A GNSS-based high-speed railway cast-in-place beam template running monitoring method

Abstract

The present invention provides a GNSS-based high-speed railway cast-in-place beam template running monitoring method, including: step S1, using the center point of block 0# as the origin to establish a three-dimensional coordinate system; step S2, constructing a plane coordinate system in the direction of high-speed railway long mileage and perpendicular to the long mileage direction, measuring the coordinate system angle between the plane coordinate system and the plane where the high-speed railway long mileage direction and the vertical long mileage direction of the three-dimensional coordinate system are located; step S3, performing coordinate system conversion; step S4, measuring the deviation value of the observation point relative to the three-dimensional coordinate system of the plane coordinate system; step S5, calculating the theoretical coordinates of the next segment; step S6, real-time monitoring of the coordinate difference between the current actual coordinates of the observation point and the theoretical coordinates, and adjusting the casting template. The specific coordinates of the casting template during the running process are monitored by the monitoring system, and the monitoring data are compared and analyzed with the theoretical data, and the bridge construction machine central control system is linked to perform real-time dynamic adjustment of the casting template according to the comparison results.

Description

Technical Field

[0001] The invention belongs to the technical field of continuous beam construction, and in particular relates to a GNSS-based high-speed railway cast-in-place beam template running monitoring method. Background Art

[0002] The cantilever construction used in the continuous beam construction is a construction method that pours concrete symmetrically in sections along the span direction of the bridge at the top of the built pier, so it is also called the segmented construction method. Each section is constructed forward, and prestressing is applied to form a whole with the existing part after the concrete reaches strength. Cantilever casting is to install hanging baskets on both sides of the pier, symmetrically pour concrete, maintain basic balance, and move the hanging basket to the next section after the concrete tension reaches the tensile strength, and continue to pour concrete in a cycle. During the cantilever concrete pouring construction process, temporary consolidation measures are required on the top of the pier. After the cantilever construction is completed, the adjacent cantilever ends are joined into a whole and the prestressed tendons are tensioned, and then the temporary consolidation measures of the support are removed to complete the system conversion into a bridge. During the cantilever casting construction process, after the current section is constructed, the hanging basket moves to the next section, and the left and right outer formwork and bottom formwork hanger need to calibrate the plane position and elevation. After the calibration is completed, the left and right outer formwork and bottom basket are fixed at the construction site for subsequent construction. In the prior art, there are problems such as difficulty in template proofreading and asynchronous template movement during the movement of cast-in-place templates. The template coordinates need to be adjusted manually, which greatly affects the construction quality and leads to low construction efficiency.

[0003] Therefore, it is necessary to provide an improved technical solution to address the above-mentioned deficiencies in the prior art. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, and the present invention provides a GNSS-based high-speed railway cast-in-place beam formwork running monitoring method.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A GNSS-based high-speed railway cast-in-place beam template running monitoring method, comprising:

[0007] Step S1, installing the positioning reference station of the monitoring system on the 0# block of the high-speed railway cast-in-place beam, and establishing a three-dimensional coordinate system with the center point of the 0# block as the origin;

[0008] Step S2, constructing a plane coordinate system in the direction of high-speed rail mileage and the direction perpendicular to the long mileage, and measuring the coordinate system angle between the plane coordinate system and the plane in which the high-speed rail mileage direction and the direction perpendicular to the long mileage of the three-dimensional coordinate system are located;

[0009] Step S3, obtaining a change vector of one of the points in the coordinate system, and performing coordinate system transformation according to the angle between the change vector and the mileage direction of the plane coordinate system;

[0010] Step S4, installing a casting template on the bridge construction machine, setting a plurality of observation points on the casting template, and measuring deviation values ​​of the observation points relative to the three-dimensional coordinate system of the plane coordinate system;

[0011] Step S5, calculating the theoretical deviation value of the observation point corresponding to the next segment, and obtaining the theoretical coordinates of the next segment;

[0012] Step S6, real-time monitoring of the coordinate difference between the actual coordinates of the observation point and the theoretical coordinates, comparing the actual coordinates of the template observation point with the theoretical coordinates, and adjusting the casting template according to the comparison results.

