A short-line segment beam precision adjustment method based on digital twin and medium

Abstract

The present application provides a method and medium for adjusting the precision of segmental beams by the short-line method based on digital twins, by setting a first end mold and a second end mold at a prefabricated segmental beam site, and setting a prefabricated segmental beam section between the first end mold and the second end mold, and obtaining a corresponding model through digital twin modeling, so as to prefabricate the prefabricated segmental beams to be spliced. The quaternions of the feature points of the opposite sides of the three-dimensional space are selected on the first end mold model and the second end mold model for mutual comparison, so as to accurately obtain the precision of the position and shape of the first end mold model and the second end mold model, and then the quaternions of the feature points of the opposite sides of the three-dimensional space are selected for the prefabricated segmental beam model, and then the quaternions of the feature points of the first end mold model and the second end mold model are respectively compared with the corresponding three-dimensional feature points on the first end mold model and the second end mold model, so as to ensure the accuracy of the prefabrication of the prefabricated segmental beam.

Description

Technical Field

[0001] The present application relates to the technical field of short-line segmental beams, and in particular to a method for adjusting the accuracy of short-line segmental beams based on digital twins. Background Art

[0002] The short-line segmental beam is a prefabricated bridge construction technology used to manufacture and install prestressed concrete bridges. This technology involves dividing the bridge into shorter prefabricated concrete segments, which are manufactured in a factory or on-site prefabrication plant and then transported to the construction site for assembly. During the prefabrication and installation of the short-line segmental beam, the specific shape and size of the matching beam to be prefabricated plays a key role in the subsequent installation of the bridge. When there are some errors in each prefabricated matching beam, the bridge structure formed by assembling multiple matching beams by the short-line method will have a large error and affect the overall quality of the bridge.

[0003] Therefore, the Chinese patent application document CN108731598B proposes a matching beam segment positioning method based on distance control, which points out that: by real-time measurement of the four outermost characteristic points (points E, F, G, H) on the cross section of the matching beam segment close to the fixed end mold and the four outermost characteristic points (points A, B, C, D) on the cross section of the fixed end mold close to the matching beam segment, and by comparing the theoretical distances and actual distances of the four characteristic points on the fixed end mold with the corresponding characteristic points on the matching segment and other two adjacent characteristic points, and then adjusting accordingly, so as to control the error within the deviation range. However, after the fixed end mold is placed for a long time and the matching beam segment is poured with concrete multiple times, the pouring template will be sunk, resulting in the sinking problem of the matching beam segment away from the fixed end mold after pouring, which will cause the matching beam segment to deviate from the surface and point position of the fixed end mold and cause errors.

[0004] Chinese patent documents CN104762883A, CN106436579A and CN115659479A also proposed some measurement and matching methods for segmental beams using the short-line method, all of which are performed by selecting six measurement points on the top surface of the end mold, detecting the measurement points through a measuring tower or a total station, converting the global coordinates of the measuring tower into the local coordinates of the end mold measurement points, and comparing the six measurement points on the top surface of the end mold to achieve precision measurement.

[0005] The measurement methods of the above-mentioned prior art all perform precision measurement by simultaneously setting multiple measuring points on one surface of the end form, while the matching beam cast corresponding to the end form is a three-dimensional structure. When errors in other parts are caused by settlement of the casting formwork or defects in the formwork, it is difficult to detect, resulting in incomplete detection and resulting in shape and size errors of the cast matching beam, which leads to bridge quality problems. Summary of the invention

[0006] In view of this, it is necessary to provide a short-line method for segmental beam accuracy adjustment based on digital twin with comprehensive three-dimensional detection to solve the above problems.

[0007] The embodiment of the present application provides a short-line method for adjusting the accuracy of segmental beams based on digital twins, comprising the following steps:

[0008] Arrange a detection tower, a first end mold, a prefabricated segmental beam section, and a second end mold on a casting table, wherein the detection tower, the first end mold, the prefabricated segmental beam section, and the second end mold are aligned;

[0009] Modeling the detection tower, the first end mold, the prefabricated segmental beam section and the second end mold digital twins to generate a three-dimensional detection tower model, a first end mold model, a prefabricated segmental beam model and a second end mold model in real time;

[0010] Collecting feature points A and B of the first end mold model facing the side of the detection tower, and collecting feature points C and D of the first end mold model facing away from the side of the detection tower;

[0011] Collect feature points E and F of the three-dimensional prefabricated segmental beam model facing the side of the detection tower, and collect feature points G and H of the three-dimensional prefabricated segmental beam model away from the side of the detection tower;

[0012] Collecting feature points I and J of the second end mold model facing the side of the detection tower, and collecting feature points K and L of the second end mold model facing away from the side of the detection tower;

[0013] A first three-dimensional coordinate system is established with the detection tower as the origin, and the quaternions of all characteristic points of the first end mold model, the prefabricated segmental beam model and the second end mold model are obtained in sequence;

[0014] The quaternions of the characteristic points E and F of the prefabricated segmental beam model are respectively compared with the quaternions of the characteristic points A and B of the first end mold model and the quaternions of the characteristic points I and J of the second end mold model, and the quaternions of the characteristic points G and H of the prefabricated segmental beam model are respectively compared with the quaternions of the characteristic points C and D of the first end mold model and the quaternions of the characteristic points K and L of the second end mold model to determine the shape and position of the prefabricated segmental beam model;

[0015] A second three-dimensional coordinate system is established on the section of the segment beam after splicing, and the coordinates of the characteristic points E, F, G and H are converted from the first three-dimensional coordinate system to the second three-dimensional coordinate system;

[0016] The coordinates of the feature points E, F, G and H in the second three-dimensional coordinate system are compared with corresponding points on the spliced ​​segments to determine the splicing trajectory and splicing position.

[0017] In at least one embodiment of the present application, the step of "establishing a first three-dimensional coordinate system with the detection tower as the origin, and sequentially obtaining the quaternions of all characteristic points of the first end mold model, the prefabricated segmental beam model, and the second end mold model" includes the steps of:

[0018] The unit vectors u=[u x ,u y ,u z ] and the offset angle θ of each feature point relative to the first three-dimensional coordinate axis;

[0019] The quaternions of all characteristic points of the first end mold model, the prefabricated segmental beam model and the second end mold model are obtained in turn.

