A beam body virtual axis positioning method and positioning system

Abstract

The application relates to a beam body virtual axis positioning method and a positioning system. A mobile device carries an adjusting component and a total station instrument, and can move along a planned route at a beam manufacturing site, so that a plurality of types of beam bodies can be positioned and detected, the beam manufacturing site can be conveniently passed through, and the beam manufacturing site hoisting operation is not hindered. A first prism is arranged at the two ends of a beam body axis corresponding to a beam body template to be detected, a second prism is arranged on a beam body template measuring point, and a third prism is arranged on a beam field control network observation point. Corresponding virtual reference axis lines of each beam body template to be detected are established by using measurement data observed by the total station instrument and cooperating with a calculation device, and positioning is performed by taking the virtual reference axis lines as references. The virtual reference axis lines are axis lines corresponding to the beam body template measuring points. Therefore, two fixed measurement towers do not need to be respectively erected at the center ground of the two ends of each beam body pedestal, the beam body axis lines can be directly measured, the influence of station site errors is reduced, and the measurement precision is improved.

Description

Technical Field

[0001] This application relates to the field of beam manufacturing technology, and in particular to a method and system for positioning virtual axes of beams. Background Technology

[0002] Concrete beams are a critical superstructure in engineering projects, accounting for a significant proportion of construction. A single project often involves several large beam yards, each producing three to four thousand, or even nearly ten thousand, beams. Concrete beam manufacturing is a delicate process; the error in beam axis measurement must not exceed 5mm. Controlling the beam axis is the core of beam structure construction and directly affects the overall safety of the bridge structure.

[0003] In some related technologies, beam measurement generally adopts the polar coordinate method using a total station. First, a total station is set up on the beam yard measurement platform, and the side length from the total station to the beam template measuring point and the azimuth angle based on the control point are measured to obtain the coordinates of the beam template measuring point. Then, the difference between the coordinates of each beam template measuring point and its theoretical coordinates in the beam yard control network is calculated. However, this method ignores the core of beam control—the beam axis—and does not directly measure the beam axis. The measurement error is greatly affected by the error propagation of the measuring station, resulting in low accuracy of beam axis control measurement.

[0004] In other related technologies, the positioning of precast beam formwork adopts the physical axis measurement method. Two fixed measuring towers are erected at the center of the ground at both ends of each beam platform. A total station is set up on the measuring towers to directly measure the beam axis, thereby positioning the beam. This method requires the erection of a large number of fixed measuring towers. During the measurement operation, it is necessary to repeatedly go up and down the measuring towers. The installation and adjustment of different beams require the installation of a total station on different measuring towers. The process is cumbersome and inefficient. At the same time, the measuring towers are fixed on the beam axis, which is not only easy to be hit by construction machinery, but also hinders the beam hoisting operation in the beam yard. It has problems such as low efficiency, easy damage, and interference with construction. Summary of the Invention

[0005] This application provides a method and system for locating the virtual axis of a beam, in order to solve the problems of low accuracy and low efficiency in beam axis positioning measurement during the manufacturing process of concrete beams in related technologies.

[0006] Firstly, a virtual axis positioning system for a beam is provided, comprising:

[0007] The mobile device has an adjustment component at its top center;

[0008] The prism assembly includes a first prism for setting at both ends of the beam axis corresponding to the beam template to be inspected, a second prism for setting at the measuring point of the beam template, and a third prism for setting at the observation point of the beam field control network.

[0009] A total station is mounted on top of the adjustment assembly and is connected to a control device; the control device is used to control the adjustment assembly so that the total station has a line of sight with the first prism, the second prism and the third prism.

[0010] A computing device is used to establish a corresponding virtual reference axis for each beam template to be inspected based on the measurement data of the total station's observation of the prism assembly, and to perform positioning based on the virtual reference axis.

[0011] In some embodiments, the adjustment assembly includes a vertical lifting member, the top of which is coaxially connected to a leveling base;

[0012] The control device includes a Beidou receiver, a navigation control module, and a lifting and leveling module. The Beidou receiver and the navigation control module are connected. The Beidou receiver is used to obtain the real-time position of the mobile device, and the navigation control module is used to control the movement of the mobile device according to the planned route. The lifting and leveling module is used to control the extension and retraction of the vertical lifting components and to control the leveling base to level the total station.

