A relative coordinate positioning method and system for inspection equipment inside a large-span steel box girder

Abstract

The invention discloses a relative coordinate positioning method and system for inspection equipment in a large-span steel box girder. The method comprises: calculating the angle between the installation plane of a laser rangefinder pointing obliquely to the ground at a fixed angle and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located; obtaining the installation depression angle of the laser rangefinder and the angle between the side surface of the stiffening rib of the bottom plate of the steel box girder and the bottom plate of the steel box girder, and calculating the transverse angle of the inspection equipment relative to the box chamber of the steel box girder according to the angle; measuring multiple distances with surrounding steel structures by multiple laser rangefinders distributed concentrically and radially, and obtaining the angle between the ray of each measuring point and the transverse diaphragm according to the transverse angle of the inspection equipment relative to the box chamber of the steel box girder; calculating multiple relative distances between the inspection equipment measured at each measuring point and the transverse diaphragms on both sides of the current box chamber of the steel box girder according to the multiple distances and the angle between the ray of each measuring point and the transverse diaphragm, and obtaining the maximum value of the multiple relative distances as the true value.

Description

Technical Field

[0001] The present invention belongs to the technical field of navigation simulation of ship models on super-large curved river routes, and more specifically, relates to a relative coordinate positioning method and system for inspection equipment inside a large-span steel box girder. Background Art

[0002] For inspection equipment that walks on the bottom plate in the steel box girder of a large-span bridge, the relative position of the equipment to the bridge structure must be determined during work. Since the material of the steel box girder has a strong shielding interference effect on external signals, GPS, RTK and other positioning methods cannot be used inside the steel box girder.

[0003] At the same time, the steel box girders of large-span bridges continue to vibrate and displace due to wind and vehicle loads during operation, and the inspection equipment only focuses on the relative position of the current position and the structure rather than the absolute position. If inertial guidance is used, it is also necessary to eliminate the influence of the displacement of the steel box girder itself through calculation.

[0004] The general structural features of steel box girders of large-span bridges are: a cross diaphragm is set at intervals of 3 to 4 meters along the longitudinal direction of the bridge to improve the stability of the bridge under overall bending; stiffening ribs are set at certain intervals on one or both sides of the cross diaphragms of some steel box girders to improve the stability of the cross diaphragms; closed or open stiffening ribs are arranged at certain intervals on the bottom plate of the steel box girder to improve the stability of the bottom plate.

[0005] However, in the prior art, there is no technical solution that can accurately complete the relative coordinate positioning of the inspection equipment inside the large-span steel box girder. Summary of the invention

[0006] In order to solve the above technical problems, the present invention proposes a relative coordinate positioning method for inspection equipment in a large-span steel box girder, comprising:

[0007] Adjust the position of the inspection equipment so that all the measuring points of the laser rangefinder pointed obliquely at a fixed angle to the ground fall on the side of the stiffening rib of the bottom plate of the steel box girder, and calculate the angle between the installation plane of the laser rangefinder pointed obliquely at a fixed angle to the ground and the plane where the side of the stiffening rib of the bottom plate of the steel box girder is located;

[0008] Obtain the installation depression angle of the laser rangefinder and the angle between the side surface of the stiffening rib of the bottom plate of the steel box beam and the bottom plate of the steel box beam, and calculate the transverse angle of the inspection equipment relative to the box chamber of the steel box beam based on the angle;

[0009] Multiple distances to the surrounding steel structures are measured by multiple laser rangefinders distributed concentrically and radially, and the angles between the rays at each measuring point and the diaphragm are obtained according to the transverse angles of the inspection equipment relative to the steel box girder chamber;

[0010] According to the multiple distances and the angles between the rays of each measuring point and the transverse partition, multiple relative distances between the inspection equipment measured at each measuring point and the transverse partitions on both sides of the current steel box girder box chamber are calculated, and the maximum value of the multiple relative distances is obtained as the true value.