[0020] Among them, quaternion q = q w +q x i+q y j+q z k,i 2 =j 2 =k 2 =ijk=-1;q w ,q x ,q y ,q z is a real number, i, j, k are the imaginary units of the quaternion.

[0021] In at least one embodiment of the present application, the step of "comparing the quaternions of the characteristic points E and F of the prefabricated segmental beam model with the quaternions of the characteristic points A and B of the first end mold model and the quaternions of the characteristic points I and J of the second end mold model, and comparing the quaternions of the characteristic points G and H of the prefabricated segmental beam model with the quaternions of the characteristic points C and D of the first end mold model and the quaternions of the characteristic points K and L of the second end mold model to determine the shape and position of the prefabricated segmental beam model" includes the steps of:

[0022] Define the direction of the measuring tower pointing to the first end mold, the precast segment beam section and the second end mold as the X axis;

[0023] The quaternions of feature points A and B on the first end mold stereo model on the opposite side are compared with the quaternions of feature points I and J on the second end mold stereo model. If the quaternions of feature points A and B differ from the quaternions of feature points I and J only in the imaginary part in the X-axis direction, the first end mold is defined to be aligned with the second end mold; then

[0024] The characteristic points E, F, G and H on the prefabricated segmental beam model are sequentially compared with the corresponding characteristic points of the first end mold model and the second end mold model to verify the shape and position of the prefabricated segmental beam model.

[0025] In at least one embodiment of the present application, the step of "establishing a second three-dimensional coordinate system in the spliced ​​segment beam cross section, and converting the coordinates of the characteristic points E, F, G, and H from the first three-dimensional coordinate system to the second three-dimensional coordinate system" specifically includes the steps of:

[0026] The feature points E, F, G and H are respectively converted into corresponding pure quaternions in the first three-dimensional coordinate system with the detection tower as the origin, that is, p=0+xi+yj+zk;

[0027] The coordinates of the characteristic points E, F, G and H are calculated by translating the positions with the geometric center of the end face of the first end mold model as the origin or the geometric center of the end face of the second end mold model as the origin: P t =[xt x , yt y , zt z ];

[0028] The pure quaternion of feature point E, feature point F, feature point G and feature point H after translation to the geometric center of the end face of the first end mold model or the geometric center of the end face of the second end mold model is calculated as: t =0+(xt x )i+(yt y )j+(zt z )k;

[0029] Calculate the conjugate quaternion q of feature points E, F, G, and H * =q w -q x iq y jq z k;

[0030] Calculate the converted quaternion: p′=q·p t ·q * ;

[0031] Extracting the imaginary part of the rotated quaternion to obtain the coordinates of the feature points E, F, G and H in a coordinate system with the end face of the first end mold model as the origin or with the end face of the second end mold model as the origin;

[0032] The obtained feature points E, F, G and H are converted into coordinates in the second three-dimensional coordinate system based on the coordinates of the first end mold model or the second end mold model.

[0033] In at least one embodiment of the present application, the step of “converting the obtained coordinates of the feature point E, feature point F, feature point G and feature point H in the first end mold model or the second end mold model into coordinates in the second three-dimensional coordinate system” includes the steps of:

[0034] Converting the origin of the end surface of the first end mold model or the origin of the end surface of the second end mold model to the origin of the second three-dimensional coordinate system;

[0035] According to each feature point, the real part and the imaginary part of the quaternion with the origin of the first end mold model or the origin of the second end mold model as the coordinate system are converted into a quaternion in the second three-dimensional coordinate system;

[0036] The imaginary feature of each feature point in the second three-dimensional coordinate system is extracted to obtain the coordinates of each feature point in the second three-dimensional coordinate system.

[0037] In at least one embodiment of the present application, the step of “comparing the coordinates of the feature points E, F, G, and H in the second three-dimensional coordinate system with the corresponding points on the spliced ​​segment to determine the splicing trajectory and splicing position” includes the steps of:

[0038] Perform digital twin modeling on the spliced ​​segmental beam to form a segmental beam model;

[0039] Calculate the quaternions of the characteristic points corresponding to the characteristic points E, F, G and H in the segmental beam model in the second three-dimensional coordinate system;

[0040] The characteristic points E, F, G and H are respectively compared with the quaternions of the corresponding characteristic points in the segmental beam model;

[0041] The different imaginary parts of the quaternions of the characteristic points E, F, G and H and the corresponding characteristic points in the segmental beam model are obtained respectively;

[0042] The axes where the different imaginary parts of the quaternions of the characteristic points E, F, G and H and the corresponding characteristic points in the segmental beam model are located are taken as the splicing trajectories.

[0043] In at least one embodiment of the present application, the step of "establishing a second three-dimensional coordinate system in the spliced ​​segment beam cross section, and converting the coordinates of the characteristic points E, F, G, and H from the first three-dimensional coordinate system to the second three-dimensional coordinate system" also includes the following steps:

[0044] Perform digital twin modeling on the spliced ​​segmental beam to form a segmental beam model;

[0045] Compare the precast segmental beam model with the segmental beam model to screen out the deformation parts of the precast segmental beam;

[0046] Select multiple feature points of the deformation part of the prefabricated segmental beam model, and calculate the compensation quaternion of the multiple feature points;

[0047] Adjust the shape and size of the precast segmental beams to align with the segmental beam model.

[0048] In at least one embodiment of the present application, the step of "selecting multiple feature points of the deformation part of the prefabricated segmental beam model and calculating the compensation quaternion of the multiple feature points" includes the steps of:

[0049] Calculate the maximum deflection of the precast beam model at multiple characteristic points in the deformation area:

[0050]

[0051] Among them, y max is the maximum deflection in the precast segmental beam model, q is the uniformly distributed load per unit length, L is the length of the precast segmental beam model, E is the elastic modulus of the material, and I is the moment of inertia of the cross section;

[0052] Calculate the deflection angle α at the location of maximum deflection of the precast beam model:

[0053]

[0054] Obtain the rotation axis at the position of maximum deflection of the precast beam segment model;

[0055] Calculate the compensation quaternion q at the maximum deflection of the precast beam model comp :

[0056]

[0057] According to the compensation quaternion q comp Repair and adjust the deformed parts of the precast segmental beam model.