[0013] In some embodiments, the computing device includes a transformation parameter acquisition module, a theoretical coordinate acquisition module, an actual coordinate acquisition module, and a deviation acquisition module;

[0014] The transformation parameter acquisition module is used to establish a virtual axis coordinate system for the beam based on measurement data and calculate the coordinate transformation parameters between the virtual axis coordinate system and the beam yard control network coordinate system. The theoretical coordinate acquisition module is used to obtain the virtual reference axis of the beam corresponding to the template of the beam to be inspected using a total station, beam design parameters, and coordinate transformation parameters. The actual coordinate acquisition module is used to obtain the actual axis of the beam corresponding to the template of the beam to be inspected using a total station, measurement data, and coordinate transformation parameters. The deviation acquisition module is used to obtain the deviation value based on the virtual reference axis and the actual axis, and uses the deviation value as an adjustment parameter.

[0015] In some embodiments, the computing device further includes an adjustment module;

[0016] The beam template to be tested is set on the beam template installation mechanism. The adjustment module is communicatively connected to the beam template installation mechanism and is used to drive the beam template installation mechanism to adjust the beam template to be tested according to the adjustment parameters.

[0017] Secondly, a method for locating the virtual axis of a beam is provided, which includes the following steps:

[0018] Provide and install a virtual axis positioning system for the beam;

[0019] The steps involved in positioning a beam formwork to be inspected are as follows:

[0020] The control device is used to move the moving device to the measuring station corresponding to the beam template to be inspected; then the adjustment component is controlled to make the total station visible to the first prism, the second prism and the third prism.

[0021] The first prism, the second prism, and the third prism were observed using a total station to obtain measurement data;

[0022] Using the measurement data and computing device, a virtual axis coordinate system for the beam body corresponding to the template of the beam body to be inspected is established, and the virtual reference axis of the beam body corresponding to the template of the beam body to be inspected is obtained in combination with the beam body design parameters; using the measurement data, the virtual axis coordinate system of the beam body, and the computing device, the actual axis of the beam body corresponding to the template of the beam body to be inspected is obtained.

[0023] The adjustment parameters are obtained based on the virtual reference axis and the actual axis; then the template of the beam to be inspected is adjusted according to the adjustment parameters.

[0024] Repeat the above steps to position the template of the next beam to be inspected.

[0025] In some embodiments, the following steps are included before positioning the template of the beam to be inspected:

[0026] Acquire planning data; the planning data includes the beam yard layout plan, the coordinates of each third prism in the beam yard control network coordinate system, and the number of the first prism corresponding to each beam template to be inspected;

[0027] The planning data is imported into the control device, and the control device is used to plan and calculate the walking detection route map of the mobile device; then, based on the walking detection route map, the distribution map of each measuring station of the mobile device is obtained.

[0028] In some embodiments, a total station is used to observe the first prism, the second prism, and the third prism to obtain measurement data, specifically including the following steps:

[0029] Obtain the coordinates of at least three third prisms in the beam yard control network coordinate system;

[0030] The coordinates of the total station in the beam yard control network coordinate system are obtained using the coordinates of the total station and at least three third prisms.

[0031] The coordinates of the two first prisms in the beam yard control network coordinate system are obtained using a total station and the coordinates of the survey stations.

[0032] In some embodiments, the virtual axis coordinate system of the beam corresponding to the template of the beam to be inspected is established using the measurement data and the computing device, specifically including the following steps:

[0033] Using a computing device, a virtual axis coordinate system for the beam is established by taking the location of one of the first prisms corresponding to the template of the beam to be tested as the origin, the axis of the beam to be tested corresponding to the template as the X-axis, and the transverse centerline of the beam to be tested corresponding to the template as the Y-axis.

[0034] In some embodiments, the number of the second prisms is multiple and they are arranged in two columns, which are respectively arranged on both sides of the beam template to be tested in the width direction;

[0035] The actual axis of the beam corresponding to the template of the beam to be inspected is obtained using the measurement data, the virtual axis coordinate system of the beam, and the calculation device. Specifically, this includes the following steps:

[0036] The virtual axis equation is obtained based on the coordinates of the origin and the other first prism in the virtual axis coordinate system of the beam.

