0111] A communication connection is established between the alignment device and the bridge erecting machine control system through the communication module, and the position deviation data is sent to the bridge erecting machine control system so that the bridge erecting machine control system can control the bridge erecting machine to adjust the position of the precast beam and thus complete the alignment of the precast beam and the cap beam.

[0112] Before the ranging and data acquisition unit, there is also:

[0113] The first judgment unit is used to periodically judge whether it receives a signal from the distance acquisition module indicating that it can acquire the distance measurement value from the alignment device to the bottom of the precast beam. If yes, it triggers the precise alignment unit; otherwise, it triggers the coarse alignment unit.

[0114] The precision alignment unit is used to send precision alignment signals to the bridge erecting machine control system so that the bridge erecting machine can accurately place the precast beams into position.

[0115] The coarse alignment unit is used to send coarse alignment signals to the bridge erecting machine control system so that the bridge erecting machine can perform coarse beam placement and alignment on the precast beams.

[0116] The beam lowering control unit includes:

[0117] The second judgment unit is used to determine whether the depth information of the center of the beam bottom identification mark relative to the center of the alignment device is not greater than the preset bonding threshold. If so, the beam dropping stop command sending unit is triggered. The preset bonding threshold is a pre-set threshold that represents the bonding between the steel plate at the bottom of the beam and the rubber support. The rubber support is located on the upper part of the cap beam pad stone.

[0118] The beam-dropping stop command sending unit is used to determine that the beam-dropping alignment is complete and send a beam-dropping stop command to the control system of the bridge erecting machine to stop the bridge erecting machine from dropping the beam.

[0119] The identification mark is the identification code.

[0120] The distance acquisition module is a laser rangefinder.

[0121] The ranging acquisition unit includes:

[0122] The distance between the alignment device and the bottom of the precast beam is obtained by using a laser rangefinder.

[0123] For an introduction to the alignment control system for precast beams and cap beams provided by this invention, please refer to the embodiments of the above-described alignment control method for precast beams and cap beams; further details will not be repeated here.

[0124] The present invention also provides an alignment device, comprising:

[0125] Memory 40 is used to store computer programs;

[0126] The control module 41, connected to the memory, is used to execute a computer program to implement the steps of the above-described alignment control method between the precast beam 1 and the cap beam 7.

[0127] It also includes a camera module 42, an angle acquisition module 44, and a distance acquisition module 43, with the control module 41 connected to the camera module 42, the angle acquisition module 44, and the distance acquisition module 43 respectively.

[0128] For an introduction to the alignment device provided by this invention, please refer to the embodiments of the above-mentioned alignment control method for precast beams and cap beams, which will not be repeated here.

[0129] In a preferred embodiment, it also includes a power module 46 and a fixing module 45. The power module 46 is connected to the memory 40, the control module 41, the camera module 42, the angle acquisition module 44 and the distance acquisition module 43 respectively. The fixing module 45 is disposed outside the alignment device 4.

[0130] Power module 46 is used for power supply;

[0131] The fixing module 45 is used to fix the alignment device 4 in a preset position.

[0132] The alignment device 4 of this application may also include a power module 46 and a fixing module 45, which can provide the device with its own power supply and fix the alignment device 4 in a preset position. The power module 46 can be a battery or can be directly connected to other power sources. Users can choose according to their actual needs, which improves the user experience and the flexibility of the solution.

[0133] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0134] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

Claims

1. A method for aligning precast beams and cap beams, characterized in that, A control module is applied to a positioning device, which further includes a camera module, an angle acquisition module, and a distance acquisition module. The control module is connected to the camera module, the angle acquisition module, and the distance acquisition module, respectively. The alignment device is set at a certain distance from the center of the cap beam pad stone, with the center of the cap beam pad stone as the reference point. The center of the alignment device is located on the connecting line between the center points of the cap beam pad stones of two adjacent cap beams. The distance between the center of the alignment device and the center of the cap beam pad stone is a first preset distance. The identification mark is set at a certain distance from the center of the bottom steel plate of the precast beam, with the center of the identification mark located on the connecting line between the center points of the bottom width direction of the precast beam. The distance between the center of the identification mark and the center of the bottom steel plate is a second preset distance. The first preset distance and the second preset distance are equal. The alignment control method for the precast beam and the cap beam includes: The camera module acquires an image of the bottom of the precast beam. The tilt angle data of the alignment device is acquired through the angle acquisition module; The distance measurement value from the alignment device to the bottom of the precast beam is obtained through the distance acquisition module; The pixel coordinates of the center point of the identification mark are determined based on the bottom image of the precast beam and the tilt angle data of the alignment device. The depth information of the center of the identification mark relative to the center of the alignment device is determined based on the distance measurement value at the bottom of the precast beam and the tilt angle data of the alignment device. The position deviation data is obtained based on the pixel coordinates of the center point of the identification mark and the depth information, and the position deviation data is sent to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam and thus complete the alignment of the precast beam with the cap beam. Before acquiring the distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module, the method further includes: Periodically determine whether a signal indicating that the distance measurement value from the alignment device to the bottom of the precast beam is received from the distance acquisition module; If so, a precise alignment signal is sent to the bridge erecting machine control system to enable the bridge erecting machine to precisely align the precast beam when placing it into position; If not, send a coarse alignment signal to the bridge erecting machine control system to enable the bridge erecting machine to perform coarse beam placement and alignment of the precast beam; The process of determining the pixel coordinates of the center point of the identification mark based on the bottom image of the precast beam and the tilt angle data of the alignment device includes: Based on the image of the bottom of the precast beam and the tilt angle data of the alignment device, the pixel coordinates of the identification mark are obtained in the alignment device coordinate system with the center of the alignment device as the origin and parallel to the geographic horizontal reference coordinate system. The pixel coordinates of the center point of the identification mark at the bottom of the beam are obtained based on the pixel coordinates of the identification mark.

