Precise splicing method for high-altitude cantilever main arch segments

Abstract

This invention discloses a precise splicing method for high-altitude cantilever main arch segments, comprising: S1. Selecting two adjacent main arch segments, and setting a first target and a second target on the two main arch segments respectively; S2. When the main arch segments are pre-assembled on the ground, calculating the camera pose A corresponding to the first target and the camera pose B corresponding to the second target, and calculating the difference U between camera pose A and camera pose B; S3. When the main arch segments are spliced ​​in the air, calculating the camera pose A corresponding to the first target. ′ and the camera pose B corresponding to the second target ′ And calculate the camera pose A ′ With camera pose B ′ The difference U between ′ S4. If the difference U ′ If the difference U is inconsistent with the actual value, the high-altitude splicing operation will be adjusted in real time to make the difference U equal. ′ Consistent with the difference U; S5. Following steps S1-S4, complete the splicing of all main arch segments. This invention can effectively improve splicing efficiency and accuracy, reduce splicing errors, and shorten the splicing cycle.

Description

Technical Field

[0001] This invention relates to the field of high-altitude cantilever splicing, specifically to a precise splicing method for the main arch segment of a high-altitude cantilever. Background Technology

[0002] With the deepening of transportation infrastructure construction, bridges in mountainous areas have become commonplace. Arch bridges, due to their unparalleled advantages over other bridge types, occupy a pivotal position in transportation network construction, becoming the vanguard of bridge construction in mountainous areas, and their application is becoming increasingly widespread.

[0003] Long-span arch bridges generally employ a cable-stayed construction method, making the high-altitude cantilever splicing of the main arch segments inevitable. The quality of the main arch segment splicing directly affects the arch's alignment, load-bearing capacity, aesthetics, and safety. Therefore, minimizing splicing errors is crucial for ensuring the arch's alignment.

[0004] Currently, existing methods for controlling the splicing of main arch segments primarily involve setting leveling benchmarks and observation points, measuring the coordinates of these points, and calculating the relative positions between segments. This method suffers from drawbacks such as long splicing times, cumbersome measurement procedures, low splicing accuracy, and the inability to provide real-time feedback on structural status.

[0005] Therefore, a new method for precise splicing of main arch segments is needed to solve the above problems. Summary of the Invention

[0006] In view of this, the purpose of this invention is to overcome the defects in the prior art and provide a precise splicing method for high-altitude cantilever main arch segments, which can effectively improve splicing accuracy, reduce splicing errors, and shorten the splicing cycle.

[0007] The precise splicing method for high-altitude cantilever main arch segments of the present invention includes the following steps:

[0008] S1. Select two adjacent main arch segments that are in the pre-assembly state, and set the first target and the second target on the two main arch segments respectively;

[0009] S2. When the main arch segment is pre-assembled on the ground, a camera is used to take pictures of the first target and the second target, and the camera pose A corresponding to the first target and the camera pose B corresponding to the second target are calculated, and the difference U between the camera pose A and the camera pose B is calculated.

[0010] S3. When the main arch segment is spliced ​​at high altitude, a camera is used to take pictures of the first target and the second target, and the camera pose A′ corresponding to the first target and the camera pose B′ corresponding to the second target are calculated, and the difference U′ between the camera pose A′ and the camera pose B′ is calculated.

[0011] S4. Determine whether the difference U′ is consistent with the difference U. If not, adjust the high-altitude splicing construction operation in real time to make the difference U′ consistent with the difference U. If yes, no adjustment is made.

[0012] S5. Following steps S1-S4, complete the splicing of all main arch segments.

[0013] Furthermore, the first target is a closed region formed by sequentially connecting the centers of four first sub-targets.

[0014] Furthermore, the camera pose A includes a rotation matrix R from the world coordinate system to the camera coordinate system. A and translation vector t A .

[0015] Furthermore, the camera pose A is determined according to the following formula:

[0016] wp=KP C =K(R) A ×P W +t A );

[0017] Where w is the depth of the point in the camera coordinate system, p is the coordinate of the point in the pixel coordinate system, K is the intrinsic parameter matrix of the camera, and P C Let P be the coordinates of the point in the camera coordinate system. W Let be the coordinates of the point in the world coordinate system.