[0037] The equation of the beam axis is obtained based on the coordinates of the two first prisms in the beam field control network coordinate system.

[0038] The coordinate transformation parameters are obtained based on the beam axis equation and the virtual axis equation.

[0039] Obtain the coordinates of the total station in the beam yard control network coordinate system, and then obtain the virtual coordinates of the total station in the beam virtual axis coordinate system based on the coordinate transformation parameters.

[0040] The second prism is measured using the virtual coordinates and a total station to obtain the actual coordinates of the second prism in the corresponding virtual axis coordinate system of the beam.

[0041] The two actual axes are obtained based on the actual coordinates of the second prism in the corresponding virtual axis coordinate system of the beam.

[0042] In some embodiments, the number of the second prisms is multiple and they are arranged in two columns, which are respectively arranged on both sides of the beam template to be tested in the width direction;

[0043] The virtual reference axis of the beam to be inspected is obtained by combining the beam design parameters, specifically including the following steps:

[0044] Obtain the beam design parameters corresponding to the beam template to be inspected, and then obtain the standard beam template measuring points based on the beam design parameters; set the second prism at the location of the standard beam template measuring points, and use a total station to measure the theoretical coordinates of the second prism in the beam yard control network coordinate system;

[0045] Based on the coordinate transformation parameters and the theoretical coordinates of the second prism in the beam control network coordinate system, the theoretical coordinates of the second prism in the beam virtual axis coordinate system are calculated.

[0046] Two virtual reference axes are obtained based on the theoretical coordinates of the second prism in the virtual axis coordinate system of the beam.

[0047] The beneficial effects of the technical solution provided in this application include:

[0048] This application provides a method and system for locating a virtual axis of a beam. The mobile device, carrying its adjustment components and a total station, can move along a planned route on the beam fabrication site, facilitating the location and detection of multiple beams of various types. This allows for convenient movement through the beam yard without obstructing hoisting operations or interfering with construction. Furthermore, by setting a first prism at both ends of the beam axis corresponding to the template of the beam to be inspected, a second prism at the measuring point of the template, and a third prism at the observation point of the beam yard control network, the measurement data observed by the total station, combined with a calculation device, can establish a corresponding virtual reference axis for each template of the beam to be inspected, and use this virtual reference axis as a reference for positioning. The virtual reference axis is the axis corresponding to the measuring point of the template. Therefore, it is unnecessary to erect two fixed measuring towers at the center of the ground at both ends of each beam platform; the beam axis can be directly measured, reducing the impact of errors at the measured sites and improving measurement accuracy. Attached Figure Description

[0049] 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.

[0050] Figure 1 This is a structural schematic diagram of the beam virtual axis positioning system provided in the embodiments of this application;

[0051] Figure 2 This is a schematic diagram illustrating the general flow of the virtual axis positioning method for beams provided in the embodiments of this application.

[0052] In the diagram: 1. Moving device; 2. Vertical lifting component; 3. Leveling base; 4. First prism; 5. Second prism; 6. Third prism; 7. Total station; 8. Control device; 9. Calculation device; 10. Beam formwork installation mechanism. Detailed Implementation

[0053] 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.

[0054] This application provides a method and system for locating the virtual axis of a beam, in order to solve the problems of low accuracy and low efficiency in beam axis positioning measurement during the manufacturing process of concrete beams in related technologies.

[0055] Please see Figure 1 A virtual axis positioning system for a beam, comprising:

[0056] The mobile device 1 has an adjustment component at its top center;

[0057] The prism assembly includes a first prism 4 for setting at both ends of the beam axis corresponding to the beam template to be inspected, a second prism 5 for setting at the measuring point of the beam template, and a third prism 6 for setting at the observation point of the beam field control network.

[0058] The total station 7 is mounted on top of the adjustment assembly and is connected to a control device 8; the control device 8 is used to control the adjustment assembly so that the total station 7 has a line of sight with the first prism 4, the second prism 5 and the third prism 6.

