Precision Deformation Measurement Method and System for Integrated Tower-Girder-Anchor Cable Measurement in Long-Span Bridges

Abstract

This application relates to the field of bridge construction surveying technology, and discloses a precise deformation measurement method and system for the integrated tower-beam-anchor-cable system of a long-span bridge. The measurement method includes: setting up a group of measuring robots on both sides of the bridge, with each group consisting of two or more measuring robots; using at least two measuring robots in the same group to observe the three-dimensional coordinates of deformation measuring points at the far bank of the beam, mid-span of the beam, mid-span of the cable, and upper tower column on the same side; then, combining the original coordinates of each deformation measuring point, calculating the deformation value of each deformation measuring point; measuring the three-dimensional coordinates of deformation measuring points at the near bank of the beam, middle and lower tower columns, and anchors using a nearby measuring robot on the same side; combining the original coordinates of the deformation measuring points at the near bank of the beam, middle and lower tower columns, and anchors, calculating the deformation value of each deformation measuring point; and drawing the overall deformation curve of the tower column, beam, anchor, and cable based on the deformation values. This application has the effect of accurately reflecting the overall deformation relationship of various parts of the bridge under various construction conditions.

Description

Technical Field

[0001] This application relates to the field of bridge construction surveying technology, and in particular to a precision deformation measurement method and system for the integrated tower-beam-anchor cable of a long-span bridge. Background Technology

[0002] In recent years, long-span cable-stayed bridges and suspension bridges have developed rapidly and achieved great success. Cable-stayed bridges have spans exceeding 1,000 meters, and suspension bridges are approaching 2,000 meters in span. While spans are continuously expanding, bridge structural designs are becoming increasingly innovative. For example, the newly built Tongling Yangtze River Bridge uses a cable-stayed + suspension structure, where the deformations of the towers, beams, anchors, and cables interact with each other, making the measurement of these deformations more challenging.

[0003] During the construction of long-span bridges, the construction conditions of the tower, beam, and anchor cables are complex. In the construction of cable-stayed bridges, the construction conditions include cable hanging, initial cable tensioning, and beam erection, while the construction conditions of suspension bridges include main cable saddle installation, catenary erection, cable installation, cable adjustment, and steel beam erection. Under each condition, the deformation of the tower, beam, anchor, and cable is interconnected. For example, during beam erection, the weight of the beam causes cable deformation, and the cable pulling on the tower causes tower deformation, requiring integrated monitoring. In addition, their deformations are also mutually influential and affected by atmospheric environment, solar temperature difference, and construction loads, requiring integrated measurement.

[0004] However, most traditional deformation measurement systems are developed specifically for the deformation measurement characteristics of operational bridges. Due to the large height differences between towers, beams, anchors, and cables, and the large span of bridges, traditional deformation measurement systems require separate deformation measurements for each component, sometimes even using different instruments for different parts. The long observation intervals between each part result in measurements being taken at different times and under different construction conditions. Furthermore, the use of different instruments for each part leads to significant differences in observation accuracy. In summary, traditional deformation measurement systems cannot accurately reflect the overall deformation relationship of the bridge under various construction conditions, and urgently need improvement. Summary of the Invention

[0005] This application provides a method and system for integrated precision deformation measurement of towers, beams, anchors, and cables in long-span bridges. This method and system can measure the deformation of towers, beams, anchors, and cables in an integrated manner, accurately reflecting the overall deformation relationship of various parts of the bridge under different construction conditions.

[0006] On the one hand, this application provides a precise deformation measurement method for the integrated tower-beam-anchor-cable system of a long-span bridge, which includes: setting up a group of measuring robots on both sides of the bridge, with each group including two or more measuring robots; using at least two measuring robots in the same group to observe the three-dimensional coordinates of the deformation measuring points at the far bank of each beam, the mid-span deformation measuring point of the beam, the mid-span deformation measuring point of the cable, and the deformation measuring point of the upper tower column on the same side, and then calculating the deformation value of each deformation measuring point by combining the original coordinates of each deformation measuring point; measuring the three-dimensional coordinates of the deformation measuring points near the bank of each beam, the deformation measuring points of the middle and lower tower columns, and the deformation measuring points of the anchor by using a nearby measuring robot on the same side, and then calculating the deformation value of each deformation measuring point by combining the original coordinates of the deformation measuring points near the bank of each beam, the middle and lower tower columns, and the anchor; and drawing the overall deformation curve of the tower column, beam, anchor, and cable based on the deformation values.