[0018] Furthermore, the second target is a closed region formed by sequentially connecting the centers of four second sub-targets.

[0019] Furthermore, the camera pose B includes a rotation matrix R from the world coordinate system to the camera coordinate system. B and translation vector t B .

[0020] Furthermore, the camera pose B is determined according to the following formula:

[0021] wp=KP C =K(R) B ×P W +t B );

[0022] Where w is the depth of the point in the camera coordinate system, p is the coordinate of the point in the pixel coordinate system, K is the intrinsic parameter matrix of the camera, and P C Let P be the coordinates of the point in the camera coordinate system. W Let be the coordinates of the point in the world coordinate system.

[0023] Furthermore, the difference U includes the displacement difference between camera pose A and camera pose B in the x, y, and z directions, respectively, and the rotation difference between camera pose A and camera pose B in the x, y, and z directions, respectively.

[0024] Furthermore, the difference U′ includes the displacement difference between camera pose A′ and camera pose B′ in the x, y, and z directions, respectively, and the rotation difference between camera pose A′ and camera pose B′ in the x, y, and z directions, respectively.

[0025] The beneficial effects of this invention are as follows: The method for precise splicing of high-altitude cantilever main arch segments disclosed in this invention achieves high-precision splicing by comparing the relative positions of the first targets with the pre-splicing calibrations made in the factory or on-site during high-altitude splicing in real time, and adjusting the angle, distance, and position of high-altitude splicing in real time based on the differences in the six degrees of freedom of the relative positions. This reduces splicing errors, shortens the splicing cycle, and enables dynamic real-time feedback of the splicing status, ensuring the arch shape. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0027] Figure 1 This is a schematic diagram of the splicing method of the present invention;

[0028] Figure 2 This is a schematic diagram of the sub-target of the present invention;

[0029] Figure 3 This is a schematic diagram of the six degrees of freedom of displacement in the x, y, and z directions and rotation in the x, y, and z directions of the present invention.

[0030] Figure 4 This is a schematic diagram of the six degrees of freedom of the camera recognizing target 1' in the pre-stitched state of the present invention;

[0031] Figure 5 This is a schematic diagram of the six degrees of freedom of the camera recognizing the target 2' in the pre-stitched state of the present invention;

[0032] Figure 6 This is a schematic diagram of the six degrees of freedom of the camera recognizing target 1' in the high-altitude stitching state of the present invention;

[0033] Figure 7 This is a schematic diagram of the six degrees of freedom of the camera recognizing the target 2' in the high-altitude stitching state of the present invention;

[0034] Figure 8 This is a schematic diagram illustrating the camera's identification of the relative positions of two targets in a high-altitude stitching state, as described in this invention. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings, as shown in the figures:

[0036] The precise splicing method for high-altitude cantilever main arch segments of the present invention includes the following steps:

[0037] S1. Select two adjacent main arch segments that are in the pre-assembly state, and set the first target and the second target on the two main arch segments respectively;

[0038] S2. When the main arch segment is pre-assembled on the ground, a camera is used to take pictures of the first target and the second target, and the camera pose A corresponding to the first target and the camera pose B corresponding to the second target are calculated, and the difference U between the camera pose A and the camera pose B is calculated.

[0039] S3. When the main arch segment is spliced ​​in the air, a camera is used to photograph the first target and the second target, and the camera pose A′ corresponding to the first target and the camera pose B′ corresponding to the second target are calculated. The difference U′ between the camera pose A′ and the camera pose B′ is also calculated. Among these, a drone carrying a camera can be used to photograph the main arch being spliced ​​in the air, and existing technology is used to control the drone's shooting and flight, as well as to receive and process the image and video information captured by the drone.

[0040] S4. Determine whether the difference U′ is consistent with the difference U. If not, adjust the high-altitude splicing construction operation in real time to make the difference U′ consistent with the difference U. If yes, no adjustment is made.