[0059] The computing device 9 is used to establish a corresponding virtual reference axis for each beam template to be inspected based on the measurement data of the total station 7 observing the prism assembly, and to position it based on the virtual reference axis.

[0060] Because the mobile device 1, carrying its adjustment components and total station 7, can move along a planned route on the beam fabrication site, it facilitates the positioning and testing of multiple beams of various types. This allows for easy movement through the beam yard without obstructing hoisting operations or interfering with construction. Furthermore, by setting a first prism 4 at both ends of the beam axis corresponding to the beam template to be tested, a second prism 5 at the measuring point of the beam template, and a third prism 6 at the observation point of the beam yard control network, the measurement data observed by the total station 7, combined with the calculation device 9, can establish a corresponding virtual reference axis for each beam template to be tested, and use this virtual reference axis as a benchmark for positioning. The virtual reference axis is the axis corresponding to the measuring point of the beam template. Therefore, it is unnecessary to erect two fixed measuring towers at the center of the ground at both ends of each beam platform; the beam axis can be directly measured, reducing the impact of errors at the measured sites and improving measurement accuracy.

[0061] In some preferred embodiments, the adjustment assembly includes a vertical lifting member 2, with a leveling base 3 coaxially connected to the top of the vertical lifting member 2; the control device 8 includes a Beidou receiver, a navigation control module, and a lifting and leveling module; wherein, the Beidou receiver and the navigation control module are connected, the Beidou receiver is used to obtain the real-time position of the mobile device 1, and the navigation control module is used to control the movement of the mobile device 1 according to the planned route; the lifting and leveling module is used to control the extension and retraction of the vertical lifting member 2, and to control the leveling base 3 to level the total station 7; thus, it can be moved reasonably and flexibly according to the on-site conditions of the beam construction for observation.

[0062] The bottom of the first prism 4, the second prism 5, and the third prism 6 are all equipped with vertically telescopic prism rods. These prism rods are electrically operated to adapt to different beam templates and survey station locations. The vertical lifting component 2 uses a jack or a lifting screw assembly. The total station 7 is an intelligent total station, including a total station module and a communication module. In addition to the functions of a total station, it also has intelligent measurement and information transmission capabilities.

[0063] The mobile device 1 employs a patrol robot, which can be a wheel-rail type, a three-legged type, or a multi-legged type walking device. Reference can be made to the relevant settings of a substation all-terrain robot (CN214930218U), which will not be described in detail here. Of course, other mobile devices capable of patrol navigation are not excluded in this application. For example, the mobile device 1 may also include a mounting base with wheels at the bottom, and a drive motor connected to the wheels is mounted on the mounting base. The leveling base 3 can be referenced to CN116164202A, which describes a leveling base and its automatic leveling method. Of course, other devices capable of leveling are not excluded in this application.

[0064] In some preferred embodiments, the computing device 9 includes a transformation parameter acquisition module, a theoretical coordinate acquisition module, an actual coordinate acquisition module, and a deviation acquisition module. The transformation parameter acquisition module is used to establish a virtual axis coordinate system for the beam body based on measurement data and calculate the coordinate transformation parameters between the virtual axis coordinate system and the beam yard control network coordinate system. The theoretical coordinate acquisition module is used to acquire the virtual reference axis of the beam body corresponding to the template of the beam body to be inspected using the total station 7, beam design parameters, and coordinate transformation parameters. The actual coordinate acquisition module is used to acquire the actual axis of the beam body corresponding to the template of the beam body to be inspected using the total station 7, measurement data, and coordinate transformation parameters. The deviation acquisition module is used to acquire the deviation value based on the virtual reference axis and the actual axis, and uses the deviation value as an adjustment parameter.

[0065] The computing device 9 also includes an adjustment module; the beam template to be tested is mounted on the beam template installation mechanism 10, and the adjustment module is communicatively connected to the beam template installation mechanism 10, and is used to drive the beam template installation mechanism 10 to adjust the beam template to be tested according to the adjustment parameters; the beam template installation mechanism 10 is like... Figure 1 The jack shown is adjustable in the up, down, left, and right directions.

