A large-span four-cable suspension bridge steel beam image positioning device and method

Abstract

The application relates to a super-large-span four-cable suspension bridge steel beam image positioning device and method, and belongs to the technical field of bridge construction measurement. The super-large-span four-cable suspension bridge steel beam image positioning device and method comprises a measurement camera, the measurement camera is used for photogrammetry on a segment ring of a steel beam to be installed, a prism is used for forming absolute coordinates of the measurement camera, a two-way inclinometer is used for measuring the inclination of a convex head and transmitting, a base is arranged on the measurement camera and connected with the two-way inclinometer, one side of the base is connected with a cable and the other side is connected with the measurement camera, so that the measurement mechanism can measure on the cable; the total station and the measurement camera are cooperated and synchronously measured, relative data of a transient image is converted into absolute image coordinates, a large number of measurement points obtain transient absolute measurement coordinates, the defects of conventional measurement on absolute precise positioning of a long and large steel beam are overcome, and the positioning measurement of the super-large-span four-cable suspension bridge steel beam is realized.

Description

Technical Field

[0001] The present application relates to the technical field of bridge construction measurement, and in particular to a device and method for image positioning of steel beams of a super-long span four-cable suspension bridge. Background Art

[0002] Ultra-large span four-cable suspension bridges, such as the Yanji Yangtze River Bridge, are four-cable double-deck suspension bridges with a span of 1,860 meters. They use a spatial four-cable structure with two cables on the upper and lower layers, two cables on the inner and outer layers, as the main load-bearing carriers. The steel beam suspension cross-section of the ultra-large span four-cable suspension bridge is suspended by four hangers distributed on the four cables. During the erection of the steel beam, one suspension cross-section of the steel beam segment is subjected to the huge structural force of the four hangers. It is difficult to balance the force on the beam segment. The huge unbalanced force may cause the steel beam to twist and deform and the beam position deviation. It is necessary to repeatedly measure the four suspension points and a large number of deformation feature points to adjust the position and correct the deformation. This requires a large number of measuring points and high-frequency observations for the positioning measurement of the steel beam ring. Steel beam positioning High measurement accuracy is required, and the allowable positioning deviation is only ±2mm, which also puts forward high-precision observation requirements for the positioning measurement of the steel beam ring mouth; during the lifting and erection of the steel beam, the beam body is suspended in the air and is affected by construction and weather, and is in a state of shaking. The unbalanced hanging of the four hangers makes the steel beam more unstable, which also puts forward the requirement of rapid positioning measurement for the positioning measurement of the steel beam ring mouth; the twisting deformation and beam position deviation of the steel beam of the ultra-large span four-cable suspension bridge must be accurately measured during the shaking. Because the steel beam is installed far away from the shore and the tower, it involves long-distance measurement issues.

[0003] Suspension bridges typically use a double-cable structure. A suspended cross-section of a steel beam segment bears the structural forces of two hangers. The forces on the beam segment are balanced, and deformation is negligible. Positioning of the steel beams of a suspension bridge can typically be completed by measuring a few measuring points during installation. Traditionally, installation measurements of suspension bridge steel beams employ the "total station polar coordinate + leveling" method. The total station is set up on stable ground or at a control point on a tower column, and positioning measurements are taken at a few points on the balanced steel beam segment. Planar coordinates and elevation measurements are performed separately for steel beam installation. Measurements of the ring dimensions of the steel beam segment to be installed typically employ the "coordinate measurement + diagonal measurement" method, which takes a long time and results in low measurement efficiency. Traditional installation measurements of suspension bridge steel beams with a small number of measuring points are not suitable for the large number of measuring points and high-frequency rapid observation requirements of ultra-large-span four-cable suspension bridges.

[0004] The ring size measurement of the steel beam joint section also adopts the close-range relative photogrammetry method. This method is to hold a camera or set up a camera on the bridge deck near the joint of the large cantilever steel beam on one side before the joint is closed, and perform relative photogrammetry of the joint of the steel beam on the other side at close range. The relative photogrammetry method only measures the geometric size of the joint of the steel beam and the relative position relationship of the feature points, and cannot provide the absolute position coordinates of the steel beam. It is not suitable for long-distance measurement of the ring of the steel beam segment during the erection of the steel beam, because during the erection of the steel beam, the measurement method of holding a camera or setting up a camera on the bridge deck of the steel beam on one side is very far away from the other side, and the accuracy of long-distance photogrammetry is very low. In addition, Absolute measurement is required for the positioning of steel beams, but close-range photogrammetry generally uses relative measurement. If absolute measurement is used, the absolute coordinates of the measuring camera must be known, but the measuring camera itself does not have the absolute coordinate measurement function; when using a photo total station for absolute photogrammetry, it is necessary to provide stable and immovable control points for placing the instrument and the photogrammetry line of sight must not exceed 50 meters, otherwise the photogrammetry accuracy will be too low. However, during the erection of the steel beams of a four-cable suspension bridge, there are no stable conditions for placing a photo total station on the shaking bridge deck, and there are no technical conditions for the close-range photogrammetry line of sight to not exceed 50 meters. Therefore, the photo total station cannot achieve precise positioning measurement of steel beams over long distances.