[0058] In at least one embodiment of the present application, the geometric center of the deformation part of the prefabricated segmental beam model is selected as the position of maximum deflection, and the rotation axis of the prefabricated segmental beam model is perpendicular to the geometric plane and load direction of the position.

[0059] A computer medium comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the short-line method for segmental beam accuracy adjustment based on digital twins as described above.

[0060] This application has at least the following beneficial effects:

[0061] 1. The present application sets a first end mold and a second end mold at a prefabricated segmental beam site, sets a prefabricated segmental beam section between the first end mold and the second end mold, and obtains a corresponding model through digital twin modeling to prefabricate the prefabricated segmental beam to be spliced. The quaternions of the feature points of the opposite sides of the three-dimensional space selected on the first end mold model and the second end mold model are compared with each other to accurately obtain the accuracy of the position and shape of the first end mold model and the second end mold model, and then the quaternions of the feature points of the opposite sides of the three-dimensional space selected on the prefabricated segmental beam model are compared with the corresponding three-dimensional feature points on the first end mold model and the second end mold model to ensure the accuracy of the prefabrication of the prefabricated segmental beam.

[0062] 2. The present application obtains the quaternion of all characteristic points of the prefabricated segmental beam model in the first three-dimensional coordinate system, and converts the quaternion of all characteristic points of the prefabricated segmental beam from the first three-dimensional coordinate system to a coordinate system with the first end mold model or the second end mold model as the origin, and then converts it to the second three-dimensional coordinate system of splicing, so as to realize the conversion from the overall coordinate system to the splicing local coordinate system, thereby ensuring the accuracy of the splicing.

[0063] 3. This application compares the prefabricated segmental beam model with the spliced ​​segmental beam model to screen out the deformation parts of the prefabricated segmental beam caused by external force, material or temperature, and calculates the compensation quaternion of the deformation part to facilitate corresponding repair and adjustment of the prefabricated segmental beam. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is a flowchart of a method for adjusting the accuracy of a segmental beam using a short-line method based on digital twins in Embodiment 1 of the present application;

[0065] Figure 2 for Figure 1 A schematic diagram of the structure of the first end mold, the prefabricated segmental beam section and the second end mold in the method shown;

[0066] Figure 3 This is a flowchart of a computer medium in Embodiment 2 of the present application.

[0067] Main component symbols

[0068] 10. Inspection tower; 20. First end mold; 30. Prefabricated segmental beam section; 40. Second end mold. DETAILED DESCRIPTION

[0069] The embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0070] It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a central component at the same time. When a component is considered to be "located on" another component, it may be directly located on the other component or there may be a central component at the same time. The terms "top", "bottom", "upper", "lower", "left", "right", "front", "back", and similar expressions used herein are for illustrative purposes only.

[0071] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0072] Embodiment 1

[0073] See also Figure 1-Figure 2 , this embodiment 1 proposes a segment beam precision adjustment method based on a short-line method of digital twin, comprising the following steps:

[0074] S10: Setting a detection tower 10, a first end mold 20, a precast segment beam section 30, and a second end mold 40 on a casting table, wherein the detection tower 10, the first end mold 20, the precast segment beam section 30, and the second end mold 40 are aligned;

[0075] S20: Modeling the detection tower 10, the first end mold 20, the prefabricated segmental beam section 30 and the second end mold 40 as digital twins, so as to generate a three-dimensional detection tower 10 model, a first end mold 20 model, a prefabricated segmental beam model and a second end mold 40 model in real time;

[0076] S30: collecting feature points A and B of the three-dimensional first end mold 20 model facing the side of the detection tower 10, and collecting feature points C and D of the three-dimensional first end mold 20 model away from the side of the detection tower 10;

[0077] S40: collecting feature points E and F of the three-dimensional prefabricated segmental beam model facing the side of the detection tower 10, and collecting feature points G and H of the three-dimensional prefabricated segmental beam model away from the side of the detection tower 10;

[0078] S50: collecting feature points I and J of the three-dimensional second end mold 40 model facing the side of the detection tower 10, and collecting feature points K and L of the three-dimensional second end mold 40 model away from the side of the detection tower 10;

[0079] S60: Establishing a first three-dimensional coordinate system with the detection tower 10 as the origin, and sequentially obtaining the quaternions of all characteristic points of the first end mold 20 model, the prefabricated segmental beam model and the second end mold 40 model;

[0080] S70: comparing the quaternions of the characteristic points E and F of the prefabricated segmental beam model with the quaternions of the characteristic points A and B of the first end mold 20 model and the quaternions of the characteristic points I and J of the second end mold 40 model, and comparing the quaternions of the characteristic points G and H of the prefabricated segmental beam model with the quaternions of the characteristic points C and D of the first end mold 20 model and the quaternions of the characteristic points K and L of the second end mold 40 model, so as to determine the shape and position of the prefabricated segmental beam model;

[0081] S80: establishing a second three-dimensional coordinate system in the section of the segment beam after splicing, and converting the coordinates of the characteristic point E, the characteristic point F, the characteristic point G, and the characteristic point H from the first three-dimensional coordinate system to the second three-dimensional coordinate system;

[0082] S90: Compare the coordinates of the feature points E, F, G and H in the second three-dimensional coordinate system with the corresponding points on the spliced ​​segment to determine the splicing trajectory and splicing position.

[0083] It should be noted that digital twin technology is a simulation technology that simulates real-world conditions by creating a virtual copy (i.e., a "twin") of a physical object, process, or system. This technology combines the Internet of Things, big data, artificial intelligence, machine learning, and software analysis technologies to monitor, predict, optimize, and control real-world objects and systems in real time.

[0084] Specifically, the implementation process of digital twin technology usually includes the following steps:

[0085] Using sensors, IoT devices, etc., to collect detailed data of the first end mold 20, the first segment beam section, and the second end mold 40, including their operating parameters, environmental conditions, and performance indicators;

[0086] The collected data is used to create a detailed virtual model of the first end mold 20, the first segment beam section and the second end mold 40 in the computer. The virtual model is kept synchronized with the physical entity through continuous data exchange. Any state change of the physical entity will be reflected in the virtual model in real time, and vice versa;

[0087] Leverage machine learning algorithms to perform in-depth analysis of synchronized data to predict the future state of physical entities, identify potential issues, or optimize performance.