[0011] Furthermore, it also includes: obtaining the distance between each measuring point The values ​​measured at each measuring point are , and , then in the space coordinate system with the laser rangefinder installation plane as the xy plane and the laser rangefinder ray direction as the z direction, the normal vector of the plane where the side of the steel box girder bottom plate stiffening rib is located is for:

[0012] ,

[0013] Furthermore, the angle between the installation plane of the laser rangefinder pointing obliquely at a fixed angle to the ground and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located is calculated as follows:

[0014] ,

[0015] in, It is the angle between the installation plane of the laser rangefinder pointing obliquely to the ground at a fixed angle and the plane on which the side surface of the stiffening rib of the bottom plate of the steel box girder is located.

[0016] Furthermore, the calculation of the transverse angle of the inspection equipment relative to the steel box girder chamber includes:

[0017] ,

[0018] in, is the transverse angle between the inspection equipment and the steel box girder chamber, Install the depression angle for the laser rangefinder, It is the angle between the side of the stiffening rib of the steel box girder bottom plate and the steel box girder bottom plate.

[0019] Furthermore, the relative distances between the inspection equipment measured at each measuring point and the transverse partitions on both sides of the current steel box beam box chamber are calculated, including:

[0020] ,

[0021] in, , , is the relative distance.

[0022] The present invention also proposes a relative coordinate positioning system for inspection equipment inside a large-span steel box girder, comprising:

[0023] The plane angle acquisition module is used to adjust the position of the inspection equipment so that all the measuring points of the laser rangefinder pointed obliquely at a fixed angle to the ground fall on the side of the stiffening rib of the bottom plate of the steel box beam, and calculate the angle between the installation plane of the laser rangefinder pointed obliquely at a fixed angle to the ground and the plane where the side of the stiffening rib of the bottom plate of the steel box beam is located;

[0024] A transverse angle acquisition module is used to obtain the installation depression angle of the laser rangefinder and the angle between the side of the stiffening rib of the bottom plate of the steel box beam and the bottom plate of the steel box beam, and calculate the transverse angle of the inspection equipment relative to the box chamber of the steel box beam based on the angle;

[0025] The module for obtaining the partition angle is used to measure multiple distances to the surrounding steel structures through multiple laser rangefinders distributed concentrically and radially, and obtain the angle between the ray at each measuring point and the transverse partition according to the transverse angle of the inspection equipment relative to the steel box beam box chamber;

[0026] The true value confirmation module is used to calculate the multiple relative distances between the inspection equipment measured at each measuring point and the cross diaphragms on both sides of the current steel box beam box chamber according to the multiple distances and the angles between the rays of each measuring point and the cross diaphragm, and obtain the maximum value of the multiple relative distances as the true value.

[0027] Furthermore, it also includes: obtaining the distance between each measuring point The values ​​measured at each measuring point are , and , then in the space coordinate system with the laser rangefinder installation plane as the xy plane and the laser rangefinder ray direction as the z direction, the normal vector of the plane where the side of the steel box girder bottom plate stiffening rib is located is for:

[0028] ,

[0029] Furthermore, the angle between the installation plane of the laser rangefinder pointing obliquely at a fixed angle to the ground and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located is calculated as follows:

[0030] ,

[0031] in, It is the angle between the installation plane of the laser rangefinder pointing obliquely to the ground at a fixed angle and the plane on which the side surface of the stiffening rib of the bottom plate of the steel box girder is located.

[0032] Furthermore, the calculation of the transverse angle of the inspection equipment relative to the steel box girder chamber includes:

[0033] ,

[0034] in, is the transverse angle between the inspection equipment and the steel box girder chamber, Install the depression angle for the laser rangefinder, It is the angle between the side of the stiffening rib of the steel box girder bottom plate and the steel box girder bottom plate.

[0035] Furthermore, the relative distances between the inspection equipment measured at each measuring point and the transverse partitions on both sides of the current steel box beam box chamber are calculated, including:

[0036] ,

[0037] in, , , is the relative distance.