[0005] In summary, traditional measurement methods have the disadvantages of long measurement time, low measurement efficiency, and inability to adapt to the precise measurement of a large number of measurement points in a shaking environment. Close-range photogrammetry methods, including relative and absolute close-range photogrammetry methods, have the disadvantage of only being able to perform high-precision measurements at close range. Conventional measurement methods such as traditional measurement methods and close-range photogrammetry methods are not suitable for the measurement requirements of long-distance instantaneous precise positioning of steel beams under the unbalanced load of four hangers in an ultra-large span four-cable suspension bridge with a span of nearly 2,000 meters in a shaking environment. Summary of the Invention

[0006] The embodiments of the present application provide an image positioning device and method for steel beams of an ultra-large span four-cable suspension bridge, so as to solve the problem in the related art that it is inconvenient to precisely position steel beams instantaneously over a long distance.

[0007] In a first aspect, an embodiment of the present application provides an image positioning device for a steel beam of a super-long span four-cable suspension bridge, comprising:

[0008] A measuring mechanism comprising

[0009] A measurement camera, which is used to perform photogrammetric measurement of the segment ring of the steel beam to be installed, and instantly obtain a digital image of the segment ring of the steel beam to be installed;

[0010] A prism, wherein the prism is used to form its absolute coordinates to assist in calculating the absolute coordinates of the measurement camera;

[0011] a convex head, one end of which is connected to the prism and is used to support the prism;

[0012] A two-way inclinometer connected to the other end of the convex head, the two-way inclinometer is used to measure the inclination of the convex head and transmit it;

[0013] A base, the base being arranged on the measurement camera and connected to the two-axis inclinometer;

[0014] a base, one side of the base being connected to the cable and the other side of the base being connected to the measurement camera, so that the measurement mechanism can perform measurements on the cable;

[0015] Also includes:

[0016] A cable-mounted instrument rack connected to the base for driving the measuring mechanism to move to a suitable measuring position;

[0017] A total station is set at the control point and transmits the absolute coordinates of the prism and the inclination of the convex head via a wireless network;

[0018] The central controller calculates the absolute coordinates of the measurement camera according to the absolute coordinates of the prism, the slant distance from the center of the prism to the focus of the measurement camera, and the inclination of the convex head.

[0019] In some embodiments, the cable-mounted instrument rack includes a clamp disposed on the outside of the cable and a traveling frame disposed on the clamp to drive the clamp to move.

[0020] In some embodiments, the clamp is composed of two arc-shaped clamping plates hingedly connected by a hinge shaft, and the butt joint of the two clamping plates is provided with an outward edge and connected by bolts.

[0021] In some embodiments, an auxiliary wheel structure is provided on the inner wall of the clamp, which is used to limit the clamp on the cable and move with the traveling frame;

[0022] The auxiliary wheel structure comprises two groups, which are symmetrically arranged on the two splints.

[0023] In some embodiments, the auxiliary wheel structure includes an auxiliary wheel disposed between the cable and the clamp and a wheel rod fixedly connected to the inner wall of the clamp;

[0024] One end of the wheel rod away from the clamp is hinged to the auxiliary wheel.

[0025] In some embodiments, the traveling frame includes a traveling wheel arranged between the clamp and the cable, a wheel frame arranged outside the traveling wheel, a horizontal axis arranged between the traveling wheel and the wheel frame, and a control device arranged on the clamp for controlling the operation of the traveling frame. The wheel frame is provided with a connecting rod passing through the clamp and extending out of the clamp at one end away from the traveling wheel, and the extending end of the connecting rod is in the shape of a "7". A first power device for braking the traveling wheel is also provided on the extending end of the connecting rod, and a second power device for driving the traveling wheel to move is provided on the wheel frame.

[0026] In some embodiments, the first power device is a jack, which is disposed on an outer side wall of the clamp, and a piston rod of the jack is connected to the protruding end of the connecting rod.

[0027] In some embodiments, the second power device is a motor, and the output shaft of the motor is transmission-connected to the transverse shaft.

