Bridge pier high-precision measurement and control multivariate data fusion control method, unit and system

Abstract

The invention relates to the technical field of ultrahigh pier bridge construction and control, in particular to a bridge pier high-precision measurement and control multivariate data fusion control method, unit and system. By acquiring the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, the sag and the elevation of the pier in the construction process are monitored in real time, so that the accuracy and the consistency of pier construction are ensured; and then dynamic adjustment is carried out according to the weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, so that the accuracy of data fusion is improved, the three pieces of real-time sampling data can be effectively fused and an optimized result is obtained at different heights, namely real-time fusion data for guiding construction adjustment, and the construction efficiency is improved. The method is used for guiding the construction operation, timely finding and correcting the deviation, improving the construction efficiency and precision, and solving the problem that the elevation and the sag of the bridge pier are difficult to effectively control due to insufficient measurement precision and lack of real-time monitoring means in the traditional bridge pier construction process.

Description

Technical Field

[0001] The present invention relates to the technical field of super-high pier bridge construction and control, and specifically to a high-precision measurement and control multi-data fusion control method, unit and system for bridge piers. Background Art

[0002] With the rapid development of infrastructure construction, the number of bridges across valleys and rivers is increasing, and the number of super-high pier bridges is also increasing. The piers of super-high pier bridges are key components of bridge engineering. Their design, construction and maintenance are directly related to the safety and service life of the bridge. Traditional pier construction generally adopts cast-in-place technology. During the on-site construction process, there are often the following technical difficulties: when the piers are constructed in summer, the shady and sunny sides of the piers are unevenly illuminated, causing them to bend, thereby affecting the line shape of the pier body; during the pier construction process, mechanical vibration and wind vibration may cause the axis of the pier to shift or tilt; when pouring concrete for the piers, the formwork support may deform or displace, resulting in uneven concrete pouring and leakage at the template joints, thereby affecting the construction docking of the next section and the line shape of the pier. The above problems will lead to uneven internal forces and linear fluctuations in the structure. If the construction details of the bridge pier position are not properly handled, it will leave safety hazards in the long-term operation of the bridge. Therefore, the verticality and elevation of bridge piers should be scientifically monitored to ensure that their structures meet the design requirements, ensure the safety and stability of the structures, and provide strong protection for bridge safety. In the existing technology, the accuracy of bridge pier elevation and verticality measurement equipment (such as levels, theodolites, etc.) during construction is limited, and is greatly affected by bad weather, resulting in insufficient accuracy and stability of measurement data, and manual operation errors make it difficult to meet the control of elevation and verticality. At the same time, the lack of real-time monitoring and adjustment means makes it difficult to correct elevation and vertical deviations in the construction process in a timely manner. These problems combined lead to the accumulation of elevation and vertical deviations of bridge piers, affecting the safety of bridge structures. Summary of the invention

[0003] In view of the problem in the prior art that the elevation and verticality of bridge piers are difficult to be effectively controlled during the construction of bridge piers due to insufficient measurement accuracy and lack of real-time monitoring means, the present invention provides a high-precision measurement and control multi-data fusion control method, unit and system for bridge piers.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions: The present invention provides a high-precision measurement and control multivariate data fusion control method for bridge piers, comprising: Acquire first real-time sampling data; wherein the first real-time sampling data is real-time surface elevation and verticality data of the pier scanned by a single-point laser scanner arranged around the pier; Acquire second real-time sampling data; wherein the second real-time sampling data is real-time vertical data of the pier measured by a roll sensor arranged on the pier; Acquire third real-time sampling data; wherein the third real-time sampling data is real-time elevation and vertical data of the pier measured by a total station arranged around the pier; Obtain error changes of first real-time sampling data, second real-time sampling data, and third real-time sampling data; Obtaining weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data according to error changes of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data; Normalizing the weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data to obtain normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data; The first real-time sampling data, the second real-time sampling data and the third real-time sampling data are weightedly fused according to their normalized weights to obtain real-time fused data for guiding construction adjustment.

[0005] Optionally, according to the error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, the method for obtaining the weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data is:

[0006] in, is the actual height of the pier, is a preliminary weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data as it changes with the pier height; , and These are the errors of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, respectively.

[0007] Optionally, the error of the first real-time sampling data is:

[0008] in, is the error of the first real-time sampling data, and h is the actual height of the pier.