[0066] This application also proposes a method for locating the virtual axis of a beam, which includes the following steps:

[0067] Step S01: Provide and install the aforementioned virtual axis positioning system for the beam; wherein, the first prism 4 is installed at both ends of the central axis of the corresponding beam of each beam template to be inspected, i.e. Figure 1 The installation positions of the first prism 4 are shown in Z1 and Z2; the second prism 5 is installed on the measuring point of the beam template to be tested, i.e., as shown in the diagram. Figure 1 As shown, there are multiple second prisms 5, which are divided into two columns, and the two columns are respectively set on both sides of the width direction of the beam template to be inspected; DQ1, DQ2, and DQ3 are the three locations of the beam yard control network observation points.

[0068] Step S02, when positioning one of the beam formwork to be inspected, includes the following steps:

[0069] Step S020: Use the control device 8 to move the moving device 1 to the corresponding measuring station of the beam template to be tested; then control the vertical lifting component 2 and the leveling base 3 of the adjustment component to make the total station 7 have a line of sight with the first prism 4, the second prism 5 and the third prism 6.

[0070] Step S021: Use the total station 7 to observe the first prism 4, the second prism 5 and the third prism 6 to obtain measurement data;

[0071] Step S022: Establish a virtual axis coordinate system for the beam body corresponding to the template of the beam body to be inspected using measurement data and calculation device 9, and obtain the virtual reference axis of the beam body corresponding to the template of the beam body to be inspected by combining the beam design parameters; obtain the actual axis of the beam body corresponding to the template of the beam body to be inspected using measurement data, the virtual axis coordinate system of the beam body, and calculation device 9.

[0072] Step S023: Obtain adjustment parameters based on the virtual reference axis and the actual axis; then adjust the beam template to be tested according to the adjustment parameters; since the beam template to be tested is set on the beam template installation mechanism 10, the adjustment module is communicatively connected to the beam template installation mechanism 10 and is used to drive the beam template installation mechanism 10 to adjust the beam template to be tested according to the adjustment parameters;

[0073] Step S03: Repeat the above steps to position the template of the next beam to be inspected.

[0074] With the above setup, the mobile device 1, carrying its adjustment components and total station 7, can move along a planned route on the beam fabrication site, facilitating the positioning and inspection of multiple beams of various types. This allows for easy movement through the beam yard without obstructing hoisting operations or interfering with construction. Furthermore, by setting up a first prism 4 at both ends of the beam axis corresponding to the beam template to be inspected, a second prism 5 at the measuring points of the beam template, and a third prism 6 at the observation points of the beam yard control network, the measurement data observed by the total station 7, combined with the calculation device 9, can establish a corresponding virtual reference axis for each beam template to be inspected, and use this virtual reference axis for positioning. The virtual reference axis is the axis corresponding to the measuring points of the beam template. Therefore, it is unnecessary to erect two fixed measuring towers at the center of the ground at both ends of each beam platform; the beam axis can be directly measured, reducing the impact of errors at the measured sites and improving measurement accuracy.

[0075] In some preferred embodiments, to adapt to different beam fabrication sites, the beam formwork at different locations can be observed; before positioning the beam formwork to be inspected, i.e., before step S02, the following steps are also included:

[0076] Step S000: Obtain planning data; the planning data includes the beam yard layout plan, the coordinates of each third prism 6 in the beam yard control network coordinate system, and the number of the first prism 4 corresponding to each beam template to be tested;

[0077] Step S001: Import the planning data into the control device 8, and use the control device 8 to plan and calculate the walking detection route map of the mobile device 1; then obtain the distribution map of each measuring station of the mobile device 1 based on the walking detection route map.

[0078] In some preferred embodiments, step S021 includes: using a total station 7 to observe the first prism 4, the second prism 5, and the third prism 6 to obtain measurement data, specifically including the following steps:

[0079] Obtain the coordinates of at least three third prisms 6 in the beam yard control network coordinate system;

[0080] The coordinates of the measuring station of the total station 7 in the beam yard control network coordinate system are obtained by using the coordinates of the total station 7 and at least three third prisms 6 in the beam yard control network coordinate system;

[0081] The coordinates of the two first prisms 4 in the beam yard control network coordinate system are obtained using the total station 7 and the coordinates of the survey station.