[0088] In a specific embodiment, the present application uses a laser scanner or photogrammetry equipment to obtain the external contour shape of the first end mold 20, the prefabricated segmental beam section 30 and the second end mold 40, and sets multiple sensors on the first end mold 20, the prefabricated segmental beam section 30 and the second end mold 40 to collect various parameters and indicators on the first end mold 20, the prefabricated segmental beam section 30 and the second end mold 40 in real time, so as to realize the first end mold 20, the prefabricated segmental beam section 30 and the second end mold 40 The performance is replicated to its model. It should be noted that the digital twin sampling technology used in this application is part of the existing technology and will not be repeated here.

[0089] Furthermore, the above scheme collects the feature points A and B of the three-dimensional first end mold 20 model facing the side of the detection tower 10, and collects the feature points C and D of the three-dimensional first end mold 20 model away from the side of the detection tower 10; collects the feature points E and F of the three-dimensional prefabricated segmental beam model facing the side of the detection tower 10, and collects the feature points G and H of the three-dimensional prefabricated segmental beam model away from the side of the detection tower 10; collects the feature points I and J of the three-dimensional second end mold 40 model facing the side of the detection tower 10, and collects the feature points The model deviates from the characteristic points K and L on the side of the detection tower 10; and by comparing the quaternions of the characteristic points E and F of the prefabricated segmental beam model with the quaternions of the characteristic points A and B of the first end mold 20 model and the quaternions of the characteristic points I and J of the second end mold 40 model, the quaternions of the characteristic points G and H of the prefabricated segmental beam model are compared with the quaternions of the characteristic points C and D of the first end mold 20 model and the quaternions of the characteristic points K and L of the second end mold 40 model, so as to determine the shape and position of the prefabricated segmental beam model.

[0090] In a specific embodiment, the above-mentioned feature points A, B, C, D, E, F, G, H, I, J, K and L are respectively selected from vertices or turning points on corresponding surfaces of the first end mold 20, the prefabricated segmental beam and the second end mold 40. It should be noted that in the python program, the quaternion of a specific feature point can be calculated by establishing a coordinate system, and the specific procedure is as follows:

[0091]

[0092]

[0093] It should be noted that the above scheme is to align the first end mold 20 and the second end mold 40 during the setting (specifically, it can be achieved by the above-mentioned quaternion alignment) to check whether the position of the prefabricated segment beam section 30 is correct from two reference technologies. Further, after the first end mold 20 and the second end mold 40 are aligned, the characteristic points E and F on the same side of the prefabricated segment beam model are compared with the corresponding characteristic points A and B on the side of the first end mold 20 model, and the corresponding characteristic points I and J on the side of the second end mold 40 model to determine the position accuracy of the prefabricated segment beam model on the end face facing the detection tower 10. The accuracy of the comparison is improved through three comparisons. Preferably, the characteristic points E and F are one of the upper end point and the lower end point on the same side of the prefabricated segment beam model, so as to check the accuracy of the prefabricated segment beam model from both the upper and lower sides. Furthermore, after the position and shape accuracy of the end face of the prefabricated segmental beam model facing the detection tower 10 are detected, the feature points G and H are collected by selecting a side of the prefabricated segmental beam model away from the above-mentioned detection side, and the feature points G and H are compared with the feature points C and D on the corresponding side of the first end mold 20 model, and the feature points K and L on the corresponding side of the second end mold 40 model, so as to check the position and shape accuracy of the other side of the prefabricated segmental beam away from the cross section. Preferably, the feature points G and H are two feature points located above and below on the side of the prefabricated segmental beam model, so as to detect the accuracy of the other end face from the upper and lower directions. Therefore, the above scheme detects the accuracy of the shape and position of the prefabricated segmental beam model by selecting four feature points (feature points E, feature points F, feature points G and feature points H) on the two opposite sides of the prefabricated segmental beam model, thereby ensuring the accuracy of the prefabricated segmental beam in three dimensions. Compared with the prior art that detects the shape and position accuracy of the precast segmental beam by selecting six characteristic points on the top surface, the prior art often causes detection errors or inaccuracies when one end of the end mold and the precast segmental beam casting template sinks. The method of detecting four characteristic points on the same end surface proposed in patent document CN108731598B can only detect the accuracy of one end. When the other end sinks, serious errors will also occur, affecting its detection accuracy. The present application solves the problem that three-dimensional detection cannot be achieved in the prior art by detecting four characteristic points between two opposite sides.

[0094] Furthermore, all the feature points are collected by laser scanner or photogrammetry equipment at different angles for multiple times and then stitched together. The common part of the image obtained by each scan (the overlapping part of the features) is stitched together. This is part of the prior art and will not be described here.

[0095] Specifically, step S60 includes the steps of:

[0096] S61: sequentially obtain the unit vector u=[u x ,u y ,u z ] and the offset angle θ of each feature point relative to the first three-dimensional coordinate axis;

[0097] S62: sequentially obtain the quaternions of all feature points of the first end mold 20 model, the prefabricated segment beam model and the second end mold 40 model

[0098] Among them, quaternion q = q w +q x i+q y j+q z k,i 2 =j 2 =k 2 =ijk=-1;q w ,q x ,q y ,q z is a real number, i, j, k are the imaginary units of the quaternion.

[0099] It should be noted that in the above scheme, a first three-dimensional coordinate system is established with the detection tower 10 as the origin, wherein the vertical direction is the Z-axis direction, the length direction and the width direction of the first end mold 20 are the X-axis and the Y-axis, and the positions of all feature points can be determined by calculating the unit vector of the feature point and the offset angle between the vector and the coordinate axis, as follows:

[0100] For each feature point, based on its coordinates in three-dimensional space, we can calculate the vector from the origin to the point. Then, by dividing the vector by its modulus, we can get a unit vector that represents the direction of the point. The calculation formula is: Where v is the vector from the origin to the feature point, and ||v|| is the modulus of the vector. The offset angle between the unit vector and the three-dimensional coordinate axis can be calculated by the vector dot product. For example, the angle θ between the unit vector and the X axis x It can be calculated as in, is the unit vector of the X axis. Therefore, the unit vector and offset angle of each feature point are calculated by the above method, and the quaternion of each feature point is calculated by the above quaternion calculation formula.