[0007] In some embodiments, a reference prism is set at the center of the top handle of each measuring robot, and the center of each reference prism coincides with the center of the known deformation measurement control network point where each measuring robot is stationed. Each measuring robot observes the reference prism of the measuring robot that is in line with it and is the farthest away from it, and obtains the one-way three-dimensional observation coordinates of the reference prism that it is in line with. The one-way three-dimensional observation coordinates of the reference prism are compared with the coordinates of the center of the known deformation measurement control network point where the measuring robot where the reference prism is located, and the differential reference coordinate correction coefficient of each measuring robot is obtained.

[0008] In some embodiments, the calculation steps for the deformation values ​​of the various beam deformation measuring points at the far bank, beam mid-span, and cable mid-span include: calculating the intersection adjustment value of multiple three-dimensional coordinates of each deformation measuring point observed by multiple measuring robots; subtracting the original coordinates of each deformation measuring point from the intersection adjustment value of each deformation measuring point to obtain the deformation value of that deformation measuring point.

[0009] In some embodiments, before calculating the intersection adjustment value of multiple three-dimensional coordinates, the method further includes: calculating the average value of multiple three-dimensional coordinates of each deformation measuring point observed by multiple measuring robots in three types of deformation measuring points: beam far shore deformation measuring point, beam mid-span deformation measuring point, and cable mid-span deformation measuring point; calculating the difference between each three-dimensional coordinate observed by multiple measuring robots and the average value for each deformation measuring point; if the difference for each deformation measuring point exceeds a set threshold, the measuring robots observing that deformation measuring point re-observe.

[0010] In some embodiments, the steps for calculating the deformation value of each of the upper tower column deformation measuring points include: calculating the average value of multiple three-dimensional coordinates of each upper tower column deformation measuring point obtained by multiple measuring robots; subtracting the original coordinates of the upper tower column deformation measuring point from the average value corresponding to each upper tower column deformation measuring point to obtain the deformation value of each upper tower column deformation measuring point.

[0011] In some embodiments, the calculation steps for the deformation values ​​of each beam near-shore deformation measuring point, middle and lower tower column deformation measuring point, and anchor deformation measuring point include: subtracting the corresponding original coordinates from the three-dimensional coordinates of each beam near-shore deformation measuring point, middle and lower tower column deformation measuring point, and anchor deformation measuring point to obtain the deformation value of each deformation measuring point.

[0012] In some embodiments, after plotting the overall deformation curves of the tower, beam, anchor, and cable, the method further includes: verifying the correlation between the overall deformation curves of the tower, beam, anchor, and cable, the deformation values ​​of the beam mid-span deformation measuring points, and the deformation values ​​of the cable mid-span deformation measuring points under each construction condition, based on the theoretical correlation between the deformations of the tower, beam, anchor, and cable under each construction condition.

[0013] In some embodiments, the specific steps for drawing the overall deformation curves of the towers, beams, anchors, and cables include: drawing the beam deformation curves on both sides of each bank of the bridge based on the deformation values ​​of the near-bank deformation measuring points, far-bank deformation measuring points, and mid-span deformation measuring points of each beam on both sides of each bank; drawing the tower deformation curves on both sides of the bridge based on the deformation values ​​of the upper tower deformation measuring points and the middle and lower tower deformation measuring points on both sides of each bank; drawing the anchor deformation curves on both sides of the bridge based on the deformation values ​​of the anchor deformation measuring points on both sides of each bank; and drawing the cable deformation curves on both sides of the bridge based on the deformation values ​​of the mid-span deformation measuring points of each cable on both sides.

[0014] In some embodiments, two or more measuring robots observe the deformation measuring points of the beam at the far bank from far away and the deformation measuring points of the upper tower column from high to low; one measuring robot observes the deformation measuring points of the beam at the near bank from near away and the deformation measuring points of the middle and lower tower columns from high to low.