[0013] Preferably, the monitoring system comprises:

[0014] Positioning base station, used as the coordinate origin of the three-dimensional coordinate system;

[0015] A monitoring module, the monitoring module is used to locate the observation point in three-dimensional space;

[0016] A data transmission module, which is used to transmit the monitored observation point coordinate data to a host computer, and the host computer calculates the observation point coordinate data and compares it with the theoretical coordinates;

[0017] There are multiple monitoring modules, and the multiple monitoring modules correspond to multiple observation points respectively.

[0018] Preferably, the monitoring module is arranged on the bridge erection machine and is respectively located on the hanging basket of the bridge erection machine, both sides of the wing plate of the casting formwork or on the main beam.

[0019] Preferably, the host is connected to the central control system of the bridge erection machine through a data transmission module to adjust the casting template of the bridge erection machine according to the comparison result.

[0020] Preferably, the monitoring module is a GNSS base station. In step S5, the casting template is re-measured after the template is fixed.

[0021] Preferably, the observation points are re-measured using the full circle direction method.

[0022] Preferably, in step S3, the coordinate system conversion relationship is:

[0023] x=rcos(α+θ)=rcosαcosθ-rsinαsinθ

[0024] y=rsin(α+θ)=rsinαcosθ+rcosαsinθ

[0025] It is derived as:

[0026] x=x'cosθ-y'sinα

[0027] y=y'cosθ+x sinα

[0028] Among them, x' is the direction of the large mileage of the plane coordinate system; y' is the direction perpendicular to the large mileage of the plane coordinate system;

[0029] x is the high-speed rail long-distance direction of the three-dimensional coordinate system; y is the vertical long-distance direction of the three-dimensional coordinate system;

[0030] θ is the coordinate system angle between the plane coordinate system and the plane where the high-speed rail long-mileage direction and the vertical long-mileage direction of the three-dimensional coordinate system are located; α is the angle between the change vector and the long-mileage direction of the plane coordinate system.

[0031] Preferably, the bottom formwork of the casting formwork is located above the hanging basket, and the hanging basket is arranged at one end of the main beam of the walking mechanism extending out from the cast-in-place beam. The bridge erecting machine is provided with a plurality of driving parts corresponding to the casting formwork, so that the casting formwork can be adjusted through the driving parts. In the longitudinal projection, the driving parts and the observation points coincide with each other.

[0032] Beneficial effects: The specific coordinates of the casting template during its movement are monitored by the monitoring system, and the monitoring data are compared and analyzed with the theoretical data. The system is linked with the central control system of the bridge-building machine to make real-time dynamic adjustments to the casting template based on the comparison results to ensure the adjustment accuracy of the template and adapt to the linearity of the bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0034] Figure 1 A schematic diagram of coordinate system conversion in a specific embodiment provided by the present invention;

[0035] Figure 2 A schematic diagram of the distribution of the monitoring system in a specific embodiment provided by the present invention;

[0036] Figure 3 This is a schematic diagram of the distribution of observation points in the specific embodiment provided by the present invention.

[0037] In the figure: 1. Block 0#; 2. Positioning base station; 3. Main beam; 4. Side form; 5. Upper cross beam; 6. Observation point; 7. Hanging basket; 8. Hanging rod. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0039] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0040] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0041] like Figure 1-3 As shown, in view of the problem that the template cannot be moved quickly and accurately in the prior art, the present invention provides a GNSS-based high-speed railway cast-in-place beam template running monitoring method. During the running of the casting template, the template hanger point is monitored by the monitoring system, and the current position of the measuring point is monitored in real time during the running of the template, and compared with the theoretical measuring point position, the coordinate adjustment of the casting template is known to ensure that the asynchronous value is controlled below 2 cm during the running process. The specific monitoring method includes:

[0042] Step S1, install the positioning base station 2 of the monitoring system on the high-speed rail cast-in-place 0# block 1, establish a three-dimensional coordinate system with the center point of 0# block 1 as the origin, and determine the coordinates of 0# block 1; Step S2, use the total station to construct a plane coordinate system in the direction of high-speed rail long mileage and perpendicular to the long mileage, fit and compare the plane coordinate system and the three-dimensional coordinate system, and measure the coordinate system angle between the plane coordinate system and the plane in which the high-speed rail long mileage and perpendicular to the long mileage of the three-dimensional coordinate system are located; Step S3, obtain the change vector of one of the points in the coordinate system, the point is displaced from the coordinate origin to another point, so as to obtain a change vector, and perform coordinate system conversion according to the angle between the vector and the long mileage direction of the plane coordinate system, so that the coordinate value detected by the monitoring system can be converted to the coordinate value of the total station component. The actual position of the casting template is directly represented in the standard system; step S4, the casting template is installed on the bridge-building machine, and multiple observation points 6 are set on the casting template, and the deviation value between the observation point 6 and the three-dimensional coordinate system is measured by the total station, so as to correct the actual coordinates of the observation point 6 and ensure the monitoring accuracy; step S5, according to the deviation value obtained in step S4 and the design size of each segment bridge, the theoretical deviation value of the observation point 6 corresponding to the next segment is calculated, so as to determine the three-dimensional theoretical coordinates of the observation point 6 of the next segment; step S6, real-time monitoring of the deviation between the current three-dimensional coordinates of the observation point 6 and the three-dimensional theoretical coordinates, comparing the actual coordinates of the template observation point 6 with the theoretical coordinates during the template walking process, and adjusting the casting template according to the comparison result.

[0043] In this embodiment, the monitoring system uses the Beidou satellite navigation system to locate each observation point 6, and the total station uses the national geodetic coordinate system. First, the center point of block 0#1 is measured by the total station and recorded as the origin O of the three-dimensional coordinate system. The positioning base station 2 of the monitoring system is installed at this origin O. The large mileage direction is the X-axis, and the Y-axis perpendicular to the large mileage direction is the Y-axis. The plane coordinates composed of the X-axis and the Y-axis are at the same elevation. The Z-axis is established perpendicular to the plane composed of the X-axis and the Y-axis to establish a spatial three-dimensional coordinate system, which is recorded as the Oxyz coordinate system.

[0044] The plane coordinate system established by the total station is the CGCS2000 coordinate system. The angle between the plane coordinates in the CGCS2000 coordinate system and the Oxy plane coordinates is measured and recorded as θ. The conversion relationship between the plane coordinate system and the Oxy plane coordinates X and Y axes is as follows: Figure 1 shown.

[0045] In this embodiment, in step S4, after the casting template is installed on block 0#1, a total station is used to measure the deviation value of the GNSS measuring point equipment installed on the template compared to the three-dimensional coordinates of the origin Oxyz, the X-axis deviation Δx, the Y-axis deviation Δy, and the X-axis deviation Δz.

[0046] In another optional embodiment, the monitoring system includes a monitoring module and a data transmission module, wherein there are multiple monitoring modules for locating the observation point 6 in three-dimensional space and obtaining the real-time coordinates of each observation point 6 in the three-dimensional coordinate system; the data transmission module is used to transmit the monitored observation point 6 coordinate data to the host, and the host is used to fit the two coordinate systems and calculate the actual data of the observation point 6 coordinates, and compare the calculation results with the theoretical coordinates, so as to determine whether the casting template meets the casting requirements, and then adjust the casting template accordingly.

[0047] There are multiple monitoring modules, and the multiple monitoring modules correspond to multiple observation points 6 respectively.