[0028] In some embodiments, the control device is controlled by a central controller.

[0029] A second aspect of the present application provides a method for image positioning of a steel beam of a super-long span four-cable suspension bridge, comprising the following steps:

[0030] The base, the measuring camera, the base, the two-way inclinometer, the convex head and the prism are sequentially connected and fixed to each other to form a measuring mechanism, and then fixed to the cable-mounted instrument frame through the base;

[0031] The cable-mounted instrument racks are respectively installed on the cables of the suspension bridge through clamps. The suspension bridge has four cables, and each cable is provided with a cable-mounted instrument rack.

[0032] In the absolute coordinate system of the bridge construction, the total station is placed on the known control points of the bridge. According to the instructions of the central controller, the total station observes the absolute coordinates of the prism installed at the top center of the measurement camera;

[0033] The total station transmits the absolute coordinates of each prism to the central controller via the wireless network. At the same time, the two-way inclinometer transmits the inclination of the convex head to the central controller via the wireless network. The central controller calculates the absolute coordinates of the measurement camera based on the absolute coordinates of each prism, the slant distance from the center of each prism to the focus of the measurement camera, and the inclination of the convex head.

[0034] The central controller transmits synchronously with the total station, controls the measurement camera to perform photogrammetric measurement of the segment ring of the steel beam to be installed, instantly obtains the digital image of the segment ring of the steel beam to be installed, and transmits the digital image of the segment ring of the steel beam to be installed to the central controller via the wireless network;

[0035] The central controller receives the digital image of the segment ring of the steel beam to be installed, and measures the relative coordinates of the four hanging points and each characteristic point of the segment of the steel beam to be installed;

[0036] Based on the absolute coordinates of the measurement camera and the relative coordinates of the four hanging points and the characteristic points of the steel beam segment to be installed, the central controller calculates the real-time absolute coordinates of the four hanging points and the characteristic points of the steel beam segment to be installed;

[0037] Based on the real-time absolute coordinates and theoretical coordinates of the four hanging points and each characteristic point of the steel beam segment to be installed, the central controller calculates the difference between the real-time absolute coordinates and the designed coordinates of the four hanging points and each characteristic point of the steel beam segment to be installed;

[0038] According to the difference between the real-time absolute coordinates and the design coordinates of the four hanging points and each characteristic point of the steel beam segment to be installed, the four hanging rods are balanced and adjusted to correct the deformation and position deviation of the ring mouth of the steel beam segment to be installed;

[0039] Repeat the above steps until the segment ring deformation and position deviation of the steel beam to be installed meet the steel beam installation tolerance requirements, and the steel beam is in place.

[0040] The embodiment of the present application provides an image positioning device and method for the steel beam of a super-large span four-cable suspension bridge, in which a total station is placed on a known control point of the bridge, and then a worker takes a measuring mechanism and a cable-mounted instrument frame, and installs them on the cable of the next segment of the segment where the steel beam to be measured is located from a catwalk, and then wraps them around the outside of the cable with a clamp, and then closes and fixes them to the outside of the cable with bolts, and then drives the measuring mechanism to move to a suitable measuring position for measurement by the cable-mounted instrument frame. The movable measuring mechanism makes the measuring position more accurate, and the steel beam is measured on the cable, so that the measuring distance is closer to the steel beam, avoiding the reduction in measurement accuracy caused by the measuring distance being too far, and the measuring mechanism installed on the cable overcomes the defect that close-range photogrammetry cannot be used for long-distance precision measurement. The cable-loaded instrument frame realizes the separate and synchronous instantaneous measurement of the photogrammeter and the total station, which overcomes the defect that traditional measurement cannot perform routine measurement when the four-cable suspended steel beam is in a shaking state. The digital image of the ring mouth of the steel beam segment to be installed is instantly obtained by the measuring camera, and the instantaneous relative coordinates of a large number of characteristic points of the steel beam are quickly obtained, realizing rapid measurement when the four-cable suspended steel beam is in a shaking state; the total station synchronously observes the absolute coordinates of the measuring camera. While the measuring camera positions the steel beam and collects instantaneous image data, the total station obtains the absolute coordinates of the center of the measuring camera. In this way, the central controller converts the instantaneous image data containing a large number of relative coordinates of measuring points into absolute image coordinates, overcoming the defect that traditional conventional measurement cannot perform long and large steel beams for precise measurement of a large number of points at a long distance in order to achieve absolute positioning, realizing absolute positioning measurement of steel beams of ultra-large span suspension bridges. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 A schematic diagram of the structure provided in an embodiment of the present application;

[0043] Figure 2 This is a schematic diagram of the structure of the cable-loaded instrument rack provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of the structure of the traveling frame provided in the embodiment of the present application;

[0045] Figure 4 A top view of the clamp provided in the embodiment of the present application;

[0046] Figure 5 This is a schematic diagram of the side structure of the cable-loaded instrument rack provided in an embodiment of the present application.