[0038] Compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

[0039] The invention is based on the laser distance measurement principle and the characteristics of the internal structure of the steel box girder of the long-span bridge to achieve the measurement of the relative position of the inspection equipment and the steel box girder. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flow chart of Example 1;

[0041] Figure 2 is a system structure diagram of Example 2;

[0042] Figure 3 The bottom plate closed ribs (left) and bottom plate open ribs (right) of Example 5. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0044] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0045] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0046] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0047] The display screen is used to display the user interface of each application.

[0048] All subscripts in the formulas of the present invention are only used to distinguish parameters and have no actual meaning.

[0049] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0050] Example 1

[0051] like Figure 1 As shown, the present invention proposes a relative coordinate positioning method for inspection equipment in a large-span steel box girder, comprising:

[0052] Step 101, adjusting the position of the inspection equipment so that all the measuring points of the laser rangefinder pointed obliquely at the ground at a fixed angle fall on the side of the stiffening rib of the bottom plate of the steel box girder, and calculating the angle between the installation plane of the laser rangefinder pointed obliquely at the ground at a fixed angle and the plane where the side of the stiffening rib of the bottom plate of the steel box girder is located;

[0053] Specifically, it also includes: obtaining the distance between each measuring point The values ​​measured at each measuring point are , and , then in the space coordinate system with the laser rangefinder installation plane as the xy plane and the laser rangefinder ray direction as the z direction, the normal vector of the plane where the side of the steel box girder bottom plate stiffening rib is located is for:

[0054] ,

[0055] Specifically, the angle between the installation plane of the laser rangefinder pointing obliquely at a fixed angle to the ground and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located is calculated as follows:

[0056] ,

[0057] in, It is the angle between the installation plane of the laser rangefinder pointing obliquely to the ground at a fixed angle and the plane on which the side surface of the stiffening rib of the bottom plate of the steel box girder is located.

[0058] Step 102, obtaining the installation depression angle of the laser rangefinder and the angle between the side surface of the steel box girder bottom plate stiffening rib and the steel box girder bottom plate, and calculating the transverse angle of the inspection equipment relative to the steel box girder box chamber according to the angle;

[0059] Specifically, the calculation of the transverse angle between the inspection equipment and the steel box girder chamber includes:

[0060] ,

[0061] in, is the transverse angle between the inspection equipment and the steel box girder chamber, Install the depression angle for the laser rangefinder, It is the angle between the side of the stiffening rib of the steel box girder bottom plate and the steel box girder bottom plate.

[0062] Step 103, using multiple laser rangefinders distributed concentrically and radially to measure multiple distances to surrounding steel structures, and obtaining angles between rays at each measuring point and the diaphragm according to the transverse angles of the inspection equipment relative to the steel box girder box chamber;

[0063] Step 104, based on the multiple distances and the angles between the rays of each measuring point and the diaphragm, calculate the multiple relative distances between the inspection equipment measured at each measuring point and the diaphragms on both sides of the current steel box girder box chamber, and obtain the maximum value of the multiple relative distances as the true value.

[0064] Specifically, the calculation of multiple relative distances between the inspection equipment measured at each measuring point and the transverse diaphragms on both sides of the current steel box beam box chamber includes:

[0065] ,

[0066] in, , , is the relative distance.

[0067] Specifically, the relative coordinates are calculated by the following formula:

[0068] ,

[0069] in, is the relative x-axis coordinate of the steel box girder and the inspection equipment at time t, is the x-axis coordinate of the inspection equipment at time t, is the x-axis coordinate of the steel box girder, is the x-axis displacement caused by the vibration of the bridge structure that changes with time t, is the influence function of the bottom plate of the steel box girder.

[0070] ,

[0071] in, is the relative y-axis coordinate of the steel box girder and the inspection equipment at time t, is the y-axis coordinate of the inspection equipment at time t, is the y-axis coordinate of the steel box girder, is the y-axis displacement caused by the vibration of the bridge structure that changes with time t, is the influence function of the stiffener.