[0048] In another optional embodiment, the monitoring module is arranged on the bridge erection machine, and the monitoring module is a GNSS base station. One of the positioning reference stations 2 is located at the center point of 0# and is fixed with expansion screws. The monitoring modules are respectively located on the hanging basket 7 of the bridge erection machine, on both sides of the casting formwork wing plate or on the main beam 3. The monitoring modules of these observation points 6 are fixed to the corresponding positions by welding.

[0049] In another optional embodiment, the host is connected to the central control system of the bridge-building machine through a data transmission module to adjust the casting template of the bridge-building machine according to the comparison result. The monitoring module collects the current coordinate data in real time and compares it with the theoretical coordinates, and sends the comparison result to the central control system of the bridge-building machine. The central control system drives the hydraulic system to adjust the side mold 4, bottom mold, etc. in real time. Specifically, data communication is carried out through the RS232 data interface and the monitoring data is also provided at the same time. The data transmission module is responsible for network communication for the built-in Internet of Things card, so that the network protocol is converted into the RS232 protocol.

[0050] The three-dimensional coordinate result comparison data calculated by the host in real time is transmitted to the central control system of the bridge-building machine through the 5G network. The central control system controls the solenoid valve according to the result data, and the solenoid valve controls the extension and contraction of the cylinder to dynamically correct the template.

[0051] The monitoring module collects the current coordinate data in real time and compares it with the theoretical coordinates, and sends the comparison results to the main control cabinet of the bridge-building machine. The main control cabinet drives the hydraulic system to adjust the side mold 4, bottom mold, etc. in real time.

[0052] In another optional embodiment, the monitoring module is a GNSS base station. In step S5, after the template is fixed, the casting template is re-measured by a total station to ensure the position accuracy of the casting template.

[0053] The full circle direction method is used to re-measure observation point 6. The re-measurement method includes:

[0054] Suppose that the horizontal direction values ​​of four targets A, B, C, and D need to be observed at measuring station O. The steps for observing using the full-circle direction method are as follows.

[0055] Total station panel left position

[0056] Aim roughly at target A in the starting direction, rotate the horizontal disc position change wheel to make the horizontal disc reading close to zero, accurately aim at target A, and the horizontal disc reading is a1;

[0057] Rotate the sighting part clockwise and aim at targets B, C, and D in turn. The corresponding horizontal disk readings are b, c, and d. Continue to rotate the sighting part clockwise and aim at target A in the starting direction again. The horizontal disk reading is a2.

[0058] The difference between the readings a1 and a2 is called the semi-regression zero error. If it is within the allowable range, take the average value.

[0059] Total station face right position

[0060] Aim at the starting direction target A, and the horizontal circle reading is a1';

[0061] Rotate the sighting part counterclockwise and aim at targets D, C, and B in turn. The corresponding horizontal circle readings are d', c', and b';

[0062] Continue to rotate the aiming part counterclockwise and aim at the starting direction target A again. The horizontal dial reading is a2'. The difference between the readings a1' and a2' is called the semi-measurement regression zero error. If it is within the allowable range, take the average value.

[0063] In another optional embodiment, in step S3, the coordinate system conversion relationship is:

[0064] x=rcos(α+θ)=rcosαcosθ-rsinαsinθ

[0065] y=rsin(α+θ)=rsinαcosθ+rcosαsinθ

[0066] It is derived as follows:

[0067] x=x'cosθ-y'sinα

[0068] y=y'cosθ+x sinα

[0069] Among them, x' is the direction of the large mileage of the plane coordinate system; y' is the direction perpendicular to the large mileage of the plane coordinate system;

[0070] x is the high-speed rail long-distance direction of the three-dimensional coordinate system; y is the vertical long-distance direction of the three-dimensional coordinate system;

[0071] θ is the coordinate system angle between the plane coordinate system and the plane where the high-speed rail long-mileage direction and the vertical long-mileage direction of the three-dimensional coordinate system are located; α is the angle between the change vector and the long-mileage direction of the plane coordinate system.

[0072] r is a vector from the origin to p in the coordinate system.