[0047] 1. Cable-mounted instrument rack; 2. Measuring camera; 3. Prism; 4. Total station; 5. Central controller; 6. Clamp; 7. Traveling frame; 8. Cable; 9. Wheel bar; 10. Base; 11. Steel beam; 12. Auxiliary wheel; 13. Head; 14. Base; 15. Two-way inclinometer; 16. Motor; 17. Travel wheel; 18. Jack; 19. Wheel frame; 20. Cross axis; 21. Connecting rod. DETAILED DESCRIPTION

[0048] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] An embodiment of the present application provides an image positioning device for steel beams of an ultra-large span four-cable suspension bridge, which can solve the problem of inconvenience in instantaneous and precise positioning of steel beams over a long distance.

[0050] See also Figure 1-4 and Figure 5As shown, a specific embodiment of an image positioning device for a steel beam of a super-large span four-cable suspension bridge includes a measuring camera 2, a prism 3, a protruding head 13, a two-way inclinometer 15, a base 14, a pedestal 10, a cable-mounted instrument rack 1, a total station 4 and a central controller 5.

[0051] The base 10, the measuring camera 2, the base 14, the two-way inclinometer 15, the convex head 13 and the prism 3

[0052] The measuring camera 2 is connected in sequence, and the base 14 is fixedly connected to the side of the measuring camera 2 away from the base 10. The two-way inclinometer 15 is fixedly connected to the base 14. The prism 3 is arranged on the side of the two-way inclinometer 15 away from the base 14. The protrusion 13 is fixedly connected between the prism 3 and the two-way inclinometer 15.

[0053] When it is necessary to perform positioning measurement on the steel beam 11, the base 10 is fixedly connected to the cable-mounted instrument frame 1, and then connected to the cable 8 through the cable-mounted instrument frame 1 to move it to the measuring position. The absolute coordinates of the prism 3 are transmitted to the central controller 5 through the total station 4 using the wireless network. At the same time, the two-way inclinometer 15 transmits the inclination of the convex head 13 to the central controller 5 through the wireless network. The central controller 5 calculates the absolute coordinates of the measuring camera 2 based on the absolute coordinates of each prism 3 and the slant distance from the center of each prism 3 to the focus of the measuring camera 2 and the inclination of the convex head 13. The central controller 5 controls the measuring camera 2 to perform photogrammetry on the segment ring mouth of the steel beam 11 to be installed, instantly obtains the digital image of the segment ring mouth of the steel beam 11 to be installed, and transmits the digital image of the segment ring mouth of the steel beam 11 to be installed to the central controller 5 through the wireless network.

[0054] There are four cables 8, so four sets of cable-carrying instrument frames 1 and measuring mechanisms are needed to measure the steel beam 11. The central controller 5 receives the digital image of the segment ring mouth of the steel beam 11 to be installed, and measures the relative coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed, and measures the absolute coordinates of the measuring camera 2 and the relative coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed. The central controller 5 calculates the real-time absolute coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed, and then the real-time absolute coordinates and theoretical coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed. The central controller 5 calculates the difference between the real-time absolute coordinates and the designed coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed, and finally the difference between the real-time absolute coordinates and the designed coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed, and balances and adjusts the four suspension cables to correct the deformation and position deviation of the segment ring mouth of the steel beam 11 to be installed.

[0055] In some optional embodiments, see Figure 2As shown, the cable-mounted instrument frame 1 includes a clamp 6 arranged on the outside of the cable 8 and a running frame 7 arranged on the clamp 6 to drive the clamp 6 to move. The running frame 7 is arranged on the clamp 6, and the measuring mechanism can be connected to the cable 8 through the clamp 6, so that the measuring mechanism can be set on the cable 8, and then the clamp 6 is moved by the running frame 7 to drive the measuring mechanism to move to a suitable measuring position.

[0056] In some optional embodiments, see Figure 2 and Figure 4-5 As shown, the clamp 6 is composed of two arc-shaped clamps hinged by a hinge axis, and the joint of the two clamps is provided with an outward edge and connected by bolts. The two hinged arc-shaped clamps are opened, and then the cable 8 is wrapped from the outside of the cable 8, and then merged and fixed with bolts through the bolt holes at the joint, so that it can be fixedly wrapped on the cable 8 and will not fall off. The clamp 6 is cylindrical and hollow with openings at both ends.