[0072] ,

[0073] in, is the relative z-axis coordinate of the steel box girder and the inspection equipment at time t, is the z-axis coordinate of the inspection equipment at time t, is the z-axis coordinate of the steel box girder, is the z-axis displacement caused by the vibration of the bridge structure that changes with time t.

[0074] ,

[0075] in, is the first base plate influence coefficient, is the x-axis coordinate of the geometric center of the base plate, is the second base plate influence coefficient, is the y-axis coordinate of the geometric center of the base plate, is the third base plate influence coefficient, is the z-axis coordinate of the geometric center of the base plate, is the attitude angle of the inspection equipment along the x-axis, is the attitude angle of the inspection equipment along the y-axis, is the attitude angle of the inspection device along the z-axis.

[0076] ,

[0077] in, is the first stiffener influence coefficient, is the x-axis coordinate of the geometric center of the stiffener, is the influence coefficient of the second stiffener, is the y-axis coordinate of the geometric center of the stiffener, is the influence coefficient of the third stiffener, is the z-axis coordinate of the geometric center of the stiffener.

[0078] Example 2

[0079] like Figure 2 As shown, the present invention also proposes a relative coordinate positioning system for inspection equipment inside a large-span steel box girder, comprising:

[0080] The plane angle acquisition module is used to adjust the position of the inspection equipment so that all the measuring points of the laser rangefinder pointed obliquely at a fixed angle to the ground fall on the side of the stiffening rib of the bottom plate of the steel box beam, and calculate the angle between the installation plane of the laser rangefinder pointed obliquely at a fixed angle to the ground and the plane where the side of the stiffening rib of the bottom plate of the steel box beam is located;

[0081] Specifically, it also includes: obtaining the distance between each measuring point The values ​​measured at each measuring point are , and , then in the space coordinate system with the laser rangefinder installation plane as the xy plane and the laser rangefinder ray direction as the z direction, the normal vector of the plane where the side of the steel box girder bottom plate stiffening rib is located is for:

[0082] ,

[0083] Specifically, the angle between the installation plane of the laser rangefinder pointing obliquely at a fixed angle to the ground and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located is calculated as follows:

[0084] ,

[0085] in, It is the angle between the installation plane of the laser rangefinder pointing obliquely to the ground at a fixed angle and the plane on which the side surface of the stiffening rib of the bottom plate of the steel box girder is located.

[0086] A transverse angle acquisition module is used to obtain the installation depression angle of the laser rangefinder and the angle between the side of the stiffening rib of the bottom plate of the steel box beam and the bottom plate of the steel box beam, and calculate the transverse angle of the inspection equipment relative to the box chamber of the steel box beam based on the angle;

[0087] Specifically, the calculation of the transverse angle between the inspection equipment and the steel box girder chamber includes:

[0088] ,

[0089] in, is the transverse angle between the inspection equipment and the steel box girder chamber, Install the depression angle for the laser rangefinder, It is the angle between the side of the stiffening rib of the steel box girder bottom plate and the steel box girder bottom plate.

[0090] The module for obtaining the partition angle is used to measure multiple distances to the surrounding steel structures through multiple laser rangefinders distributed concentrically and radially, and obtain the angle between the ray at each measuring point and the transverse partition according to the transverse angle of the inspection equipment relative to the steel box beam box chamber;

[0091] The true value confirmation module is used to calculate the multiple relative distances between the inspection equipment measured at each measuring point and the cross diaphragms on both sides of the current steel box beam box chamber according to the multiple distances and the angles between the rays of each measuring point and the cross diaphragm, and obtain the maximum value of the multiple relative distances as the true value.

[0092] Specifically, the calculation of multiple relative distances between the inspection equipment measured at each measuring point and the transverse diaphragms on both sides of the current steel box beam box chamber includes:

[0093] ,

[0094] in, , , is the relative distance.