[0015] On the other hand, this application provides a measurement system comprising: two groups of measurement robots distributed on both sides of a bridge, each group including two or more measurement robots; a central controller, which is communicatively connected to all measurement robots and is used to control multiple measurement robots, process the observation data of the measurement robots, and plot the overall deformation curves of the tower columns, beams, anchors, and cables; and a network communication system for realizing the communication connection between multiple measurement robots and the central controller.

[0016] The beneficial effects of the technical solution provided in this application include:

[0017] This application provides a method and system for integrated precision deformation measurement of towers, beams, anchors, and cables in long-span bridges. When construction personnel measure the deformation of towers, beams, anchors, and cables, multiple pre-assembled measurement robots sequentially measure the deformation values ​​at the following points: beam deformation at the far bank, beam mid-span, beam near bank, cable mid-span, upper tower, lower and middle towers, and anchor. The short intervals between measurement cycles ensure that the deformation measurements of towers, beams, anchors, and cables are performed under essentially the same conditions, thus enabling integrated measurement of the deformation of towers, beams, anchors, and cables. Furthermore, for beam deformation at the far bank, beam mid-span, cable mid-span, and upper tower deformation points, which are at greater distances, two or more measurement robots are used to improve the accuracy of these distant deformation points. For beam deformation near bank, lower and middle towers, and anchor deformation points, which are at closer distances, a single measurement robot is used for direct observation, making the accuracy of long-distance and short-distance observations comparable. In summary, this method enables integrated measurement of the deformation of towers, beams, anchors, and cables, accurately reflecting the overall deformation relationship of various bridge components under different construction conditions. Furthermore, it significantly reduces the time required for measuring the deformation of towers, beams, anchors, and cables, thereby improving the efficiency of such measurements. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the measurement method in an embodiment of this application;

[0020] Figure 2 This is a schematic diagram showing the location of each deformation measuring point in the embodiments of this application.

[0021] Figure label:

[0022] 1. Beam; 11. Beam deformation measuring point at the far bank; 12. Beam deformation measuring point at mid-span; 13. Beam deformation measuring point at the near bank; 2. Tower column; 21. Upper tower column deformation measuring point; 22. Middle and lower tower column deformation measuring points; 3. Anchor; 31. Anchor deformation measuring point; 4. Cable; 41. Cable mid-span deformation measuring point. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] During the construction of long-span bridges, the construction conditions of towers, beams, and anchor cables are complex. In the construction of cable-stayed bridges, the construction conditions include cable hanging, initial cable tensioning, beam erection, and cable adjustment. The construction conditions of suspension bridges include main cable saddle installation, catenary erection, cable installation, suspender installation, cable adjustment, and steel beam erection. Under each condition, the deformation of the tower, beam, anchor, and cable is interconnected and forms a whole. For example, during beam erection, the weight of the beam causes cable deformation, and the cable pulling on the tower causes tower deformation, etc., all of which are interconnected and change as a whole, requiring integrated monitoring. In addition, their deformations also affect each other and are simultaneously affected by atmospheric environment, solar radiation temperature difference, construction load, etc., requiring synchronous measurement. However, in current construction processes, traditional deformation measurement systems measure the deformation of towers, beams, anchors, and cables separately. This results in observations of each part being conducted at different times and under different construction conditions. Furthermore, different instruments are even used for measurement of each part, leading to significant differences in the accuracy of the observations. Overall, the measurement results of traditional deformation measurement systems cannot accurately reflect the overall deformation relationship of the bridge under various construction conditions, and urgently need improvement.

[0025] To address the aforementioned issues, this application provides a precise deformation measurement method and system for the integrated tower-beam-anchor-cable structure of long-span bridges. This system can perform integrated measurement of the deformation of the tower, beam, anchor, and cable, accurately reflecting the overall deformation relationship of various parts of the bridge under different construction conditions.

[0026] Combination Figure 1 and Figure 2 An embodiment of a precision deformation measurement method integrating tower, beam, and anchor cable of a long-span bridge is provided, comprising:

[0027] S1. A set of measuring robots is set up on each side of the bridge, with each set consisting of two or more measuring robots.