[0101] Furthermore, in order to better ensure the accuracy of the prefabricated segmental beam model, step S70 includes the following steps:

[0102] S71: define the direction of the measuring tower pointing to the first end mold 20, the prefabricated segment beam section 30 and the second end mold 40 as the X axis;

[0103] S72: Compare the quaternions of the feature points A and B on the three-dimensional model of the first end mold 20 on the opposite side with the quaternions of the feature points I and J on the three-dimensional model of the second end mold 40. If the quaternions of the feature points A and B differ from the quaternions of the feature points I and J only in the imaginary part in the X-axis direction, define that the first end mold 20 is aligned with the second end mold 40; then

[0104] S73: sequentially compare the characteristic points E, F, G and H on the prefabricated segmental beam model with the corresponding characteristic points of the first end mold 20 model and the second end mold 40 model to verify the shape and position of the prefabricated segmental beam model.

[0105] It should be noted that the imaginary part of the quaternion represents the vector part in space and can be used to indicate direction and rotation. When comparing the feature points A and B of the three-dimensional model of the first end mold 20 with the feature points I and J of the three-dimensional model of the second end mold 40, if the quaternions of these feature points only differ in the imaginary part in the X-axis direction, this indicates that the first end mold 20 and the second end mold 40 are aligned in all aspects except for the rotation or displacement in the X-axis direction. When the difference in the imaginary part of the feature points of the first end mold 20 and the second end mold 40 in the X-axis direction meets the conditions, we believe that the positions and directions of the two modules in space are aligned. Therefore, before comparing the prefabricated segmental beam models, first ensure that the first end mold 20 and the second end mold 40 are aligned with each other and aligned with the detection tower 10 to provide two comparison references.

[0106] Furthermore, after the first end mold 20 and the second end mold 40 are aligned, the quaternions of the characteristic points E, F, G, and H on the prefabricated segmental beam model are compared with the quaternions of the corresponding characteristic points of the first end mold 20 model and the second end mold 40 model, so as to compare the characteristic points from the three-dimensional space and the upper and lower end surfaces, and select the first end mold 20 model and the second end mold 40 model as two reference objects for comparison. If the prefabricated segmental beam model is aligned with the first end mold 20 model and the second end mold 40 model, its accuracy is more accurate than using one reference object for comparison, thereby ensuring the accuracy of the alignment.

[0107] Furthermore, step S80 further includes the steps of:

[0108] S81: converting the feature points E, F, G and H into corresponding pure quaternions in the first three-dimensional coordinate system with the detection tower 10 as the origin, that is, p=0+xi+yj+zk;

[0109] S82: Calculate the coordinates of feature points E, F, G and H after translation with the geometric center of the end face of the first end mold 20 or the geometric center of the end face of the second end mold 40 as the origin: Pt = [xt x , yt y , zt z ];

[0110] S83: Calculate the pure quaternion of feature point E, feature point F, feature point G and feature point H after translation to the geometric center of the end face of the first end mold 20 model as the origin or the geometric center of the end face of the second end mold 40 model as the origin: p t =0+(xt x )i+(yt y )j+(zt z )k;

[0111] S84: Calculate the conjugate quaternion q of feature point E, feature point F, feature point G and feature point H * =q w -q x iq y jq z k;

[0112] S85: Calculate the converted quaternion: p′=q·pt·q * ;

[0113] S86: extracting the imaginary part of the rotated quaternion to obtain the coordinates of the characteristic points E, F, G and H in a coordinate system with the end face of the first end mold 20 as the origin or with the end face of the second end mold 40 as the origin;

[0114] S87: Convert the obtained coordinates of the feature point E, feature point F, feature point G and feature point H in the first end mold 20 model or the second end mold 40 model into coordinates in the second three-dimensional coordinate system.

[0115] It should be noted that, in the present application, the origin of the detection tower 10 and the origin of the first end mold 20 are located on the X-axis of the first three-dimensional coordinate system, and their heights in the Z-axis direction are consistent, that is, the conversion from the first three-dimensional coordinate system where the origin of the detection tower 10 is located to the coordinate system where the geometric center of the first end mold 20 is located only has a translation in the X-axis direction, that is, the original coordinates after being converted from the first three-dimensional coordinate system where the origin of the detection tower 10 is located to the coordinate system where the geometric center of the first end mold 20 is located The coordinates of the origin are P t =[xt x , yt y , zt z ], that is, the corresponding pure quaternion is converted from p = 0 + xi + yj + zk to p t=0+(xt x )i+(yt y j+(zt z )k, and according to the modulus of the quaternion is defined as Therefore, the quaternion of each feature point after conversion can be calculated by the above formula, thereby obtaining the coordinates of each feature point with the end face of the first end mold 20 model as the origin or the end face of the second end mold 40 model as the origin, thereby realizing the conversion of coordinates.

[0116] Furthermore, in the process of splicing the segmental beams using the short-line method, the end face of the previous segmental beam is used as a template to splice the segmental beams of the next segment. Therefore, the cross-section of the successfully spliced ​​segmental beam is consistent with the cross-section of the prefabricated segmental beam and the first end mold 20 and the second end mold 40. Therefore, when converting the coordinate system of the first end mold 20 or the second end mold 40 to the second three-dimensional coordinate system where the spliced ​​segmental beams are located, it is only necessary to use the same geometric center as the origin and realize the coordinate conversion based on the same XYZ three axes, thereby realizing the conversion of the coordinates of each feature point from the first three-dimensional coordinate system to the second three-dimensional coordinate system during the splicing process, thereby improving the accuracy of the splicing.