[0095] Specifically, the relative coordinates are calculated by the following formula:

[0096] ,

[0097] in, is the relative x-axis coordinate of the steel box girder and the inspection equipment at time t, is the x-axis coordinate of the inspection equipment at time t, is the x-axis coordinate of the steel box girder, is the x-axis displacement caused by the vibration of the bridge structure that changes with time t, is the influence function of the bottom plate of the steel box girder.

[0098] ,

[0099] in, is the relative y-axis coordinate of the steel box girder and the inspection equipment at time t, is the y-axis coordinate of the inspection equipment at time t, is the y-axis coordinate of the steel box girder, is the y-axis displacement caused by the vibration of the bridge structure that changes with time t, is the influence function of the stiffener.

[0100] ,

[0101] in, is the relative z-axis coordinate of the steel box girder and the inspection equipment at time t, is the z-axis coordinate of the inspection equipment at time t, is the z-axis coordinate of the steel box girder, is the z-axis displacement caused by the vibration of the bridge structure that changes with time t.

[0102] ,

[0103] in, is the first base plate influence coefficient, is the x-axis coordinate of the geometric center of the base plate, is the second base plate influence coefficient, is the y-axis coordinate of the geometric center of the base plate, is the third base plate influence coefficient, is the z-axis coordinate of the geometric center of the base plate, is the attitude angle of the inspection equipment along the x-axis, is the attitude angle of the inspection equipment along the y-axis, is the attitude angle of the inspection device along the z-axis.

[0104] ,

[0105] in, is the first stiffener influence coefficient, is the x-axis coordinate of the geometric center of the stiffener, is the influence coefficient of the second stiffener, is the y-axis coordinate of the geometric center of the stiffener, is the influence coefficient of the third stiffener, is the z-axis coordinate of the geometric center of the stiffener.

[0106] Example 3

[0107] The embodiment of the present invention further proposes a storage medium storing a plurality of instructions, wherein the instructions are used to implement the relative coordinate positioning method of the inspection equipment inside a large-span steel box girder.

[0108] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0109] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the method steps of Embodiment 1.

[0110] Example 4

[0111] An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor to enable the processor to execute a relative coordinate positioning method for inspection equipment inside a large-span steel box girder.

[0112] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0113] Among them, the storage medium can be used to store software programs and modules, such as a relative coordinate positioning method for inspection equipment in a large-span steel box girder in an embodiment of the present invention, and the corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned relative coordinate positioning method for inspection equipment in a large-span steel box girder. The storage medium may include high-speed random storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely arranged relative to the processor, and these remote storage media may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0114] The processor can call the information and application programs stored in the storage medium through the transmission system to execute the method steps of Example 1.

[0115] Example 5

[0116] The application background of the present invention includes:

[0117] For inspection equipment that walks on the bottom plate in the steel box girder of a large-span bridge, the relative position of the equipment to the bridge structure must be determined during work. Since the material of the steel box girder has a strong shielding interference effect on external signals, GPS, RTK and other positioning methods cannot be used inside the steel box girder.

[0118] At the same time, the steel box girders of large-span bridges continue to vibrate and displace due to wind and vehicle loads during operation, and the inspection equipment only focuses on the relative position of the current position and the structure rather than the absolute position. If inertial guidance is used, it is also necessary to eliminate the influence of the displacement of the steel box girder itself through calculation.

[0119] The general structural characteristics of steel box girders of large-span bridges are: a transverse diaphragm is set at intervals of 3 to 4 meters along the longitudinal direction of the bridge to improve the stability of the bridge under overall bending; stiffening ribs are set at certain intervals on one or both sides of the transverse diaphragm of some steel box girders to improve the stability of the transverse diaphragm; closed or open stiffening ribs are arranged at certain intervals on the bottom plate of the steel box girder, such as Figure 3 As shown, the stability of the base plate is improved.