[0082] In some preferred embodiments, step S022 involves establishing a virtual axis coordinate system for the beam template to be inspected using measurement data and the computing device 9, specifically including the following steps:

[0083] Step S0220: Perform the following operations using the conversion parameter acquisition module: Using the computing device 9, take the location of one of the first prisms 4 corresponding to the beam template to be tested as the origin, the axis of the beam corresponding to the beam template to be tested as the X-axis, and the transverse centerline of the beam corresponding to the beam template to be tested as the Y-axis to establish a virtual axis coordinate system for the beam.

[0084] Based on this, there are multiple second prisms 5, arranged in two columns, with the two columns respectively set on both sides of the width direction of the beam template to be inspected; the actual axis of the beam corresponding to the beam template to be inspected is obtained using measurement data, the virtual axis coordinate system of the beam, and the calculation device 9, specifically including the following steps:

[0085] Step S0221: Using the transformation parameter acquisition module, obtain the virtual axis equation based on the coordinates of the origin and the other first prism 4 in the virtual axis coordinate system of the beam;

[0086] Step S0222: Using the transformation parameter acquisition module, obtain the beam axis equation based on the coordinates of the two first prisms 4 in the beam field control network coordinate system;

[0087] Step S0223: Using the transformation parameter acquisition module, obtain the coordinate transformation parameters based on the beam axis equation and the virtual axis equation;

[0088] Step S0224: Using the actual coordinate acquisition module, obtain the coordinates of the measuring station of the total station 7 in the coordinate system of the beam yard control network, and then obtain the virtual coordinates of the total station 7 in the coordinate system of the beam virtual axis based on the coordinate transformation parameters;

[0089] Step S0225: Using the actual coordinate acquisition module, the second prism 5 is measured based on the virtual coordinates and the total station 7 to obtain the actual coordinates of the second prism 5 in the corresponding beam virtual axis coordinate system.

[0090] Step S0226: Using the actual coordinate acquisition module, obtain two actual axes based on the actual coordinates of the second prism 5 in the corresponding virtual axis coordinate system of the beam.

[0091] In some preferred embodiments, in step S022, there are multiple second prisms 5, arranged in two columns, with the two columns respectively positioned on both sides of the beam template to be inspected in the width direction; the virtual reference axis of the beam corresponding to the beam template to be inspected is obtained by combining the beam design parameters, specifically including the following steps:

[0092] Step S0227: Obtain the beam design parameters corresponding to the beam template to be tested, and then obtain the standard beam template measuring points based on the beam design parameters; set the second prism 5 at the location of the standard beam template measuring points, and use the total station 7 to measure the theoretical coordinates of the second prism 5 in the beam yard control network coordinate system;

[0093] Step S0228: Calculate the theoretical coordinates of the second prism 5 in the virtual axis coordinate system of the beam body based on the coordinate transformation parameters and the theoretical coordinates of the second prism 5 in the beam control network coordinate system;

[0094] Step S0229: Obtain two virtual reference axes based on the theoretical coordinates of the second prism 5 in the virtual axis coordinate system of the beam. Then, compare the two virtual reference axes with the corresponding two actual axes to obtain the deviation value, and use the deviation value as an adjustment parameter.

[0095] With the above setup, it is not necessary to erect two fixed measuring towers at the center of the ground at both ends of each beam platform to directly measure the beam axis. Only the first prism 4 and the second prism 5 need to be set on the template of the beam to be tested. Then, with the help of the mobile device 1, the test can be carried out according to the distribution map of each measuring station, which is convenient for moving around the beam yard and ensures that the total station 7 has a line of sight with the control points, axis points and measuring points, which significantly improves the positioning efficiency.

[0096] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements all or part of the method steps of the above method.

[0097] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0098] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, it implements all or part of the method steps described above.

[0099] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0100] Memory can be used to store computer programs and / or modules. The processor performs various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, SmartMedia Cards (SMC), Secure Digital (SD) cards, Flash Cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0101] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0102] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] 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.

[0105] 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.