[0028] S2. Use at least two measuring robots in the same group to observe the three-dimensional coordinates of the deformation measuring points 11 on the far bank of the beam, 12 at the mid-span of the beam, 41 at the mid-span of the cable, and 21 at the upper tower column on the same side. Then, combine the original coordinates of each deformation measuring point to calculate the deformation value of each deformation measuring point.

[0029] S3. The three-dimensional coordinates of each beam near-shore deformation measuring point 13, middle and lower tower column deformation measuring point 22 and anchor deformation measuring point 31 are measured by a measuring robot that is close to each other and on the same side. Then, combined with the original coordinates of each beam near-shore, middle and lower tower column and anchor deformation measuring point 31, the deformation value of each deformation measuring point is calculated.

[0030] S4. Based on each deformation value, draw the overall deformation curves of beam 1, tower column 2, anchor 3, and cable 4.

[0031] Specifically, in step S1, each group of measuring robots can be set to 3 units. In other implementations, the number of measuring robots in each group can also be 2, 4, 5, or other quantities. The upstream group of measuring robots A1, A2, and A3 are spaced apart along the length of beam 1. Measuring robots A1 and A2 are located near the two upstream tower columns 2, respectively, and measuring robot A3 is located near the middle of beam 1. The downstream group of measuring robots B1, B2, and B3 are spaced apart along the length of beam 1. Measuring robots B1 and B2 are located near the two downstream tower columns 2, respectively, and measuring robot B3 is located near the middle of beam 1.

[0032] Furthermore, to make the measurement results of each measuring robot more accurate, the following steps are included after step S1:

[0033] S11. A reference prism is set at the center of the handle at the top of each measuring robot, and the center of each reference prism is consistent with the center of the known deformation measurement control network point set up by each measuring robot.

[0034] S12. Each measuring robot observes the reference prism of the measuring robot that it sees through and is furthest away from, and obtains the one-way three-dimensional observation coordinates of the reference prism that it sees through.

[0035] S13. Compare the unidirectional three-dimensional observation coordinates of the reference prism with the coordinates of the center of the known deformation measurement control network point where the reference prism is located, and obtain the differential reference coordinate correction coefficients for each measurement robot.

[0036] Through steps S11-S13, the measurement results of each measuring robot can be corrected by the reference differential coordinate correction coefficient, thereby making the measurement results of each robot more accurate.

[0037] After completing the setup of the measuring robots in step S1 and the correction processing of the measurement results in steps S11-S13, proceed to step S2. Specifically, the three-dimensional coordinates of the deformation measuring points 11 on the far bank of the beams, 12 at the mid-span of the beams, 41 at the mid-span of the cables, and 21 on the upper tower column upstream of the bridge are simultaneously observed by three upstream measuring robots A1, A2, and A3. The three-dimensional coordinates of the deformation measuring points 11 on the far bank of the beams, 12 at the mid-span of the beams, 41 at the mid-span of the cables, and 21 on the upper tower column downstream of the bridge are simultaneously observed by three downstream measuring robots B1, B2, and B3. In other embodiments, the three-dimensional coordinates of the deformation measuring points 11 on the far bank of the beams, 12 at the mid-span of the beams, 41 at the mid-span of the cables, and 21 on the upper tower column can also be observed using two, four, or other numbers of measuring robots; two or more measuring robots are sufficient.

[0038] After completing the observation of the three-dimensional coordinates of the deformation measuring points 11 at the far bank of the beam, 12 at the mid-span of the beam, 41 at the mid-span of the cable, and 21 at the upper tower column, the deformation values ​​of the deformation measuring points 11 at the far bank of the beam, 12 at the mid-span of the beam, and 41 at the mid-span of the cable are calculated, including the following steps:

[0039] S21. Calculate the intersection adjustment value of multiple three-dimensional coordinates of each of the three deformation measuring points 11 at the far bank of the beam, 12 at the mid-span of the beam, and 41 at the mid-span of the cable, which are observed by multiple measuring robots.