[0117] Specifically, step S87 includes the steps of:

[0118] S871: converting the original center of the end surface of the model of the first end mold 20 or the original center of the end surface of the model of the second end mold 40 into the original center of the second three-dimensional coordinate system;

[0119] S872: According to each feature point, the real part and the imaginary part of the quaternion with the origin of the first end mold 20 model or the origin of the second end mold 40 model as the coordinate system are converted into a quaternion in the second three-dimensional coordinate system;

[0120] S873: Extract the imaginary feature of each feature point in the second three-dimensional coordinate system to obtain the coordinates of each feature point in the second three-dimensional coordinate system.

[0121] It should be noted that the end face of the first end mold 20 or the second end mold 40 is consistent with the end face of the spliced ​​segment beam. Therefore, in the conversion process of this coordinate system, only the translation operation of the quaternion needs to be implemented to achieve the conversion of the quaternion.

[0122] Furthermore, the conversion of the above quaternion can be calculated using a python program, and the specific program code is as follows:

[0123]

[0124]

[0125] In summary, the above scheme sets the first end mold 20 and the second end mold 40 at the prefabricated segmental beam site, sets the prefabricated segmental beam section 30 between the first end mold 20 and the second end mold 40, and obtains the corresponding model through digital twin modeling to prefabricate the prefabricated segmental beam to be spliced. The quaternions of the feature points of the opposite sides of the three-dimensional space selected on the first end mold 20 model and the second end mold 40 model are compared with each other to accurately obtain the accuracy of the position and shape of the first end mold 20 model and the second end mold 40 model, and then the quaternions of the feature points of the opposite sides of the three-dimensional space selected on the prefabricated segmental beam model are compared with the corresponding three-dimensional feature points on the first end mold 20 model and the second end mold 40 model to ensure the accuracy of the prefabrication of the prefabricated segmental beam.

[0126] Furthermore, the quaternions of all characteristic points of the prefabricated segmental beam model in the first three-dimensional coordinate system are obtained, and the quaternions of all characteristic points of the prefabricated segmental beam are converted from the first three-dimensional coordinate system to a coordinate system with the first end mold 20 model or the second end mold 40 model as the origin, and then converted to the spliced ​​second three-dimensional coordinate system to achieve the conversion from the global coordinate system to the spliced ​​local coordinate system, thereby ensuring the accuracy of the splicing.

[0127] After the segment beam is prefabricated, in order to ensure the accuracy of splicing, in a specific embodiment, step S90 includes the following steps:

[0128] S91: performing digital twin modeling on the segmental beam after splicing to form a segmental beam model;

[0129] S92: calculating the quaternions of the feature points corresponding to the feature points E, F, G and H in the segmental beam model in the second three-dimensional coordinate system;

[0130] S93: respectively comparing the characteristic point E, the characteristic point F, the characteristic point G and the characteristic point H with the quaternion of the corresponding characteristic point in the segmental beam model;

[0131] S94: respectively obtaining different imaginary parts of the quaternions of the characteristic points E, F, G and H and the corresponding characteristic points in the segmental beam model;

[0132] S95: Take the axes where the different imaginary parts of the quaternions of the feature points E, F, G and H and the corresponding feature points in the segmental beam model are located as the splicing trajectory.

[0133] It should be noted that the above scheme performs digital twin modeling on the segmental beams that have been spliced ​​to monitor and compare the prefabricated segments in real time. In summary, after the above scheme converts the coordinates of the feature points E, F, G and H from the first three-dimensional coordinate system to the second three-dimensional coordinate system through the above formula, the quaternion in the second three-dimensional coordinate system can be calculated based on the unit vector machine angle feature in the second three-dimensional coordinate system. By comparing the feature points E, F, G and H with the segmental beam model, it can be determined whether the prefabricated segmental beam has deviations during the splicing process so as to make timely adjustments.

[0134] Furthermore, if the feature points E, F, G and H only have imaginary number differences in unit coordinates with the spliced ​​segmental beam model, it means that the prefabricated segmental beam and the spliced ​​segmental beam have been aligned, and the axial direction where the imaginary number difference is located is the trajectory of the segmental beam splicing.

[0135] It should be noted that, in the process of prefabricating segmental beams, due to the influence of prefabricated materials, temperature and stress conditions, the cast prefabricated segmental beams may be deviated, thereby affecting the casting quality, or due to the influence of unit area stress, the segmental beams may be offset when spliced, resulting in misalignment and affecting the quality of the cast segmental beams. Therefore, before step S80, the following steps are also included:

[0136] S801: Perform digital twin modeling on the segmental beam after splicing to form a segmental beam model;

[0137] S802: Compare the prefabricated segmental beam model with the segmental beam model to screen out the deformation parts of the prefabricated segmental beam;

[0138] S803: Select multiple feature points of the deformation part of the prefabricated segmental beam model, and calculate the compensation quaternion of the multiple feature points;

[0139] S804: Adjust the shape and size of the precast segmental beam to align with the segmental beam model.

[0140] It should be noted that the above scheme generates a three-dimensional model of the prefabricated segmental beam and a three-dimensional model of the segmental beam after splicing through digital twin modeling, and determines the deformation part of the prefabricated segmental beam model by comparing the three-dimensional models. Specifically, the above deformation part can be a part that is offset by external force, or a damaged and missing part, or a part that is bulged due to the accumulation of foreign matter, etc. This scheme selects multiple feature points of the deformation part of the prefabricated segmental beam model to ensure the integrity of the deformation part.

[0141] Furthermore, by selecting the segmental beams that have been spliced ​​during the splicing process to establish a second three-dimensional coordinate system, and using the formula calculation method shown above, the quaternions of multiple feature points of the selected deformed parts can be calculated. By comparing the quaternions of the normal model, the specific shape and size of the geometric features and range of the offset, missing and accumulated parts can be obtained, thereby achieving corresponding repairs and adjustments, such as adjusting the angle during prefabrication, or filling in the missing parts or removing the accumulated parts during prefabrication.

[0142] Specifically, step S804 includes the following steps:

[0143] S8041: Calculate the maximum deflection of multiple characteristic points of the precast beam model at the deformation location:

[0144]

[0145] Among them, y max is the maximum deflection in the precast segmental beam model, q is the uniformly distributed load per unit length, L is the length of the precast segmental beam model, E is the elastic modulus of the material, and I is the moment of inertia of the cross section;

[0146] S8042: Calculate the offset angle α at the maximum deflection position of the precast beam model:

[0147]

[0148] S8043: Obtain the rotation axis at the maximum deflection position of the precast beam segment model;

[0149] S8044: Calculate the compensation quaternion q at the maximum deflection of the precast beam model comp :

[0150]

[0151] S8045: Based on the compensation quaternion q comp Repair and adjust the deformed parts of the precast segmental beam model.