[0106] 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 virtual axis positioning system for a beam, characterized in that, It includes: The mobile device (1) has an adjustment component at the center of its top; The prism assembly includes a first prism (4) for setting at both ends of the beam axis corresponding to the beam template to be inspected, a second prism (5) for setting at the measuring point of the beam template, and a third prism (6) for setting at the observation point of the beam field control network. The total station (7) is mounted on top of the adjustment assembly and is connected to a control device (8); the control device (8) is used to control the adjustment assembly so that the total station (7) has a line of sight with the first prism (4), the second prism (5) and the third prism (6); The computing device (9) is used to establish a corresponding virtual reference axis for each beam template to be inspected based on the measurement data of the total station (7) observing the prism assembly, and to position it based on the virtual reference axis; The computing device (9) includes a transformation parameter acquisition module, a theoretical coordinate acquisition module, an actual coordinate acquisition module, and a deviation acquisition module; Among them, the transformation parameter acquisition module is used to establish the virtual axis coordinate system of the beam body according to the measurement data, and calculate the coordinate transformation parameters between the virtual axis coordinate system of the beam body and the coordinate system of the beam yard control network; the theoretical coordinate acquisition module is used to obtain the virtual reference axis of the beam body corresponding to the template of the beam body to be inspected using the total station (7), the beam body design parameters and the coordinate transformation parameters. The actual coordinate acquisition module is used to acquire the actual axis of the beam corresponding to the beam template under test using a total station (7), measurement data and coordinate transformation parameters; the deviation acquisition module is used to acquire the deviation value based on the virtual reference axis and the actual axis, and use the deviation value as an adjustment parameter. The computing device (9) also includes an adjustment module; The beam template to be tested is set on the beam template installation mechanism (10). The adjustment module is connected to the beam template installation mechanism (10) and is used to drive the beam template installation mechanism (10) to adjust the beam template to be tested according to the adjustment parameters.

2. The beam virtual axis positioning system as described in claim 1, characterized in that: The adjustment assembly includes a vertical lifting component (2), and a leveling base (3) is coaxially connected to the top of the vertical lifting component (2). The control device (8) includes a Beidou receiver, a navigation control module and a lifting and leveling module; wherein, the Beidou receiver and the navigation control module are connected, the Beidou receiver is used to obtain the real-time position of the mobile device (1), the navigation control module is used to control the movement of the mobile device (1) according to the planned route; the lifting and leveling module is used to control the extension and retraction of the vertical lifting component (2) and to control the leveling base (3) to level the total station (7).

3. A method for locating the virtual axis of a beam, characterized in that, It includes the following steps: Provide and install the beam virtual axis positioning system as described in any one of claims 1-2; The steps involved in positioning a beam formwork to be inspected are as follows: The control device (8) is used to move the moving device (1) to the measuring station corresponding to the beam template to be inspected; then the adjustment component is controlled to make the total station (7) visible to the first prism (4), the second prism (5) and the third prism (6); The first prism (4), the second prism (5) and the third prism (6) were observed using a total station (7) to obtain measurement data; Using the measurement data and the calculation device (9), a virtual axis coordinate system of the beam body corresponding to the beam body template to be tested is established, and the virtual reference axis of the beam body corresponding to the beam body template to be tested is obtained in combination with the beam body design parameters; using the measurement data, the beam body virtual axis coordinate system and the calculation device (9), the actual axis of the beam body corresponding to the beam body template to be tested is obtained; The adjustment parameters are obtained based on the virtual reference axis and the actual axis; then the template of the beam to be inspected is adjusted according to the adjustment parameters. Repeat the above steps to position the template of the next beam to be inspected; The computing device (9) includes a transformation parameter acquisition module, a theoretical coordinate acquisition module, an actual coordinate acquisition module, and a deviation acquisition module. Among them, the transformation parameter acquisition module is used to establish a virtual axis coordinate system of the beam body based on the measurement data, and calculate the coordinate transformation parameters between the virtual axis coordinate system of the beam body and the coordinate system of the beam yard control network; the theoretical coordinate acquisition module is used to obtain the virtual reference axis of the beam body corresponding to the template of the beam body to be tested using the total station (7), the beam body design parameters and the coordinate transformation parameters; the actual coordinate acquisition module is used to obtain the actual axis of the beam body corresponding to the template of the beam body to be tested using the total station (7), the measurement data and the coordinate transformation parameters; the deviation acquisition module is used to obtain the deviation value based on the virtual reference axis and the actual axis, and use the deviation value as the adjustment parameter; The computing device (9) also includes an adjustment module; The beam template to be tested is set on the beam template installation mechanism (10). The adjustment module is connected to the beam template installation mechanism (10) and is used to drive the beam template installation mechanism (10) to adjust the beam template to be tested according to the adjustment parameters.