[0120] By utilizing the characteristic of dividing the steel box girder into boxes of equal sizes, the relative position of the inspection equipment with respect to the longitudinal direction of the entire bridge can be converted into the relative position with respect to the current box chamber. Since the length of the box chamber is short, its deformation can be ignored, and it is assumed that the box chamber only undergoes overall displacement and rotation. Using the stiffening ribs arranged at equal intervals on the bottom plate of the steel box girder as a reference, the relative position of the inspection equipment with respect to the transverse direction of the entire bridge is converted into the number of the stiffening ribs on the bottom plate at the current position.

[0121] The structural description of the present invention includes:

[0122] 1. There is 1 laser rangefinder vertically pointing to the ground, which is installed inside the inspection device and vertically points to the ground to measure the distance between the bottom plate member and the bottom surface of the inspection device. Different values are measured when the inspection device passes through the regions with and without stiffeners.

[0123] 2. Laser rangefinders with a fixed angle obliquely pointing to the ground, including 3 laser rangefinders. The 3 laser rangefinders are arranged in an inverted "pin" shape, with the relative positions forming an equilateral triangle, the distance between the measuring points being l, and the rays pointing in the same direction. They are installed inside the inspection device and obliquely point to the ground at a certain angle, and the depression angle of the ray is denoted as α.

[0124] 3. Multiple laser rangefinders distributed in a concentric radial pattern, including no less than 3 laser rangefinders. The laser rangefinders are arranged in a concentric radial pattern. The ray of the first laser rangefinder points at 90° to the axis of the inspection device, and the angle between each subsequent laser rangefinder and the previous one is δA. They are installed on the top of the inspection device and point outward.

[0125] The measuring method of the present invention includes:

[0126] 1. Measurement of the relative lateral position of the inspection device with respect to the steel box girder:

[0127] 1.1 The U ribs on the bottom plate of the steel box girder have been numbered, and the working starting point of the inspection device always starts near a specific numbered U rib.

[0128] 1.2 When the device travels longitudinally along its own axis, the laser rangefinder vertically pointing to the ground continuously measures the distance between the current position on the ground and the inspection device.

[0129] 1.3 When the measuring point is not directly above a certain bottom plate stiffener, a relatively large value is measured. When the measuring point is directly above a certain bottom plate stiffener, a relatively small value is measured. The magnitudes of the relatively large / small values are determined by the geometric dimensions of the inspection device itself and the bottom plate of the steel box girder. When the measured value changes from a relatively large value to a relatively small value, the on-vehicle microcomputer of the inspection device counts the U rib number at the current position, and the ordinal number increases or decreases according to the moving direction of the inspection device.

[0130] 1.4 Since the spacing of the U ribs on the bottom plate of the steel box girder is about 1 meter, which is much larger than the calculation accuracy of the motor revolution speed, there is no problem of counting errors.

[0131] 2. Measurement of the relative lateral angle of the inspection device with respect to the steel box girder chamber:

[0132] 2.1 Adjust the position of the inspection device back and forth so that the three measuring points of the laser rangefinder (200) with a fixed angle obliquely pointing to the ground all fall on the side surface of the bottom plate stiffener of the steel box girder.

[0133] 2.2 There may be two positions that do not meet the requirements during the adjustment process, that is, the measuring point falls on the top surface of the stiffening rib of the bottom plate of the steel box beam or the measuring point falls on the bottom plate of the steel box beam. At this time, the measured value is only related to the geometric dimensions of the inspection equipment itself and the bottom plate of the steel box beam, and has nothing to do with the transverse angle between the inspection equipment and the steel box beam box chamber. When receiving the corresponding measured value, the on-board microcomputer sends a command to control the inspection equipment to continue to move forward or backward until the measured values ​​of the three measuring points are all within a reasonable range;

[0134] 2.3 Calculate the angle θ between the installation plane of the laser rangefinder pointing obliquely to the ground at a fixed angle and the plane where the stiffening rib side of the bottom plate of the steel box girder being measured is located by measuring the values ​​at three points;

[0135] 2.3.1 Let the distance between the three laser distance measuring points be l, and the values ​​measured at the three measuring points be l1, l2, and l3 respectively. Then, in the spatial coordinate system with the plane where the three laser distance measuring instruments are installed as the xy plane and the direction of the three laser distance measuring instruments' rays as the z direction, the normal vector of the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located is (a, b, c).