[0152] It should be noted that this solution uses the above formula to calculate the compensation quaternions of all feature points of the selected deformation parts respectively, so as to obtain the specific size and shape of the specific deformation parts from the digital twin model, thereby facilitating the staff to make corresponding adjustments.

[0153] In a specific embodiment, the geometric center of the deformation part of the prefabricated segmental beam model is selected as the position of the maximum deflection, and the rotation axis of the prefabricated segmental beam model is perpendicular to the geometric plane and the load direction of the position.

[0154] It should be noted that for structural components with regular shapes and uniform material properties, when subjected to uniformly distributed external forces, the deformation usually reaches its maximum near the geometric center. This is because the part around the geometric center is farthest from the support point, and therefore bears the maximum bending moment or shear force in the elastic or plastic response of the material. And in regular geometric shapes, the geometric center also represents the center of mass or center of gravity. When external forces (such as gravity, pressure, etc.) act on such a structure, due to symmetry, the force forms a state of equilibrium around the geometric center, resulting in or concentrating the maximum deflection there.

[0155] It should be noted that when external forces or material and temperature changes occur during the casting of prefabricated segmental beams, they are often particularly serious in local areas, and the scope of the local areas is relatively small. Therefore, when a smaller local area is deformed, it can be considered as a regular deformation.

[0156] In summary, the above method compares the prefabricated segmental beam model with the segmental beam model after splicing to screen out the deformation parts of the prefabricated segmental beam caused by external force, material or temperature, and calculates the compensation quaternion of the deformation parts, so as to facilitate the corresponding repair and adjustment of the prefabricated segmental beam.

[0157] Embodiment 2

[0158] See also Figure 3 , this embodiment 3 provides a computer medium, including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the following steps:

[0159] Arrange a detection tower 10, a first end mold 20, a precast segment beam section 30, and a second end mold 40 on a casting table, wherein the detection tower 10, the first end mold 20, the precast segment beam section 30, and the second end mold 40 are aligned;

[0160] Digital twin modeling of the detection tower 10, the first end mold 20, the prefabricated segmental beam section 30 and the second end mold 40 is performed to generate a three-dimensional detection tower 10 model, a first end mold 20 model, a prefabricated segmental beam model and a second end mold 40 model in real time;

[0161] Collect the characteristic points A and B of the three-dimensional first end mold 20 model facing the side of the detection tower 10, and collect the characteristic points C and D of the three-dimensional first end mold 20 model away from the side of the detection tower 10;

[0162] Collect feature points E and F of the three-dimensional prefabricated segmental beam model facing the side of the detection tower 10, and collect feature points G and H of the three-dimensional prefabricated segmental beam model away from the side of the detection tower 10;

[0163] Collect the characteristic points I and J of the three-dimensional second end mold 40 model facing the side of the detection tower 10, and collect the characteristic points K and L of the three-dimensional second end mold 40 model away from the side of the detection tower 10;

[0164] A first three-dimensional coordinate system is established with the detection tower 10 as the origin, and the quaternions of all characteristic points of the first end mold 20 model, the prefabricated segmental beam model and the second end mold 40 model are obtained in sequence;

[0165] The quaternions of the characteristic points E and F of the prefabricated segmental beam model are respectively compared with the quaternions of the characteristic points A and B of the first end mold 20 model and the quaternions of the characteristic points I and J of the second end mold 40 model, and the quaternions of the characteristic points G and H of the prefabricated segmental beam model are respectively compared with the quaternions of the characteristic points C and D of the first end mold 20 model and the quaternions of the characteristic points K and L of the second end mold 40 model to determine the shape and position of the prefabricated segmental beam model;

[0166] A second three-dimensional coordinate system is established on the section of the segment beam after splicing, and the coordinates of the characteristic points E, F, G and H are converted from the first three-dimensional coordinate system to the second three-dimensional coordinate system;

[0167] The coordinates of the feature points E, F, G and H in the second three-dimensional coordinate system are compared with corresponding points on the spliced ​​segments to determine the splicing trajectory and splicing position.

[0168] Figure 3 FIG. 1 shows an internal structure diagram of a computer device in an embodiment. The computer device may be a terminal or a server. Figure 3 As shown, the computer device includes a processor, a memory and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement a method for diagnosing belt drive abnormalities based on motor signals. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor may implement a method for diagnosing belt drive abnormalities based on motor signals. Those skilled in the art will appreciate that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0169] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above is only an implementation method of the present application. It should be pointed out that for ordinary technicians in this field, improvements can be made without departing from the creative concept of the present application, but these all belong to the scope of protection of the present application.