[0040] S22. Subtract the original coordinates of the deformation measuring point from the intersection adjustment value of each deformation measuring point to obtain the deformation value of the deformation measuring point.

[0041] Because the observation distances of beam deformation measuring point 11 at the far bank, beam mid-span deformation measuring point 12, and cable mid-span deformation measuring point 41 are relatively far, the observation errors of each deformation measuring point are relatively large. Through the above observation and calculation methods, the three-dimensional coordinates of each beam deformation measuring point 11 at the far bank, beam mid-span deformation measuring point 12, and cable mid-span deformation measuring point 41 are observed through three different routes, forming redundant observation conditions. The contradictions caused by redundant observations are reduced by adjustment processing, thereby improving the observation accuracy of beam deformation measuring point 11 at the far bank, beam mid-span deformation measuring point 12, and cable mid-span deformation measuring point 41.

[0042] In step S21, before calculating the intersection adjustment values ​​of multiple three-dimensional coordinates, the following steps are also included:

[0043] S211. Calculate the average value of multiple three-dimensional coordinates of each of the three deformation measuring points, namely, beam deformation measuring point 11 at the far bank, beam deformation measuring point 12 at the mid-span, and cable deformation measuring point 41 at the mid-span, obtained by multiple measuring robots.

[0044] S212. Calculate the difference between each three-dimensional coordinate and the average value obtained from observations by multiple measuring robots at each deformation measuring point;

[0045] S213. If the difference between each deformation measurement point exceeds the set threshold, the measurement robots that observed the deformation measurement point shall re-observe it.

[0046] Through steps S211-S213, the invalid measurements when the measuring robot measures the deformation measurement point 11 at the far bank of the beam, the deformation measurement point 12 at the mid-span of the beam, and the deformation measurement point 41 at the mid-span of the cable can be effectively reduced, thereby further improving the measurement accuracy of the deformation measurement point 11 at the far bank of the beam, the deformation measurement point 12 at the mid-span of the beam, and the deformation measurement point 41 at the mid-span of the cable.

[0047] For deformation measuring point 21 of the upper tower column, the calculation of its deformation value includes the following steps:

[0048] S23. Calculate the average value of multiple three-dimensional coordinates obtained from observations by multiple measuring robots at each deformation measuring point 21 of the upper tower column;

[0049] S24. Subtract the original coordinates of the deformation measuring point 21 of each upper tower column from the average value corresponding to the deformation measuring point 21 of each upper tower column to obtain the deformation value of each upper tower column deformation measuring point 21.

[0050] Since the observation distance of the upper tower column deformation measuring point 21 is also relatively far, the measurement error of the upper tower column deformation measuring point 21 is also relatively large. However, since the deformation of the upper tower column deformation measuring point 21 is not as sensitive as the deformation of the beam far bank deformation measuring point 11, the beam mid-span deformation measuring point 12, and the cable mid-span deformation measuring point 41, the upper tower column deformation measuring point 21 can be processed by averaging. This also improves the measurement accuracy of the upper tower column deformation measuring point 21, making the measurement accuracy of the beam far bank deformation measuring point 11, the beam mid-span deformation measuring point 12, the cable mid-span deformation measuring point and the upper tower column deformation measuring point 21 more similar.

[0051] After processing the deformation measurement points with relatively long observation distances, the deformation measurement points with relatively short observation distances are processed, i.e., step S3. In step S3, specifically, the deformation measurement points 13 near the bank of the beam, 22 of the middle and lower tower columns, and 31 of the anchor on the upstream bank of the bridge are all measured by measurement robot A1. The deformation measurement points 13 near the bank of the beam, 22 of the middle and lower tower columns, and 31 of the anchor on the other upstream bank of the bridge are all measured by measurement robot A2. The deformation measurement points 13 near the bank of the beam, 22 of the middle and lower tower columns, and 31 of the anchor on the downstream bank of the bridge are all measured by measurement robot B1. The deformation measurement points 13 near the bank of the beam, 22 of the middle and lower tower columns, and 31 of the anchor on the other downstream bank of the bridge are all measured by measurement robot B2.