[0009] Optionally, the error of the third real-time sampling data is:

[0010] in, is the error of the first real-time sampling data, and h is the actual height of the pier.

[0011] Optionally, the method of normalizing the weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data to obtain the normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data is: When the first real-time sampling data, the second real-time sampling data and the third real-time sampling data are all real-time vertical data, the normalization method of their weights is:

[0012] When the first real-time sampling data and the third real-time sampling data are both real-time elevation data, the normalization method of their weights is:

[0013] in, is the normalized weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data, is the normalized weight of the first real-time sampling data, is the normalized weight of the second real-time sampling data, is the normalized weight of the third real-time sampling data, It is the preliminary weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data as it changes with the pier height.

[0014] Optionally, the method of weightedly fusing the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain the real-time fused data for guiding the construction adjustment is: When obtaining the real-time fusion data of the verticality: the method of weighted fusion of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain the real-time fusion data for guiding the construction adjustment is:

[0015] at this time, Real-time fusion data for sag, The real-time surface sag data of the first real-time sampling data, is the second real-time sampling data, The real-time vertical data of the third real-time sampling data, , and The normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data in order; When obtaining real-time fused elevation data: the method of weighted fusion of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain real-time fused data for guiding construction adjustment is:

[0016] at this time, To integrate elevation data in real time, The real-time surface elevation data is the first real-time sampling data. The real-time elevation data is the third real-time sampling data. and These are the normalized weights of the first real-time sampling data and the third real-time sampling data, respectively.

[0017] The present invention provides a high-precision measurement and control multivariate data fusion control unit for bridge piers, comprising: A first real-time sampling data acquisition module: used to acquire first real-time sampling data; wherein the first real-time sampling data is real-time surface elevation or vertical data of the pier scanned by a single-point laser scanner arranged around the pier; A second real-time sampling data acquisition module: used to acquire second real-time sampling data; wherein the second real-time sampling data is real-time vertical data of the pier measured by the roll sensor arranged on the pier; A third real-time sampling data acquisition module is used to acquire third real-time sampling data; wherein the third real-time sampling data is real-time elevation or vertical data of the pier measured by a total station arranged around the pier; Error change acquisition module: used to acquire error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data; A weight acquisition module: used to acquire the weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data; A weight normalization module: used to normalize the weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data to obtain the normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data; Fusion data acquisition module: used to weightedly fuse the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain real-time fusion data for guiding construction adjustments.

[0018] A high-precision measurement and control multivariate data fusion control system for bridge piers, comprising a data acquisition mechanism and the above-mentioned data fusion control unit; The data acquisition mechanism includes a laser scanner, a plurality of roll sensors and a plurality of total stations; the beam of the laser scanner can scan from the bottom to the top of the bridge pier; the roll sensors are distributed at different heights on the outer surface of the bridge pier; measuring points are arranged on the bridge pier, each measuring point is equipped with a reflective prism, and the laser beam of the total station can hit the reflective prism; The single-point laser scanner, roll sensor and total station are electrically connected or communication-connected with the data fusion control unit.

[0019] A terminal device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0020] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0021] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a high-precision measurement and control multivariate data fusion control method for bridge piers. The method realizes real-time monitoring of the verticality and elevation of the bridge piers during the construction process by acquiring first real-time sampling data, second real-time sampling data and third real-time sampling data, so as to ensure the accuracy and consistency of the bridge pier construction. Then, by dynamically adjusting the weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, the accuracy of data fusion is improved, so as to ensure that at different heights, the three real-time sampling data can be effectively fused and optimized results can be obtained, that is, real-time fusion data for guiding construction adjustment, so as to guide construction operations, timely discover and correct deviations, improve construction efficiency and accuracy, reduce manual intervention, and significantly shorten the construction period. The method is simple, and is less affected by the construction environment. There is no manual participation in the entire monitoring process. The method can realize real-time and accurate monitoring and calculation of the verticality and elevation of the bridge piers during the construction process, with high accuracy and good reliability, and provide a reliable basis for the adjustment of the bridge piers during the construction process, ensure that the structure meets the design requirements, ensure the safety and stability of the structure, and provide a strong guarantee for the safety of the bridge.