[0057] In some optional embodiments, see Figure 2 and 4 -5, an auxiliary wheel structure is provided on the inner wall of the clamp 6, which is used to limit the clamp 6 on the cable 8 and move with the traveling frame 7. There are two sets of auxiliary wheel structures, which are symmetrically arranged on the two clamping plates. The auxiliary wheel structure prevents the clamp 6 from being in a completely active state on the cable 8 without being limited, causing it to shake and fall at will.

[0058] In this embodiment, the auxiliary wheel structure includes an auxiliary wheel 12 arranged between the cable 8 and the clamp 6 and a wheel rod 9 fixedly connected to the inner wall of the clamp 6. A U-shaped opening is opened at the end of the wheel rod 9 away from the clamp 6. The auxiliary wheel 12 is hinged in the U-shaped opening. The auxiliary wheel arranged between the clamp 6 and the cable 8 prevents the clamp 6 from falling, and the two auxiliary wheels 12 are symmetrically arranged so that they can support each other to form a limit. When the clamp 6 moves on the cable 8, the mutually opposed auxiliary wheels 12 are used to fill and support the inside to prevent the clamp 6 from falling off at will.

[0059] In some optional embodiments, see Figure 2-5As shown, the running frame 7 has two groups, which are respectively arranged on two splints and are symmetrically arranged. The running frame 7 includes a connecting rod 21, a walking wheel 17, a wheel frame 19 and a control device. Both ends of the connecting rod 21 pass through the clamp 6 and extend out. The walking wheel 17 is located between the clamp 6 and the cable 8, and the walking wheel 17 can walk on the cable 8. The wheel frame 19 is arranged on the outside of the walking wheel 17 and is semi-wrapped. A transverse axis 20 is provided between the wheel frame 19 and the walking wheel 17. One end of the transverse axis 20 is fixed to the walking wheel 17, and the other end is rotatably connected to the wheel frame 19, so that the walking wheel 17 can rotate in the wheel frame 19. The wheel frame 19 is fixed to one end of the connecting rod 21 extending into the clamp 6, and the other end of the connecting rod 21 extends out of the clamp 6 and is bent 90° into a "7" shape. A first power device is provided on the outer wall of the clamp 6, and the first power device and the connecting rod The bent end of 21 is connected and drives the connecting rod 21 to move up and down. When the connecting rod 21 is raised, the contact pressure between the walking wheel 17 and the cable 8 becomes smaller, so that the walking wheel 17 can be driven to move by the second power device, driving the cable-carrying instrument frame 1 and the measuring mechanism to move. When the first power device drives the connecting rod 21 to be squeezed toward the cable 8, the two symmetrical walking wheels 17 squeeze the cable 8, increase the pressure between them and the cable 8, increase the friction, and produce a braking effect, so that it can be braked and stopped at the measuring position to avoid movement. When the connecting rod 21 moves, the auxiliary wheel structure is used to make the connecting rod 21 move through the first power device. The first power device needs to make the clamp 6 bear force before applying force to the connecting rod 21, to avoid the lack of a support mechanism inside the clamp 6, resulting in no force point and no ability to bear force, resulting in inability to drive.

[0060] In this embodiment, the first power device is a jack 18 , and a piston rod of the jack 18 is fixedly connected to the bent end of the connecting rod 21 .

[0061] In this embodiment, the second power device is a motor 16, and the output shaft of the motor 16 is connected to the horizontal shaft 20. The motor 16 drives the horizontal shaft 20 to rotate, and the horizontal shaft 20 drives the walking wheel 17 to rotate, so that the walking wheel 17 drives the cable-carrying instrument frame 1 to move.

[0062] In this embodiment, the control device is used to control the start and stop of the jack 18 and the start and stop of the motor 16. The central controller 5 controls the control device and sends control command signals to it.

[0063] In some optional embodiments, see Figure 1-5 As shown, the embodiment of the present application provides a method for an image positioning device for a steel beam of a super-long span four-cable suspension bridge, comprising the following steps:

[0064] Step 1: Connect and fix the base 10, measurement camera 2, base 14, two-way inclinometer 15, protrusion 13 and prism 3 in sequence to form a measuring mechanism, and then fix the measuring mechanism to the clamp 6 in the cable-mounted instrument frame 1 through the base 10.

[0065] Step 2: The cable-mounted instrument frame 1 is installed on a section of cable 8 between two cable clamps on the suspension bridge through the clamp 6. The suspension bridge has four cables 8, and each cable 8 is provided with a combination of a cable-mounted instrument frame 1 and a measuring mechanism. Then, the cable-mounted instrument frame 1 drives the measuring mechanism to move to a suitable measuring position on the cable 8 through the traveling frame 7. The measuring position has a sight distance of no more than 50 meters from the steel beam 11 and has a line of sight with the steel beam 11.