[0052] After completing the observation of the three-dimensional coordinates of the beam near-shore deformation measuring point 13, the middle and lower tower column deformation measuring point 22, and the anchor deformation measuring point 31, the deformation values ​​of the beam near-shore deformation measuring point 13, the middle and lower tower column deformation measuring point 22, and the anchor deformation measuring point 31 are calculated, including the following steps:

[0053] S31. Subtract the original coordinates from the three-dimensional coordinates of each beam near-shore deformation measuring point 13, middle and lower tower column deformation measuring point 22, and anchor deformation measuring point 31 to obtain the deformation value of each deformation measuring point.

[0054] When calculating the deformation values ​​at each deformation measuring point: for deformation measuring point 11 at the far bank of the beam, deformation measuring point 12 at the mid-span of the beam, and deformation measuring point 41 at the mid-span of the cable, the three-dimensional coordinates of each deformation measuring point measured by multiple measuring robots were cross-matched and adjusted. For deformation measuring point 21 of the upper tower column, the three-dimensional coordinates of the deformation measuring point of the upper tower column measured by multiple measuring robots were averaged. For deformation measuring points 13 near the bank of the beam, deformation measuring points 22 of the middle and lower tower columns, and anchor deformation measuring point 31, since their measurement distances are relatively close and the measurement accuracy is relatively high, the three-dimensional coordinates of each deformation measuring point measured by the measuring robots were directly used. Through the above processing, the accuracy of the deformation values ​​calculated for each deformation measuring point is relatively similar, which can more accurately reflect the deformation relationship of the bridge as a whole under various construction conditions.

[0055] It should be noted that when observing the deformation of multiple beams at the far bank on the same side, the observation time for each deformation measuring point will have a certain interval. Within the same time period, the deformation value of the farther deformation measuring point changes relatively more, while the deformation value of the closer deformation measuring point changes relatively less. Therefore, the deformation measuring points 11 at the far bank of each beam should be observed from far to near. For each deformation measuring point 13 at the near bank, within the same time period, the deformation value of the farther deformation measuring point changes relatively less, while the deformation value of the closer deformation measuring point changes relatively more. Therefore, the deformation measuring points 13 at the near bank of each beam should be observed from near to far. For the deformation measuring points 21 of the upper tower column and 22 of the middle and lower tower columns, the deformation value of the higher deformation measuring point changes relatively more, while the deformation value of the lower deformation measuring point changes relatively less. Therefore, the deformation measuring points 21 of the upper tower column and 22 of the middle and lower tower columns should be observed from high to low.

[0056] After obtaining the deformation values ​​at each deformation measuring point, the overall deformation curves of beam 1, tower column 2, anchor 3, and cable 4 can be plotted based on these values. The specific steps are as follows:

[0057] S41. Based on the deformation values ​​of the near-bank deformation measuring point 13, the far-bank deformation measuring point 11, and the mid-span deformation measuring point 12 of each beam on both sides of each bank of the bridge, draw the deformation curve of beam 1 on both sides of each bank.

[0058] S42. Based on the deformation values ​​of the upper tower column deformation measuring point 21 and the middle and lower tower column deformation measuring point 22 on each side of the bridge, draw the deformation curves of the tower column 2 on each side of the bridge.

[0059] S43. Draw the anchor deformation curves on both sides of the bridge based on the deformation values ​​of each anchor deformation measuring point 31 on each side of the bridge.

[0060] S44. Draw the deformation curves of cable 4 on both sides of the bridge based on the deformation values ​​of the deformation measuring points 41 at the mid-span of each cable on both sides of the bridge.

[0061] After drawing all the deformation curves, the staff can analyze the overall deformation relationship between beam 1, tower column 2, anchor 3 and cable 4 based on the relationship between the deformation curves of beam 1, tower column 2, anchor 3 and cable 4.

[0062] After plotting each deformation curve, the correlation between them needs to be verified. Therefore, the following steps are required:

[0063] S5. Based on the theoretical correlation of deformation between beam 1, tower column 2, anchor 3 and cable 4 under various construction conditions, verify the correlation between the overall deformation curves of beam 1, tower column 2, anchor 3 and cable 4 under various construction conditions, the deformation value of beam mid-span deformation measuring point 12 and the deformation value of cable mid-span deformation measuring point 41.