[0022] The present invention provides a high-precision measurement and control multi-data fusion control unit for bridge piers, comprising a first real-time sampling data acquisition module, a second real-time sampling data acquisition module, a third real-time sampling data acquisition module, a weight acquisition module, a weight normalization module and a fusion data acquisition module, which realizes the acquisition of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, the dynamic adjustment and optimization of the weights, and the data fusion has high accuracy, good reliability and simple structure.

[0023] The present invention provides a high-precision measurement and control multi-data fusion control system for bridge piers, including a data acquisition mechanism and the above-mentioned data fusion control unit; the data acquisition mechanism includes a laser scanner, a plurality of roll sensors and a plurality of total stations; through the setting of the laser scanner, a plurality of roll sensors and a plurality of total stations, an automated real-time feedback mechanism for the verticality and elevation of the piers during construction is formed. By combining the verticality and elevation information of each device, a comprehensive system of multi-source data is formed to calculate the inclination state of the piers in real time. Construction personnel monitor the elevation and verticality of the piers in real time through this comprehensive system, promptly discover the elevation or verticality deviation of the piers, and adjust the construction method or parameters according to the actual situation to ensure the accuracy and stability of the super-high pier construction, improve the construction efficiency, reduce the errors caused by human operation, and ensure the high-precision control of the construction process and the safety of the bridge structure.

[0024] The present invention also provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program. The device has a simple structure, low modification cost, and small resource occupation.

[0025] A computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the above method when executed by a processor. The storage medium has good portability and strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flow chart of a multi-data fusion control method for high-precision measurement and control of bridge piers of the present invention.

[0027] Figure 2 It is a schematic diagram of the changes in various data errors in a multi-data fusion control method for high-precision measurement and control of bridge piers in an embodiment of the present invention.

[0028] Figure 3 It is a schematic diagram of the dynamic changes of the weights of various data in a multi-data fusion control method for high-precision measurement and control of bridge piers in an embodiment of the present invention.

[0029] Figure 4It is a structural diagram of a multi-data fusion control unit for high-precision measurement and control of bridge piers of the present invention.

[0030] Figure 5 It is a structural diagram of a high-precision measurement and control multi-data fusion control system for bridge piers of the present invention.

[0031] Figure 6 This is a control process diagram of a high-precision measurement and control multi-data fusion control system for bridge piers of the present invention.

[0032] Among them, 1-bridge pier, 2-single-point laser scanner, 3-tilt sensor, 4-total station, 5-multi-data fusion control unit. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] The present invention is further described in detail below in conjunction with specific embodiments, which are intended to explain the present invention rather than to limit it.

[0040] The present invention discloses a high-precision measurement and control multivariate data fusion control method for bridge piers, referring to Figure 1 ,include: S1: Acquire first real-time sampling data; wherein the first real-time sampling data is real-time surface elevation and verticality data of the bridge pier scanned by a single-point laser scanner 2 arranged around the bridge pier 1; S2: Acquire second real-time sampling data; wherein the second real-time sampling data is real-time vertical data of the pier measured by the roll sensor 3 arranged on the pier 1; S3: Acquire third real-time sampling data; wherein the third real-time sampling data is real-time elevation and vertical data of the pier measured by the total station 4 arranged around the pier 1; After obtaining the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data, necessary preprocessing is required to ensure data quality and accuracy of subsequent analysis. First, through data cleaning, outliers and noise are eliminated, and the data format is unified to ensure the reliability of the three types of data. Secondly, the three types of data are synchronized in time to ensure the time consistency of all data sources. In addition, for missing data between acquisition points, interpolation algorithms can be used to supplement them to improve the continuity and integrity of the data. Finally, the mean and standard deviation of the data are calculated through preliminary statistical analysis to evaluate its basic characteristics. Through the above steps, the preprocessed data provides a high-quality foundation for subsequent analysis and application, ensuring that the monitoring results of the elevation and verticality of the bridge piers are accurate and reliable.

[0041] S4: Obtain the error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, wherein the accuracy of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data presents different change trends with the change of the measurement range, and the measurement error changes caused by the increase of the pier height refer to Figure 2 , where the error of the first real-time sampling data is With height When the roll sensor 3 detects the verticality of the pier, due to its working principle, the fluctuations are small as the pier height increases, so the influence of the pier height on the roll sensor 3 can be ignored, so the error of the second real-time sampling data can be used as a constant To represent; the third real-time sampling data error With height Increase and grow.