[0136] ,

[0137] 2.3.2 Calculate the angle between the laser rangefinder installation plane and the plane of the side surface of the stiffening rib of the bottom plate of the steel box girder to be measured by the on-board microcomputer for

[0138] ,

[0139] 2.4 The angle θ between the laser rangefinder installation plane and the plane where the stiffening rib side of the steel box girder bottom plate is located is affected by the laser rangefinder installation depression angle α, the angle β between the stiffening rib side of the steel box girder bottom plate and the steel box girder bottom plate, and the transverse angle γ between the inspection equipment and the steel box girder box chamber. If the values ​​of α, β, and θ are known, the transverse angle γ between the inspection equipment and the steel box girder box chamber can be calculated by the on-board microcomputer:

[0140] ,

[0141] 3. Measurement of the relative distance between the inspection equipment and the horizontal partitions on both sides of the current chamber:

[0142] 3.1 A series of distances to the surrounding steel structures were measured by multiple laser rangefinders distributed concentrically and radially:

[0143] ,

[0144] 3.2 According to the measured transverse angle γ between the inspection equipment and the steel box girder box chamber and the interval angle δA between the laser rangefinder and the previous one, the angles between the rays at each measuring point and the transverse partition are:

[0145] ,

[0146] 3.3 The relative distances D between the inspection equipment and the current transverse partitions on both sides of the chamber are calculated by the on-board microcomputer at each measuring point and are:

[0147] ,

[0148] 3.4 Since there may be stiffening ribs on the diaphragm of the steel box girder that hinder the laser ranging rays, the laser irradiation point in the correct state is on the diaphragm, and the laser irradiation point in the incorrect state is on the diaphragm stiffening rib or other obstacles. The above measured distance D values ​​are not necessarily equal. Since obstacles always reduce the laser ranging value compared to the true value, the true value of the relative distance D between the inspection equipment and the diaphragms on both sides of the current box room is the maximum value of the values ​​measured at multiple measuring points:

[0149] ,

[0150] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0151] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0152] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0153] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0154] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0155] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0156] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A relative coordinate positioning method for inspection equipment in a large-span steel box girder, characterized in that: include: Adjust the position of the inspection equipment so that all the measuring points of the laser rangefinder pointed obliquely at the ground with a fixed angle fall on the side of the stiffening rib of the bottom plate of the steel box girder. Calculate the angle between the installation plane of the laser rangefinder pointed obliquely at a fixed angle to the ground and the plane where the side of the stiffening rib of the bottom plate of the steel box girder is located. The fixed angle is the ray depression angle. The distance l between each measuring point falling on the side of the stiffening rib of the bottom plate of the steel box girder is obtained. The values ​​measured by the laser rangefinder to the corresponding measuring points are l1, l2 and l3 respectively. Then, in the spatial coordinate system with the installation plane of the laser rangefinder as the xy plane and the ray direction of the laser rangefinder as the z direction, the normal vector of the plane where the side of the stiffening rib of the bottom plate of the steel box girder is located is (a, b, c): The angle between the installation plane of the laser rangefinder pointing obliquely to the ground at a fixed angle and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located includes: Among them, θ is the angle between the installation plane of the laser rangefinder pointing obliquely at a fixed angle to the ground and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located; Obtain the installation depression angle of the laser rangefinder and the angle between the side surface of the stiffening rib of the bottom plate of the steel box beam and the bottom plate of the steel box beam, and calculate the transverse angle of the inspection equipment relative to the box chamber of the steel box beam according to the angle, wherein calculating the transverse angle of the inspection equipment relative to the box chamber of the steel box beam includes: Among them, γ is the lateral angle between the inspection equipment and the steel box girder box chamber, α is the installation depression angle of the laser rangefinder, and β is the angle between the side of the stiffening rib of the bottom plate of the steel box girder and the bottom plate of the steel box girder; The multiple distances between the laser rangefinder and the surrounding steel structures are measured by multiple laser rangefinders distributed concentrically and radially, and the angles between the rays of each measuring point and the transverse diaphragm are obtained according to the transverse angles between the inspection equipment and the steel box girder box chamber, wherein the multiple distances are (L0, L1, L2, ...); According to the multiple distances (L0, L1, L2, ...) and the angle γ between the ray of each measuring point and the diaphragm, multiple relative distances between the inspection equipment measured at each measuring point and the diaphragms on both sides of the current steel box beam box chamber are calculated, and the maximum value of the multiple relative distances is obtained as the true value, wherein the multiple relative distances between the inspection equipment measured at each measuring point and the diaphragms on both sides of the current steel box beam box chamber are calculated, including: Among them, D0, D1, and D2 are relative distances, and δA is the interval angle between laser rangefinders.