[0064] Specifically, in step S5, when any one of the four components—beam 1, tower column 2, anchor 3, and cable 4—deforms, the deformation trends of the other components can be obtained through theoretical analysis. For example, if beam 1 is observed to have a downward bending trend, theoretically, tower column 2 has a tendency to tilt towards the river, and anchor 3 has a tendency to be pulled upward. If the relationship between the beam deformation curve, tower column deformation curve, and anchor deformation curve contradicts the theoretical analysis, then it is necessary to re-observe each observation point.

[0065] This application also discloses a measurement system based on the above measurement method, which includes:

[0066] Two groups of measuring robots are positioned on both sides of the bridge, with each group consisting of two or more measuring robots.

[0067] The central controller communicates with all the measuring robots and is used to control multiple measuring robots, process the observation data of the measuring robots, and plot the overall deformation curves of the tower, beam, anchor, and cable.

[0068] A network communication system is used to enable communication between multiple measuring robots and a central controller.

[0069] Regarding the number of measurement robots in each group, in this embodiment of the application, each group of measurement robots can be 3, while in other embodiments, each group of measurement robots can be 2, 4 or more.

[0070] The central controller sends control commands to control multiple measuring robots to synchronously observe deformation measurement points according to a program. After the measuring robots complete the observation of the deformation measurement points, the three-dimensional coordinates of each deformation measurement point are transmitted to the central controller through a network communication system. Then, the deformation value of each deformation measurement point is calculated according to the set program. Finally, the deformation curves of beam 1, tower column 2, anchor 3, and cable 4 are plotted based on the deformation values ​​of each deformation measurement point.

[0071] The implementation principle of this application embodiment is as follows: When the staff measures the deformation of beam 1, tower column 2, anchor 3 and cable 4 of a long-span bridge, a measurement robot is first used to observe the three-dimensional coordinates of each beam deformation measuring point 11 on the far bank, beam mid-span deformation measuring point 12, cable mid-span deformation measuring point 41, upper tower column deformation measuring point 21, middle and lower tower column deformation measuring point 22, beam near-bank deformation measuring point 13 and anchor deformation measuring point 31. Then, the deformation value of each deformation measuring point is calculated. Finally, the deformation curves of beam 1, tower column 2, anchor 3 and cable 4 are plotted based on each deformation value. The relationship between the deformation curves of beam 1, tower column 2, anchor 3 and cable 4 is verified based on the theoretical deformation relationship between beam 1, tower column 2, anchor 3 and cable 4.

[0072] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0073] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this 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 this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A precise deformation measurement method integrating tower, beam, and anchor cable of a long-span bridge, characterized in that, include: A set of measuring robots is set up on each side of the bridge, with each set consisting of two or more measuring robots; At least two measuring robots within the same group are used to observe the three-dimensional coordinates of the deformation measuring points (11) at the far bank of the beam, (12) at the mid-span of the beam, (41) at the mid-span of the cable, and (21) at the upper tower column on the same side. Then, the deformation values ​​of each deformation measuring point are calculated by combining the original coordinates of each deformation measuring point. Specifically, this includes: calculating the intersection adjustment value of multiple three-dimensional coordinates of each deformation measuring point observed by multiple measuring robots in the three types of deformation measuring points (11), (12) at the far bank of the beam, and (41) at the mid-span of the beam, respectively; subtracting the original coordinates of the deformation measuring point from the intersection adjustment value of each deformation measuring point to obtain the deformation value of the deformation measuring point; calculating the average value of multiple three-dimensional coordinates of each upper tower column deformation measuring point (21) observed by multiple measuring robots; subtracting the original coordinates of the upper tower column deformation measuring point (21) from the average value of each upper tower column deformation measuring point (21) to obtain the deformation value of each upper tower column deformation measuring point (21). The three-dimensional coordinates of each beam near-shore deformation measuring point (13), middle and lower tower column deformation measuring point (22) and anchor deformation measuring point (31) are measured by a measuring robot that is close to and on the same side. Then, the deformation value of each deformation measuring point is calculated by combining the original coordinates of each beam near-shore deformation measuring point, middle and lower tower column and anchor deformation measuring point. The specific calculation steps include: subtracting the corresponding original coordinates from the three-dimensional coordinates of each beam near-shore deformation measuring point (13), middle and lower tower column deformation measuring point (22) and anchor deformation measuring point (31) to obtain the deformation value of each deformation measuring point. Two or more measuring robots observe the deformation measuring point (11) of the beam from far to near and the deformation measuring point (21) of the upper tower column from high to low. A measuring robot observes the deformation measurement points (13) of the beam near the shore from near to far, and observes the deformation measurement points (22) of the middle and lower tower columns from high to low; Based on each deformation value, draw the overall deformation curves of the beam (1), tower column (2), anchor (3), and cable (4).