[0073] In another optional embodiment, the bottom mold of the casting template is located above the hanging basket 7, and the shell bottom line linear control is performed by the lifting angle of the hanging basket 7. The hanging basket 7 is arranged at one end of the cast-in-place beam extending from the main beam 3 of the walking mechanism. The bridge erecting machine is provided with multiple driving parts corresponding to the casting template, so that the casting template can be adjusted through the driving parts. In the longitudinal projection, the driving parts and the observation point 6 coincide with each other.

[0074] In another embodiment, there are 8 observation points 6, and similarly, there are 8 sets of GNSS base stations for monitoring the form of the template on the bridge-building machine, which should also include 8 GNSS receivers connected to the host communication and powered by a 380V power supply.

[0075] According to the on-site construction conditions, a total of 8 observation points 6 were installed. The equipment columns were welded to the bridge-building machine by welding. All welding points between the columns and the bridge body were welded, and angle steels were welded on both sides for reinforcement.

[0076] Furthermore, pouring construction is carried out through the east and west bridge-building machines. Among the eight measuring points, measuring points 1, 2, 3, and 4 are installed on the top floor of the west bridge-building machine, and measuring points 5, 6, 7, and 8 are installed on the top floor of the east bridge-building machine, symmetrically about the east and west sides of the bridge-building machine. Figure 2-3 The distribution diagram of the measuring points on one side is shown, where an observation point 6 is set at the front end of the wing plates of the side molds 4 on both sides, and an observation point 6 is set at the top of the boom 8 corresponding to the hanging basket 7 on both sides of the upper crossbeam 5 of the bridge-building machine, respectively. There are four observation points 6 on each bridge-building machine.

[0077] In this embodiment, the hanging basket 7 is fixed by a suspension rod 8, two of which are GNSS base stations located at the top of the suspension rod 8 where the bridge is built and the upper beam 5 is connected to the hanging basket 7, and the other two GNSS base stations are located at one end of the wing plate of the side mold 4 close to the upper beam 5.

[0078] In other embodiments, four observation points 6 are used to monitor the hanging basket 7. The inclination angle of the bottom mold is controlled by the hanging basket 7 to ensure the streamline of the bottom surface of the cast-in-place beam. These observation points are located at the top of the suspension rods 8 at the four corners of the hanging basket 7. At this time, the actual position of the hanging basket 7 is estimated by the length of the suspension rods 8. The suspension rods 8 of the hanging basket 7 are driven by a hollow cylinder to infer the elevation of the hanging basket 7 according to the coordinates of the observation points, so that the hanging basket 7 is controlled according to actual needs.

[0079] There are four more observation points for monitoring the side formwork 4. The side formwork 4 of the casting formwork is connected to the crossbeam through a formwork frame. The formwork frame of the side formwork 4 is located on the main beam 3. A driving assembly corresponding to the formwork frame is provided on the main beam 3. The driving assembly at least includes a driving member (which may be a cylinder) driving in the longitudinal direction and a driving member (which may be a cylinder) driving in the horizontal plane perpendicular to the direction of the maximum mileage. Observation points above the corresponding driving assembly are set at both ends of the wing plate of the side formwork 4 to obtain the actual elevation of the side formwork 4, and then the side formwork 4 can be adjusted through the driving member to ensure the actual needs of formwork pouring.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are within the scope of protection of the pending claims of the present invention.