[0041] S5. Following steps S1-S4, complete the splicing of all main arch segments.

[0042] In this embodiment, in step S1, before the formal splicing, the main arch segments can be pre-spliced ​​in the factory or at the high-altitude splicing site, and special targets can be fixed on the two adjacent main arch segments. For example, four sub-targets can be set near the docking position of each main arch segment; a first target can be set on one main arch and a second target can be set on the other main arch.

[0043] Wherein, the first target is a closed area formed by connecting the centers of four first sub-targets in sequence; the second target is a closed area formed by connecting the centers of four second sub-targets in sequence; in this embodiment, the sub-target is a small rectangular area and the four sub-targets are arranged in a square shape, so the formed target 1' (first target) and target 2' (second target) are both rectangular areas.

[0044] In this embodiment, in step S2, as follows: Figure 4-5As shown, in the pre-stitching state, the camera is used to photograph the target 1' and the target 2', and the 6 degrees of freedom between the target 1' and the camera and the target 2' and the camera are identified, thereby obtaining the camera pose A corresponding to the target 1' and the camera pose B corresponding to the target 2'; wherein, the 6 degrees of freedom include displacement in the x, y, and z directions and rotation in the x, y, and z directions.

[0045] The camera pose A includes a rotation matrix R from the world coordinate system to the camera coordinate system. A and translation vector t A The camera pose A is determined using the following formula:

[0046] wp=KP C =K(R) A ×P W +t A );

[0047] Where w is the depth of the point in the camera coordinate system, p is the coordinate of the point in the pixel coordinate system, K is the intrinsic parameter matrix of the camera, and P C Let P be the coordinates of the point in the camera coordinate system. W Let be the coordinates of the point in the world coordinate system.

[0048] The camera pose B includes a rotation matrix R from the world coordinate system to the camera coordinate system. B and translation vector t B Similarly, the camera pose B is determined using the following formula:

[0049] wp=KP C =K(R) B ×P W +t B );

[0050] Where w is the depth of the point in the camera coordinate system, p is the coordinate of the point in the pixel coordinate system, K is the intrinsic parameter matrix of the camera, and P C Let P be the coordinates of the point in the camera coordinate system. W Let be the coordinates of the point in the world coordinate system.

[0051] The depth of the point in the camera coordinate system Where, f x with f y c is the camera's focal length; x With c y This represents the offset of the camera's optical axis in the image coordinate system.

[0052] Based on the camera poses A and B obtained from the above calculations, the difference U between camera poses A and B can be further calculated. The difference U includes the displacement differences between camera poses A and B in the x, y, and z directions, respectively, as well as the rotation differences between camera poses A and B in the x, y, and z directions, respectively. In other words, the difference U includes the difference in 6 degrees of freedom.

[0053] In this embodiment, in step S3, as follows: Figure 6-8 As shown, in the formal high-altitude stitching state, the camera is used to take pictures of target 1' and target 2', and the 6 degrees of freedom between target 1' and the camera and the 6 degrees of freedom between target 2' and the camera are identified, so as to obtain the camera pose A' corresponding to target 1' and the camera pose B' corresponding to target 2'.

[0054] Similar to the principle of calculating camera pose A and camera pose B in step S2, camera pose A′ and camera pose B′ can be calculated. Using the calculated camera pose A′ and camera pose B′, the difference U′ between them can be further calculated. The difference U′ includes the displacement differences between camera pose A′ and camera pose B′ in the x, y, and z directions, respectively, as well as the rotation differences between them in the x, y, and z directions, respectively. In other words, the difference U′ includes differences in six degrees of freedom.

[0055] In this embodiment, in step S4, it is determined whether the difference U′ is consistent with the difference U. If not, it is found which of the six degrees of freedom have inconsistent differences, and the inconsistent degrees of freedom are adjusted. For example, if the difference in x-direction displacement under high-altitude splicing is inconsistent with the difference in x-direction displacement under pre-splicing, the construction operation of high-altitude splicing is adjusted so that the difference in x-direction displacement is consistent with or the same as the difference in x-direction displacement under pre-splicing. However, no adjustment is made to the degrees of freedom with consistent or the same degree of freedom difference.