2. A relative coordinate positioning system for inspection equipment inside a large-span steel box girder, characterized in that: include: The plane angle acquisition module is used to adjust the position of the inspection equipment so that all the measuring points of the laser rangefinder pointed obliquely at the ground with a fixed angle fall on the side of the stiffening rib of the bottom plate of the steel box girder, and calculate the angle between the installation plane of the laser rangefinder pointed obliquely at the ground with a fixed angle and the plane where the side of the stiffening rib of the bottom plate of the steel box girder is located. The fixed angle is the ray depression angle, wherein the distance l between each measuring point falling on the side of the stiffening rib of the bottom plate of the steel box girder is obtained, and the values ​​measured by the laser rangefinder to the corresponding measuring points are l1, l2 and l3 respectively. Then, in the spatial coordinate system with the installation plane of the laser rangefinder as the xy plane and the ray direction of the laser rangefinder as the z direction, the normal vector of the plane where the side of the stiffening rib of the bottom plate of the steel box girder is located is (a, b, c): The angle between the installation plane of the laser rangefinder pointing obliquely to the ground at a fixed angle and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located includes: Among them, θ is the angle between the installation plane of the laser rangefinder pointing obliquely at a fixed angle to the ground and the plane where the side surface of the stiffening rib of the bottom plate of the steel box girder is located; A transverse angle acquisition module is used to obtain the installation depression angle of the laser rangefinder and the angle between the side of the stiffening rib of the bottom plate of the steel box beam and the bottom plate of the steel box beam, and calculate the transverse angle of the inspection equipment relative to the box chamber of the steel box beam based on the angle; The module for obtaining the partition angle is used to measure multiple distances between the laser rangefinder and the surrounding steel structure through multiple laser rangefinders distributed concentrically and radially, wherein the multiple distances are (L0, L1, L2, ...), and obtain the angle between each measuring point ray and the transverse partition according to the transverse angle between the inspection equipment and the steel box beam box chamber, wherein the calculation of the transverse angle between the inspection equipment and the steel box beam box chamber includes: Among them, γ is the lateral angle between the inspection equipment and the steel box girder box chamber, α is the installation depression angle of the laser rangefinder, and β is the angle between the side of the stiffening rib of the bottom plate of the steel box girder and the bottom plate of the steel box girder; A true value confirmation module is used to calculate multiple relative distances between the inspection equipment measured at each measuring point and the diaphragms on both sides of the current steel box beam box chamber according to the multiple distances (L0, L1, L2, ...) and the angles between the rays of each measuring point and the diaphragm, and obtain the maximum value of the multiple relative distances as the true value; Calculate the relative distances between the inspection equipment and the transverse diaphragms on both sides of the current steel box girder box chamber measured at each measuring point, including: Among them, D0, D1, and D2 are relative distances, and δA is the interval angle between laser rangefinders.

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