[0042] S5: Obtaining weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data according to the error changes of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data, specifically: This method combines the three types of data according to the error change and performs weighted normalization on different data to obtain a comprehensive accuracy evaluation index. The specific method is:

[0043] in, is the actual height of the pier, is a preliminary weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data as it changes with the pier height; , and The errors of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data are shown in order. As the height of the bridge pier increases, the errors of the single-point laser scanner 2 and the total station 4 increase, and their weights decrease accordingly. However, since the error of the roll sensor 3 is constant, its weight gradually increases. For specific change trends, see Figure 3 , it can be seen that the weight changes of the corresponding first real-time sampling data, the second real-time sampling data and the third real-time sampling data.

[0044] S6: normalizing the weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data to obtain normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data, specifically: When the first real-time sampling data, the second real-time sampling data and the third real-time sampling data are all real-time vertical data, the normalization method of their weights is:

[0045] When the first real-time sampling data and the third real-time sampling data are both real-time elevation data, the normalization method of their weights is:

[0046] in, is the normalized weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data, is the normalized weight of the first real-time sampling data, is the normalized weight of the second real-time sampling data, is the normalized weight of the third real-time sampling data, It is the preliminary weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data as it changes with the pier height.

[0047] S7: According to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, weighted fusion is performed on the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain real-time fusion data for guiding construction adjustment, specifically: When obtaining the real-time fusion data of the verticality: the method of weighted fusion of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain the real-time fusion data for guiding the construction adjustment is:

[0048] at this time, Real-time fusion data for sag, The real-time surface sag data of the first real-time sampling data, is the second real-time sampling data, The real-time vertical data of the third real-time sampling data, , and The normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data in order; When obtaining real-time fused elevation data: the method of weighted fusion of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain real-time fused data for guiding construction adjustment is:

[0049] at this time, To integrate elevation data in real time, The real-time surface elevation data is the first real-time sampling data. The real-time elevation data is the third real-time sampling data. and They are the normalized weights of the first real-time sampling data and the third real-time sampling data, respectively. By integrating the above data with a reasonable weight ratio, the accuracy and real-time performance of the elevation and vertical monitoring results of the bridge piers at different height stages are ensured. During the construction process, construction personnel can use this system to monitor the elevation of the bridge piers in real time. If elevation deviation is found, the construction method or parameters are adjusted in time to ensure the accuracy of elevation control and the efficiency and safety of the construction process, improve construction efficiency, reduce errors caused by human operation, ensure the construction process, especially in bad weather and complex construction environments, and still maintain a high monitoring accuracy to provide safety for bridge construction.

[0050] See also Figure 4 The present invention provides a high-precision measurement and control multi-data fusion control unit for bridge piers, comprising: A first real-time sampling data acquisition module: used to acquire first real-time sampling data; wherein the first real-time sampling data is real-time surface elevation or vertical data of the pier scanned by a single-point laser scanner arranged around the pier; A second real-time sampling data acquisition module: used to acquire second real-time sampling data; wherein the second real-time sampling data is real-time vertical data of the pier measured by the roll sensor arranged on the pier; A third real-time sampling data acquisition module is used to acquire third real-time sampling data; wherein the third real-time sampling data is real-time elevation or vertical data of the pier measured by a total station arranged around the pier; Error change acquisition module: used to acquire error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data; A weight acquisition module: used to acquire the weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data; A weight normalization module: used to normalize the weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data to obtain the normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data; Fusion data acquisition module: used to weight and fuse the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain real-time fusion data for guiding construction adjustment. This unit realizes the acquisition, dynamic weight adjustment and optimization process of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data through the first real-time sampling data acquisition module, the second real-time sampling data acquisition module, the third real-time sampling data acquisition module, the weight acquisition module, the weight normalization module and the fusion data acquisition module. The data fusion has high accuracy, good reliability and simple structure.