[0066] Step 3: Place the total station 4 on a known control point of the bridge in the absolute coordinate system of the bridge construction. The total station 4 observes the absolute coordinates of the prism 3 installed at the top center of the measurement camera 2 according to the instructions of the central controller 5.

[0067] Step 4: The total station 4 transmits the absolute coordinates of each prism 3 to the central controller 5 via the wireless network. At the same time, the two-way inclinometer 15 transmits the inclination of the convex head 13 to the central controller 5 via the wireless network. The central controller 5 calculates the absolute coordinates of the measurement camera 2 based on the absolute coordinates of each prism 3, the slant distance from the center of each prism 3 to the focus of the measurement camera 2, and the inclination of the convex head 13.

[0068] Step 5: The central controller 5 transmits synchronously with the total station 4, controls the measuring camera 2 to perform photogrammetric measurement of the segment ring mouth of the steel beam 11 to be installed, instantly obtains the digital image of the segment ring mouth of the steel beam 11 to be installed, and transmits the digital image of the segment ring mouth of the steel beam 11 to be installed to the central controller 5 via the wireless network.

[0069] Step 6: The central controller 5 receives the digital image of the segment ring of the steel beam 11 to be installed, and measures the relative coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed.

[0070] Step 7: Based on the absolute coordinates of the measurement camera 2 and the relative coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed, the central controller 5 calculates the real-time absolute coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed.

[0071] Step 8: Based on the real-time absolute coordinates and theoretical coordinates of the four hanging points and each characteristic point of the segment of the steel beam 11 to be installed, the central controller 5 calculates the difference between the real-time absolute coordinates and the design coordinates of the four hanging points and each characteristic point of the segment of the steel beam 11 to be installed.

[0072] Step 9: According to the difference between the real-time absolute coordinates and the design coordinates of the four hanging points and each characteristic point of the segment of the steel beam 11 to be installed, the four hanging rods are balanced and adjusted to correct the segment ring deformation and position deviation of the steel beam 11 to be installed.

[0073] Step 10: Repeat the above steps until the segment ring deformation and position deviation of the steel beam 11 to be installed meet the installation tolerance requirements of the steel beam 11, so that the steel beam 11 is in place.

[0074] Working principle and usage process of this application:

[0075] When measurement and positioning are required, the total station 4 is placed on a known control point of the bridge. The staff then takes the combination of the measuring mechanism and the cable-mounted instrument frame 1, goes over the catwalk and installs it on the cable 8 of the next section of the section where the steel beam 11 to be measured is located, unfolds it through the clamp 6 and wraps it around the outside of the cable 8, then closes it and fixes it to the outside of the cable 8 with bolts, then starts the jack 18 to make the walking wheel 17 contact the cable 8 and slightly squeeze the cable 8 to generate friction for walking, then starts the motor 16 to make the motor 16 drive the walking wheel 17 to rotate, and then moves the cable-mounted instrument frame 1 and the measuring mechanism to the appropriate measuring position, and then observes the prism through the total station 4. The absolute coordinates of the measuring camera 2 are calculated based on the absolute coordinates of each prism 3 and the slant distance from the center of each prism 3 to the focus of the measuring camera 2 and the inclination of the convex head 13. The central controller 5 transmits the absolute coordinates of the measuring camera 2 to the central controller 5 through the wireless network. The central controller 5 transmits the absolute coordinates of the measuring camera 2 to the central controller 5 through the wireless network. The central controller 5 transmits the absolute coordinates of the measuring camera 2 to the central controller 5 through the wireless network. The central controller 5 transmits the absolute coordinates of the measuring camera 2 to the central controller 5 through the wireless network. The central controller 5 transmits the absolute coordinates of the measuring camera 2 to the central controller 5 through the wireless network. The central controller 5 transmits the absolute coordinates of the measuring camera 2 to the central controller 5 through the wireless network. The central controller 5 transmits the absolute coordinates of the measuring camera 2 to the central controller 5 through the wireless network. The central controller 5 transmits the absolute coordinates of the measuring camera 2 to the central controller 5 through the wireless network. The controller 5 receives the digital image of the segment ring of the steel beam 11 to be installed, and measures the relative coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed. According to the absolute coordinates of the measuring camera 2 and the relative coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed, the central controller 5 calculates the real-time absolute coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed. According to the real-time absolute coordinates and theoretical coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed, the central controller 5 calculates the difference between the real-time absolute coordinates and the designed coordinates of the four hanging points and each feature point of the segment of the steel beam 11 to be installed. The difference between the real-time absolute coordinates and the design coordinates of the four hanging points and each characteristic point of the steel beam 11 segment is used to balance and adjust the four suspension cables, correct the segment ring deformation and position deviation of the steel beam 11 to be installed, and then repeat the operation until the coordinates of the steel beam 11 meet the installation requirements, and then install the steel beam 11. After the installation of this section of the steel beam 11, open the clamp 6, remove the cable-carrying instrument frame 1 from the cable 8, and continue to place it on the next section of the cable 8 to measure the installation of the next section of the steel beam 11. Through close-range shooting and measurement, the low accuracy of ultra-long-distance shooting and measurement is avoided, and the suspension cable and cable 8 are shaking, and the problem of real-time instant shooting and accurate measurement at ultra-long distances cannot be avoided.