4. The method for locating the virtual axis of a beam as described in claim 3, characterized in that: Before positioning the formwork of the beam to be inspected, the following steps are also included: Obtain planning data; the planning data includes the beam yard layout plan, the coordinates of each third prism (6) in the beam yard control network coordinate system and the number of the first prism (4) corresponding to each beam template to be tested; The planning data is imported into the control device (8), and the control device (8) is used to plan and calculate the walking detection route map of the mobile device (1); then the distribution map of each measuring station of the mobile device (1) is obtained based on the walking detection route map.

5. The method for locating the virtual axis of a beam as described in claim 3, characterized in that, Using a total station (7), observations are made on the first prism (4), the second prism (5), and the third prism (6) to obtain measurement data. The specific steps include: Obtain the coordinates of at least three third prisms (6) in the beam field control network coordinate system; The coordinates of the total station (7) in the beam yard control network coordinate system are obtained by using the coordinates of the total station (7) and at least three third prisms (6). The coordinates of the two first prisms (4) in the beam yard control network coordinate system are obtained using the total station (7) and the coordinates of the survey station.

6. The method for locating the virtual axis of a beam as described in claim 5, characterized in that: Using the measurement data and the calculation device (9), a virtual axis coordinate system for the beam corresponding to the template of the beam to be inspected is established, specifically including the following steps: Using the computing device (9), the location of one of the first prisms (4) corresponding to the template of the beam to be tested is taken as the origin, the axis of the beam to be tested corresponding to the template of the beam to be tested is taken as the X-axis, and the transverse center line of the beam to be tested corresponding to the template of the beam to be tested is taken as the Y-axis to establish a virtual axis coordinate system of the beam.

7. The method for locating the virtual axis of a beam as described in claim 6, characterized in that: The second prism (5) is multiple and is divided into two columns, which are respectively set on both sides of the beam template width direction to be tested; Using the measurement data, the virtual axis coordinate system of the beam, and the calculation device (9), the actual axis of the beam corresponding to the template of the beam to be inspected is obtained, specifically including the following steps: The virtual axis equation is obtained based on the coordinates of the origin and another first prism (4) in the virtual axis coordinate system of the beam. The equation of the beam axis is obtained based on the coordinates of the two first prisms (4) in the beam field control network coordinate system; The coordinate transformation parameters are obtained based on the beam axis equation and the virtual axis equation. Obtain the coordinates of the total station (7) in the beam yard control network coordinate system, and then obtain the virtual coordinates of the total station (7) in the beam virtual axis coordinate system based on the coordinate transformation parameters; The second prism (5) is measured based on the virtual coordinates and the total station (7) to obtain the actual coordinates of the second prism (5) in the corresponding virtual axis coordinate system of the beam. The two actual axes are obtained based on the actual coordinates of the second prism (5) in the corresponding virtual axis coordinate system of the beam.

8. The method for locating the virtual axis of a beam as described in claim 6, characterized in that: The second prism (5) is multiple and is divided into two columns, which are respectively set on both sides of the beam template width direction to be tested; The virtual reference axis of the beam to be inspected is obtained by combining the beam design parameters, specifically including the following steps: Obtain the beam design parameters corresponding to the beam template to be tested, and then obtain the standard beam template measuring points based on the beam design parameters; set the second prism (5) at the location of the standard beam template measuring points, and use the total station (7) to measure the theoretical coordinates of the second prism (5) in the beam yard control network coordinate system; Based on the coordinate transformation parameters and the theoretical coordinates of the second prism (5) in the beam control network coordinate system, the theoretical coordinates of the second prism (5) in the beam virtual axis coordinate system are calculated. Two virtual reference axes are obtained based on the theoretical coordinates of the second prism (5) in the virtual axis coordinate system of the beam.

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