2. The alignment control method for precast beams and cap beams as described in claim 1, characterized in that, It also includes a communication module, which is connected to the control module; Sending the position deviation data to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam, thereby completing the alignment of the precast beam with the cap beam, including: The alignment device establishes a communication connection with the bridge erecting machine control system through the communication module, and sends the position deviation data to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam, thereby completing the alignment of the precast beam with the cap beam.

3. The alignment control method for precast beams and cap beams as described in claim 1, characterized in that, The process of confirming the completion of beam alignment includes: Determine whether the depth information of the center of the beam bottom identification mark relative to the center of the alignment device is not greater than a preset bonding threshold. The preset bonding threshold is a pre-set threshold that characterizes the bonding between the steel plate at the bottom of the beam and the rubber support. The rubber support is located on the upper part of the cap beam pad stone. When the depth information is not greater than the preset fitting threshold, it is determined that the beam placement is completed and a beam placement stop command is sent to the control system of the bridge erecting machine to stop the beam placement.

4. The alignment control method for precast beams and cap beams as described in claim 1, characterized in that, The identification mark is an identification code.

5. The alignment control method for precast beams and cap beams as described in claim 1, characterized in that, The distance acquisition module is a laser rangefinder; The distance acquisition module obtains the distance measurement value from the alignment device to the bottom of the precast beam, including: The distance between the alignment device and the bottom of the precast beam is obtained using the laser rangefinder.

6. A positioning control system for precast beams and cap beams, characterized in that, A control module for an alignment device is provided, the alignment device further comprising a camera module, an angle acquisition module, and a distance acquisition module. The control module is connected to the camera module, the angle acquisition module, and the distance acquisition module respectively. The alignment device is positioned at a certain distance from the center of the cap beam pad stone, with the center of the alignment device located on the line connecting the center points of the cap beam pad stones of two adjacent cap beams. The distance between the center of the alignment device and the center of the cap beam pad stone is a first preset distance. An identification mark is set at a certain distance from the center of the bottom steel plate of the precast beam, with the center of the identification mark located on the line connecting the center points of the bottom width direction of the precast beam. The distance between the center of the identification mark and the center of the bottom steel plate is a second preset distance. The first preset distance and the second preset distance are equal. The alignment control system for the precast beam and the cap beam includes: An image acquisition unit is used to acquire an image of the bottom of the precast beam through the camera module; An inclination acquisition unit is used to acquire inclination data of the alignment device through the angle acquisition module. The distance acquisition unit is used to acquire the distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module; A pixel coordinate determination unit is used to determine the pixel coordinates of the center point of the identification mark based on the bottom image of the precast beam and the tilt angle data of the alignment device. The depth information determination unit is used to determine the depth information of the center of the identification mark relative to the center of the alignment device based on the distance measurement value of the bottom of the precast beam and the tilt angle data of the alignment device; The beam-dropping control unit is used to obtain position deviation data based on the pixel coordinates of the center point of the identification mark and the depth information, and send the position deviation data to the bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam and thus complete the beam-dropping alignment of the precast beam and the cap beam. Before the ranging acquisition unit, there is also: The first judgment unit is used to periodically judge whether it receives a signal from the distance acquisition module indicating that it can acquire the distance measurement value from the alignment device to the bottom of the precast beam. If yes, it triggers the precise alignment unit; otherwise, it triggers the coarse alignment unit. The precision alignment unit is used to send precision alignment signals to the bridge erecting machine control system so that the bridge erecting machine can accurately place the precast beams into position. The coarse alignment unit is used to send coarse alignment signals to the bridge erecting machine control system so that the bridge erecting machine can perform coarse beam placement and alignment on the precast beam; The pixel coordinate determination unit includes: The pixel coordinate determination unit for the identification mark is used to obtain the pixel coordinates of the identification mark in the alignment device coordinate system, which is parallel to the geographic horizontal reference coordinate system, based on the image of the bottom of the precast beam and the tilt angle data of the alignment device. The pixel coordinate determination unit for the center point of the identification mark is used to obtain the pixel coordinates of the center point of the identification mark at the bottom of the beam based on the pixel coordinates of the identification mark.

7. An alignment device, characterized in that, include: Memory, used to store computer programs; A control module, connected to the memory, is used to execute the computer program to implement the steps of the alignment control method for precast beams and cap beams as described in any one of claims 1 to 6; It also includes a camera module, an angle acquisition module, and a distance acquisition module, and the control module is connected to the camera module, the angle acquisition module, and the distance acquisition module respectively.

8. The alignment device as described in claim 7, characterized in that, It also includes a power module and a fixing module. The power module is connected to the memory, control module, camera module, angle acquisition module and distance acquisition module respectively. The fixing module is disposed outside the alignment device. The power module is used to supply power; The fixing module is used to fix the alignment device in a preset position.

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