[0056] During the high-altitude splicing process of the main arch stage, it is necessary to judge whether the difference is consistent in real time and make timely adjustments to the inconsistent degrees of freedom until the splicing of the two main arch segments is completed, so as to ensure the accuracy and stability of the splicing.

[0057] Finally, following the same steps as above, the remaining main arch segments are spliced ​​together to complete the splicing of all main arch segments.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for precise splicing of high-altitude cantilever main arch segments, characterized in that: Includes the following steps: S1. Select two adjacent main arch segments that are in the pre-assembly state, and set the first target and the second target on the two main arch segments respectively; S2. When the main arch segment is pre-assembled on the ground, a camera is used to take pictures of the first target and the second target, and the camera pose A corresponding to the first target and the camera pose B corresponding to the second target are calculated, and the difference U between the camera pose A and the camera pose B is calculated. S3. When the main arch segment is spliced ​​at high altitude, a camera is used to take pictures of the first target and the second target, and the camera pose A′ corresponding to the first target and the camera pose B′ corresponding to the second target are calculated, and the difference U′ between the camera pose A′ and the camera pose B′ is calculated. S4. Determine whether the difference U′ is consistent with the difference U. If not, adjust the high-altitude splicing construction operation in real time to make the difference U′ consistent with the difference U. If yes, no adjustment is made. S5. Following steps S1-S4, complete the splicing of all main arch segments.

2. The precise splicing method for high-altitude cantilever main arch segments according to claim 1, characterized in that: The first target is a closed area formed by connecting the centers of four first sub-targets in sequence.

3. The precise splicing method for high-altitude cantilever main arch segments according to claim 2, characterized in that: The camera pose A includes a rotation matrix R from the world coordinate system to the camera coordinate system. A and translation vector t A .

4. The precise splicing method for high-altitude cantilever main arch segments according to claim 1, characterized in that: The camera pose A is determined using the following formula: wp=KP C =K(R A ×P W +t A ); Where w is the depth of the point in the camera coordinate system, p is the coordinate of the point in the pixel coordinate system, K is the intrinsic parameter matrix of the camera, and P C Let P be the coordinates of the point in the camera coordinate system. W Let R be the coordinates of the point in the world coordinate system. A Let t be the rotation matrix from the world coordinate system to the camera coordinate system. A This is the translation vector from the world coordinate system to the camera coordinate system.

5. The precise splicing method for high-altitude cantilever main arch segments according to claim 1, characterized in that: The second target is a closed area formed by connecting the centers of four second sub-targets in sequence.

6. The precise splicing method for high-altitude cantilever main arch segments according to claim 5, characterized in that: The camera pose B includes a rotation matrix R from the world coordinate system to the camera coordinate system. B and translation vector t B .

7. The precise splicing method for high-altitude cantilever main arch segments according to claim 1, characterized in that: The camera pose B is determined using the following formula: wp=KP C =K(R B ×P W +t B ); Where w is the depth of the point in the camera coordinate system, p is the coordinate of the point in the pixel coordinate system, K is the intrinsic parameter matrix of the camera, and P C Let P be the coordinates of the point in the camera coordinate system. W Let R be the coordinates of the point in the world coordinate system. B Let t be the rotation matrix from the world coordinate system to the camera coordinate system. B This is the translation vector from the world coordinate system to the camera coordinate system.

8. The precise splicing method for high-altitude cantilever main arch segments according to claim 1, characterized in that: The difference U includes the displacement difference between camera pose A and camera pose B in the x, y, and z directions, respectively, and the rotation difference between camera pose A and camera pose B in the x, y, and z directions, respectively.

9. The precise splicing method for high-altitude cantilever main arch segments according to claim 1, characterized in that: The difference U′ includes the displacement difference between camera pose A′ and camera pose B′ in the x, y, and z directions, respectively, and the rotation difference between camera pose A′ and camera pose B′ in the x, y, and z directions, respectively.

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