[0076] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0077] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0078] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. An image positioning device for steel beams of a super-long span four-cable suspension bridge, characterized by: include A measuring mechanism comprising A measurement camera (2), the measurement camera (2) is used for photogrammetric measurement of the segment ring opening of the steel beam (11) to be installed, and instantaneously acquiring a digital image of the segment ring opening of the steel beam (11) to be installed; A prism (3), wherein the prism (3) is used to form its absolute coordinates to assist in calculating the absolute coordinates of the center of the measurement camera (2); a convex head (13), one end of the convex head (3) being connected to the prism (3) and used for supporting the prism (3); A two-way inclinometer (15), the two-way inclinometer (15) is connected to the other end of the convex head (13), and the two-way inclinometer (15) is used to measure the inclination of the convex head (13) and transmit it; A base (14), the base (14) being arranged on the measuring camera (2) and connected to the two-way inclinometer (15); A base (10), one side of the base (10) is connected to the cable (8) and the other side is connected to the measurement camera (2), so that the measurement mechanism can perform measurements on the cable (8); A cable-mounted instrument rack (1), wherein the cable-mounted instrument rack (1) is connected to a base (10) and is used to drive the measuring mechanism to move to a suitable measuring position; A total station (4), wherein the total station (4) is arranged at a control point and transmits the absolute coordinates of the prism (3) and the inclination of the convex head (13) via a wireless network; A central controller (5), wherein the central controller (5) calculates the absolute coordinates of the measuring camera (2) based on the absolute coordinates of the prism (3), the slant distance from the center of the prism (3) to the focus of the measuring camera (2), and the inclination of the convex head (13); The central controller (5) is also used to control the measurement camera (2) to perform photogrammetric measurement on the segment ring opening of the steel beam (11) to be installed, instantaneously obtain a digital image of the segment ring opening of the steel beam (11) to be installed, and transmit the digital image of the segment ring opening of the steel beam (11) to be installed to the central controller (5) via a wireless network; The central controller (5) receives a digital image of the segment ring of the steel beam (11) to be installed, and measures the relative coordinates of the four hanging points and each characteristic point of the segment of the steel beam (11) to be installed. Based on the relative coordinates of the four hanging points and each characteristic point of the segment of the steel beam (11) to be installed and the absolute coordinates of the measuring camera (2), the real-time absolute coordinates of the four hanging points and each characteristic point of the segment of the steel beam (11) to be installed are calculated. Finally, according to the difference between the real-time absolute coordinates of the four hanging points and each characteristic point of the segment of the steel beam (11) to be installed and the design coordinates, the four hanging rods are balanced and adjusted to correct the deformation and position deviation of the segment ring of the steel beam (11) to be installed.

2. The image positioning device for a steel beam of a super-long span four-cable suspension bridge according to claim 1, characterized in that: The cable-carrying instrument rack (1) comprises a clamp (6) arranged outside the cable (8) and a traveling frame (7) arranged on the clamp (6) for driving the clamp (6) to move.

3. The image positioning device for steel beams of a super-long span four-cable suspension bridge according to claim 2, characterized in that: The clamp (6) is composed of two arc-shaped clamping plates hingedly connected by a hinge shaft, and the butt joint of the two clamping plates is provided with an outward turning edge and is connected by bolts.

4. The image positioning device for steel beams of a super-long span four-cable suspension bridge according to claim 3, characterized in that: An auxiliary wheel structure is provided on the inner wall of the clamp (6), which is used to limit the clamp (6) on the cable (8) and move along with the traveling frame (7); The auxiliary wheel structure comprises two groups, which are symmetrically arranged on the two splints.