2. The method for precise deformation measurement of integrated tower-beam-anchor cable of a long-span bridge as described in claim 1, characterized in that, A reference prism is set in the center of the top handle of each measuring robot, and the center of each reference prism is consistent with the center of the known deformation measurement control network point where each measuring robot is stationed. Each measuring robot observes the reference prism of the measuring robot that is in line of sight to it and is the farthest away from it, and obtains the one-way three-dimensional observation coordinates of the reference prism that it is in line of sight to. By comparing the unidirectional three-dimensional observation coordinates of the reference prism with the coordinates of the center of the known deformation measurement control network point where the reference prism is located, the differential reference coordinate correction coefficients of each measurement robot are obtained.

3. The method for precise deformation measurement of integrated tower-beam-anchor cable of a long-span bridge as described in claim 1, characterized in that, The calculation of the intersection adjustment values ​​of multiple three-dimensional coordinates also includes: Calculate the average value of multiple three-dimensional coordinates of each deformation measuring point obtained by multiple measuring robots in the three types of deformation measuring points: beam deformation measuring point (11) at the far bank, beam deformation measuring point (12) at the mid-span, and cable deformation measuring point (41) at the mid-span. Calculate the difference between each three-dimensional coordinate and the average value obtained from observations by multiple measuring robots at each deformation measurement point; If the difference between each deformation measurement point exceeds the set threshold, the measurement robots that observed the deformation measurement point will re-observe it.

4. The method for precise deformation measurement of integrated tower-beam-anchor cable of a long-span bridge as described in claim 1, characterized in that, The process of drawing the overall deformation curves of the beam (1), tower column (2), anchor (3), and cable (4) also includes: Based on the theoretical correlation of deformation between beam (1), tower column (2), anchor (3) and cable (4) under various construction conditions, the correlation between the overall deformation curve of beam (1), tower column (2), anchor (3) and cable (4), deformation value of beam mid-span deformation measuring point (12) and deformation value of cable mid-span deformation measuring point (41) under various construction conditions is verified.

5. The method for precise deformation measurement of integrated tower-beam-anchor cable of a long-span bridge as described in claim 1, characterized in that, The specific steps for drawing the overall deformation curves of the beam (1), tower column (2), anchor (3), and cable (4) include: Based on the deformation values ​​of the beam deformation measurement points (13) near the bank, (11) far from the bank, and (12) at the mid-span of each bank of the bridge, the beam deformation curves on both sides of each bank are plotted. Based on the deformation values ​​of the upper tower column deformation measuring points (21) and the middle and lower tower column deformation measuring points (22) on each side of the bridge, the tower column deformation curves on each side of the bridge are plotted respectively. Based on the deformation values ​​of each anchor deformation measuring point (31) on each side of the bridge, the anchor deformation curves on each side of the bridge are plotted. Based on the deformation values ​​of the mid-span deformation measuring points (41) on both sides of the bridge, the cable deformation curves on both sides of the bridge are plotted.

6. A measurement system based on the measurement method according to any one of claims 1-5, characterized in that, include: Two groups of measuring robots are positioned on both sides of the bridge, with each group consisting of two or more measuring robots. The central controller communicates with all the measuring robots and is used to control multiple measuring robots, process the observation data of the measuring robots, and draw the overall deformation curves of the beam (1), tower column (2), anchor (3), and cable (4). A network communication system is used to enable communication between multiple measuring robots and a central controller.

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