Claims

1. A short-line segment beam precision adjustment method based on digital twin, characterized in that: The steps include: Arrange a detection tower, a first end mold, a prefabricated segmental beam section, and a second end mold on a casting table, wherein the detection tower, the first end mold, the prefabricated segmental beam section, and the second end mold are arranged in alignment; Modeling the detection tower, the first end mold, the prefabricated segmental beam section and the second end mold digital twins to generate a three-dimensional detection tower model, a first end mold model, a prefabricated segmental beam model and a second end mold model in real time; Collecting feature points A and B of the first end mold model facing the side of the detection tower, and collecting feature points C and D of the first end mold model facing away from the side of the detection tower; Collect feature points E and F of the three-dimensional prefabricated segmental beam model facing the side of the detection tower, and collect feature points G and H of the three-dimensional prefabricated segmental beam model away from the side of the detection tower; Collect characteristic points l and J of the second end mold model facing the side of the detection tower, and collect characteristic points K and L of the second end mold model facing away from the side of the detection tower; A first three-dimensional coordinate system is established with the detection tower as the origin, and the quaternions of all characteristic points of the first end mold model, the prefabricated segmental beam model and the second end mold model are obtained in sequence; the specific steps include: The unit vectors u=[u x ,u y ,u z ] and the offset angle θ of each feature point relative to the first three-dimensional coordinate axis; The quaternions of all characteristic points of the first end mold model, the prefabricated segmental beam model and the second end mold model are obtained in turn. Among them, quaternion q = q w +q x i+q y j+q z k,i 2 =j 2 =k 2 =ijk=-1; q w ,q x ,q y ,q z is a real number, i, j, k are the imaginary units of the quaternion; The quaternions of the characteristic points E and F of the prefabricated segmental beam model are respectively compared with the quaternions of the characteristic points A and B of the first end mold model and the quaternions of the characteristic points I and J of the second end mold model, and the quaternions of the characteristic points G and H of the prefabricated segmental beam model are respectively compared with the quaternions of the characteristic points C and D of the first end mold model and the quaternions of the characteristic points K and L of the second end mold model to determine the shape and position of the prefabricated segmental beam model; the specific steps include: Define the direction of the measuring tower pointing to the first end mold, the precast segment beam section and the second end mold as the X axis; The quaternions of feature points A and B on the first end mold stereo model on the opposite side are compared with the quaternions of feature points I and J on the second end mold stereo model. If the quaternions of feature points A and B differ from the quaternions of feature points I and J only in the imaginary part in the X-axis direction, the first end mold is defined to be aligned with the second end mold; then The characteristic points E, F, G and H on the prefabricated segmental beam model are sequentially compared with the corresponding characteristic points of the first end mold model and the second end mold model to verify the shape and position of the prefabricated segmental beam model: A second three-dimensional coordinate system is established on the section of the spliced ​​segment beam, and the coordinates of the characteristic points E, F, G and H are converted from the first three-dimensional coordinate system to the second three-dimensional coordinate system; the specific steps include: The feature points E, F, G and H are respectively converted into corresponding pure quaternions in the first three-dimensional coordinate system with the detection tower as the origin, that is, p=0+xi+yj+zk; The coordinates of the characteristic points E, F, G and H are calculated by translating the positions with the geometric center of the end face of the first end mold model as the origin or the geometric center of the end face of the second end mold model as the origin: P t =[xt x , yt y , zt z ]; The pure quaternion of feature point E, feature point F, feature point G and feature point H after translation to the geometric center of the end face of the first end mold model or the geometric center of the end face of the second end mold model is calculated as: t =0+(xt x )i+(yt y )j+(zt z )k; Calculate the conjugate quaternion q of feature points E, F, G, and H * =q w -q x iq y jq z k; Calculate the converted quaternion: p′=q·p t ·q * ; Extracting the imaginary part of the rotated quaternion to obtain the coordinates of the feature points E, F, G and H in a coordinate system with the end face of the first end mold model as the origin or with the end face of the second end mold model as the origin; Convert the obtained characteristic points E, F, G and H in the first end mold model or the second end mold model into coordinates in the second three-dimensional coordinate system; Converting the origin of the end surface of the first end mold model or the origin of the end surface of the second end mold model to the origin of the second three-dimensional coordinate system; According to each feature point, the real part and the imaginary part of the quaternion with the origin of the first end mold model or the origin of the second end mold model as the coordinate system are converted into a quaternion in the second three-dimensional coordinate system; Extracting the imaginary feature of each feature point in the second three-dimensional coordinate system to obtain the coordinates of each feature point in the second three-dimensional coordinate system; Compare the coordinates of the feature points E, F, G and H in the second three-dimensional coordinate system with the corresponding points on the spliced ​​segment to determine the splicing trajectory and splicing position; the specific steps include: Perform digital twin modeling on the spliced ​​segmental beam to form a segmental beam model; Calculate the quaternions of the characteristic points corresponding to the characteristic points E, F, G and H in the segmental beam model in the second three-dimensional coordinate system; The characteristic points E, F, G and H are respectively compared with the quaternions of the corresponding characteristic points in the segmental beam model; The different imaginary parts of the quaternions of the characteristic points E, F, G and H and the corresponding characteristic points in the segmental beam model are obtained respectively; The axes where the different imaginary parts of the quaternions of the characteristic points E, F, G and H and the corresponding characteristic points in the segmental beam model are located are taken as the splicing trajectories.

2. The short-line segment beam precision adjustment method based on digital twinning according to claim 1 is characterized in that: The step of "establishing a second three-dimensional coordinate system in the spliced ​​segment beam cross section, and converting the coordinates of the characteristic points E, F, G and H from the first three-dimensional coordinate system to the second three-dimensional coordinate system" also includes the following steps: Perform digital twin modeling on the spliced ​​segmental beam to form a segmental beam model; Compare the precast segmental beam model with the segmental beam model to screen out the deformation parts of the precast segmental beam; Select multiple feature points of the deformation part of the prefabricated segmental beam model, and calculate the compensation quaternion of the multiple feature points; Adjust the shape and size of the precast segmental beams to align with the segmental beam model.

3. The short-line segment beam precision adjustment method based on digital twin according to claim 2 is characterized in that: The step of "selecting multiple feature points of the deformation part of the prefabricated segmental beam model and calculating the compensation quaternion of the multiple feature points" includes the steps of: Calculate the maximum deflection of the precast beam model at multiple characteristic points in the deformation area: Where ymax is the maximum deflection in the precast segmental beam model, q is the uniformly distributed load per unit length, L is the length of the precast segmental beam model, E is the elastic modulus of the material, and l is the moment of inertia of the cross section; Calculate the deflection angle α at the location of maximum deflection of the precast beam model: Obtain the rotation axis at the position of maximum deflection of the precast beam segment model; Calculate the compensation quaternion q at the maximum deflection of the precast beam model comp : According to the compensation quaternion q comp Repair and adjust the deformed parts of the precast segmental beam model.

4. The short-line segment beam precision adjustment method based on digital twin according to claim 3 is characterized in that: The geometric center of the deformation part of the precast segmental beam model is selected as the position of the maximum deflection, and the rotation axis of the precast segmental beam model is perpendicular to the geometric plane and load direction of this position.

5. A computer medium, characterized in that It comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the short-line method for segmental beam precision adjustment based on digital twin as described in any one of claims 1 to 4.

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