5. The image positioning device for steel beams of a super-long span four-cable suspension bridge according to claim 4, characterized in that: The auxiliary wheel structure comprises an auxiliary wheel (12) arranged between the cable (8) and the clamp (6) and a wheel rod (9) fixed to the inner wall of the clamp (6); One end of the wheel rod (9) away from the clamp (6) is hinged to the auxiliary wheel (12).

6. The image positioning device for steel beams of a super-long span four-cable suspension bridge according to claim 2, characterized in that: The traveling frame (7) comprises a traveling wheel (17) arranged between the clamp (6) and the cable (8), a wheel frame (19) arranged outside the traveling wheel (17), a transverse shaft (20) arranged between the traveling wheel (17) and the wheel frame (19), and a control device arranged on the clamp (6) for controlling the operation of the traveling frame (7). The end of the wheel frame (19) away from the traveling wheel (17) is provided with a connecting rod (21) that passes through the clamp (6) and extends out of the clamp (6), the extending end of the connecting rod (21) is in the shape of a "7", and a first power device for braking the traveling wheel (17) is also provided on the extending end of the connecting rod (21), and a second power device for driving the traveling wheel (17) to travel is provided on the wheel frame (19).

7. The image positioning device for steel beams of a super-long span four-cable suspension bridge according to claim 6, characterized in that: The first power device is a jack (18), which is arranged on the outer side wall of the clamp (6), and the piston rod of the jack (18) is connected to the protruding end of the connecting rod (21).

8. The image positioning device for steel beams of a super-long span four-cable suspension bridge according to claim 7, characterized in that: The second power device is a motor (16), and an output shaft of the motor (16) is transmission-connected to the transverse shaft (20).

9. The image positioning device for steel beams of a super-long span four-cable suspension bridge according to claim 6, characterized in that: The control device is controlled by a central controller (5).

10. The method for image positioning of a steel beam of a super-long span four-cable suspension bridge according to any one of claims 1 to 9, characterized in that: The base (10), the measuring camera (2), the base (14), the two-way inclinometer (15), the protruding head (13) and the prism (3) are sequentially connected and fixed to each other to form a measuring mechanism, and then fixed to the cable-mounted instrument frame (1) through the base (10); The cable-carrying instrument racks (1) are respectively installed on the cables (8) of the suspension bridge through the clamps (6), and the suspension bridge has four cables (8), and each cable (8) is provided with a cable-carrying instrument rack (1); In the absolute coordinate system of the bridge construction, the total station (4) is placed on a known control point of the bridge. The total station (4) observes the absolute coordinates of the prism (3) installed at the top center of the measurement camera (2) according to the instructions of the central controller (5); The total station (4) transmits the absolute coordinates of each prism (3) to the central controller (5) via a wireless network, and at the same time, the two-way inclinometer (15) transmits the inclination of the convex head (13) to the central controller (5) via a wireless network. The central controller (5) calculates the absolute coordinates of the measuring camera (2) based on the absolute coordinates of each prism (3), the slant distance from the center of each prism (3) to the focus of the measuring camera (2), and the inclination of the convex head (13); The central controller (5) transmits synchronously with the total station (4), controls the measuring camera (2) to perform photogrammetric measurement of the segment ring opening of the steel beam (11) to be installed, instantly obtains the digital image of the segment ring opening of the steel beam (11) to be installed, and transmits the digital image of the segment ring opening of the steel beam (11) to be installed to the central controller (5) via a wireless network; The central controller (5) receives a digital image of the segment ring of the steel beam (11) to be installed, and measures the relative coordinates of the four hanging points and each characteristic point of the segment of the steel beam (11) to be installed; The central controller (5) calculates the real-time absolute coordinates of the four hanging points and the characteristic points of the segment of the steel beam (11) to be installed based on the absolute coordinates of the measurement camera (2) and the relative coordinates of the four hanging points and the characteristic points of the segment of the steel beam (11) to be installed; The central controller (5) calculates the difference between the real-time absolute coordinates and the designed coordinates of the four hanging points and the characteristic points of the segment of the steel beam (11) to be installed according to the real-time absolute coordinates and the theoretical coordinates of the four hanging points and the characteristic points of the segment of the steel beam (11) to be installed; According to the difference between the real-time absolute coordinates and the design coordinates of the four hanging points and each characteristic point of the segment of the steel beam (11) to be installed, the four hanging rods (9) are balanced and adjusted to correct the segment ring deformation and position deviation of the steel beam (11) to be installed; Repeat the above steps until the segment ring deformation and position deviation of the steel beam (11) to be installed meet the installation tolerance requirements of the steel beam (11), so that the steel beam (11) is in place.

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