Claims

1. A GNSS-based high-speed railway cast-in-place beam template running monitoring method, characterized in that: include: Step S1, install the positioning reference station of the monitoring system on the 0# block of the high-speed railway cast-in-place beam, establish a three-dimensional coordinate system with the center point of the 0# block as the origin, and the monitoring system locates each observation point through the Beidou satellite navigation system to obtain the three-dimensional actual coordinates of the observation point in the three-dimensional coordinate system; Step S2, using a total station to construct a plane coordinate system in the direction of high-speed rail mileage and perpendicular to the direction of high-speed rail mileage, and measuring the coordinate system angle between the plane coordinate system and the plane in which the high-speed rail mileage direction and perpendicular to the direction of high-speed rail mileage of the three-dimensional coordinate system are located; Step S3, obtaining a change vector of one of the points in the three-dimensional coordinate system, and performing coordinate system transformation according to the angle between the change vector and the mileage direction of the plane coordinate system; Step S4, installing a casting template on the bridge-building machine, setting a plurality of observation points on the casting template, and using a total station to measure the deviation values ​​between the observation points and the three-dimensional coordinate system; Step S5, calculating the theoretical deviation value of the observation point corresponding to the next segment according to the deviation value obtained in step S4 and the design size of each segment bridge, so as to determine the three-dimensional theoretical coordinates of the observation point of the next segment; Step S6, real-time monitoring of the coordinate difference between the current three-dimensional actual coordinates of the observation point and the three-dimensional theoretical coordinates, comparing the three-dimensional actual coordinates of the template observation point with the three-dimensional theoretical coordinates, and adjusting the casting template according to the comparison results.

2. The GNSS-based high-speed railway cast-in-place beam template running monitoring method according to claim 1 is characterized in that: The monitoring system comprises: Positioning base station, used as the coordinate origin of the three-dimensional coordinate system; A monitoring module, the monitoring module is used to locate the observation point in three-dimensional space; A data transmission module, which is used to transmit the monitored observation point coordinate data to a host computer, and the host computer calculates the observation point coordinate data and compares it with the three-dimensional theoretical coordinates; There are multiple monitoring modules, and the multiple monitoring modules correspond to multiple observation points respectively.

3. The GNSS-based high-speed railway cast-in-place beam template running monitoring method according to claim 2 is characterized in that: The monitoring modules are arranged on the bridge erecting machine and are respectively located on the hanging basket of the bridge erecting machine, both sides of the wing plate of the casting formwork or on the main beam.

4. The GNSS-based high-speed railway cast-in-place beam template running monitoring method according to claim 3 is characterized in that: The host is connected to the central control system of the bridge erection machine through the data transmission module to adjust the casting template of the bridge erection machine according to the comparison result.

5. The GNSS-based high-speed railway cast-in-place beam template running monitoring method according to claim 2 is characterized in that: The monitoring module is a GNSS base station. In step S5, the casting template is re-measured after the template is fixed.

6. The GNSS-based high-speed railway cast-in-place beam template running monitoring method according to claim 5 is characterized in that: The observation points were re-surveyed using the full-circle direction method.

7. The GNSS-based high-speed railway cast-in-place beam template running monitoring method according to claim 1 is characterized in that: In step S3, the coordinate system conversion relationship is: x=rcos(α +θ)=rcosαcosθ - rsinαsinθ y=rsin(α +θ)=rsinαcosθ + rcosαsinθ It is derived as follows: x = x' cosθ - y' sinα y = y'cosθ + x sinα Among them, x' is the direction of the large mileage of the plane coordinate system; y' is the direction perpendicular to the large mileage of the plane coordinate system; x is the high-speed rail long-distance direction of the three-dimensional coordinate system; y is the vertical long-distance direction of the three-dimensional coordinate system; θ is the coordinate system angle between the plane coordinate system and the plane where the high-speed rail long-mileage direction and the vertical long-mileage direction of the three-dimensional coordinate system are located; α is the angle between the change vector and the long-mileage direction of the plane coordinate system.

8. The GNSS-based high-speed railway cast-in-place beam template running monitoring method according to claim 4 is characterized in that: The bottom formwork of the casting formwork is located above the hanging basket, which is set at one end of the main beam of the walking mechanism that extends out of the cast-in-place beam. The bridge-building machine is equipped with multiple driving parts corresponding to the casting formwork, so that the casting formwork can be adjusted through the driving parts. In the longitudinal projection, the driving parts and the observation points coincide with each other.

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