[0051] See also Figure 5 , the present invention provides a high-precision measurement and control multi-data fusion control system for bridge piers, including a data acquisition mechanism and the above-mentioned data fusion control unit; The data acquisition mechanism includes a laser scanner 2, a plurality of roll sensors 3 and a plurality of total stations 4; wherein, the beam of the laser scanner 2 can scan from the bottom to the top of the pier; the roll sensors 3 are distributed at different heights on the outer surface of the pier 1; the pier 1 is provided with measuring points, each measuring point is equipped with a reflective prism, and the laser beam of the total station 4 can hit the reflective prism; the single-point laser scanner 2, the roll sensor 3 and the total station 4 are electrically connected or communication connected with the data fusion control unit 5; during the construction process, various data of the pier are collected in real time by arranging the single-point laser scanner 2, the roll sensor 3 and the total station 4. wherein, for the vertical data, the single-point laser scanner 1, the total station 4 and the roll sensor 3 are jointly measured to obtain; and for the elevation data, only the single-point laser scanner 1 and the total station 4 are measured to obtain; wherein, the roll sensor 3 is arranged at multiple positions at different heights along the pier 1, fixed on the surface of the pier 1, and forms a group of sensor grids to monitor the inclination angle changes of each layer of the pier 1 in real time. The roll sensor 3 measures the tilt angle of each point and transmits the data to the multivariate data fusion control unit 5, so that the construction personnel can obtain the verticality information of each layer of the pier 1 during the construction process. This arrangement provides vertical change data of different heights of the pier 1, and combined with the data superposition of adjacent sensors, it can accurately monitor the overall verticality. The single-point laser scanner 2 is installed at a stable position of the foundation at the construction site or on one side of the pier 1 to ensure that the laser beam can scan from the bottom to the top of the pier at a fixed angle. The single-point laser scanner 1 emits a laser beam and measures the distance from the emission point to the reflection of the surface of the pier 1. Combined with the angle data of the laser scanning, the surface elevation and verticality information of the pier 1 can be generated in real time. The total station 4 needs to be arranged at multiple fixed measurement points. These points should be away from the construction area, ensure that the line of sight is unobstructed, and maintain a certain distance from the pier 1, so as to accurately capture the key reference points of the pier. The points of the total station 4 need to be set up in advance to ensure that the total station can observe the pier from different directions. The total station 4 measures the distance and angle between the instrument and the prism reflection point set on the pier 1, accurately calculates the three-dimensional coordinates of each measuring point, and tracks the elevation and verticality of the pier in real time. During the construction process, the total station measures and updates the data regularly to ensure that the construction accuracy meets the design requirements.

[0052] See also Figure 6, the control process is as follows: the single-point laser scanner 2, the tilt sensor 3 and the total station 4 collect the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, i.e., the verticality and elevation of the pier 1, to the multivariate data fusion control unit 5 for data preprocessing, respectively determine the verticality weight coefficients of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, and the elevation weight coefficients of the first real-time sampling data and the third real-time sampling data, and finally obtain the real-time fusion data for guiding the construction adjustment through data fusion, and perform construction control. The construction personnel can adjust the construction method or parameters in time according to the monitoring results to ensure that the elevation and verticality are controlled within the design standard range. Through data comparison: regularly compare with the construction design standards, monitor the elevation and verticality deviations of the piers, and promptly discover and record abnormal conditions. Through adjustment strategies: according to the monitoring results, timely adjust the construction plan and optimize the construction process to improve the construction accuracy and efficiency. Through feedback improvement: use the real-time feedback information for subsequent construction to continuously improve the measurement and control system to ensure construction safety and quality.

[0053] The present invention provides a terminal device including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor executes the computer program, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0054] The computer program may be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by the processor to accomplish the present invention.

[0055] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0056] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0057] The memory may be used to store the computer programs and / or modules, and the processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory.

[0058] If the module / unit integrated in the terminal device 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 present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0059] In summary, a high-precision measurement and control multivariate data fusion control method, unit and system for bridge piers is provided. By acquiring the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, the verticality and elevation of the piers during the construction process are monitored in real time to ensure the accuracy and consistency of the pier construction. Then, by dynamically adjusting the weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, the accuracy of data fusion is improved to ensure that at different heights, the three real-time sampling data can be effectively fused and optimized results can be obtained, that is, real-time fusion data for guiding construction adjustments, so as to guide construction operations, timely discover and correct deviations, improve construction efficiency and accuracy, ensure that the bridge structure meets the design requirements, and ensure the safety and stability of the structure.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to impose any limitation on the technical solution of the present invention. Those skilled in the art should understand that, without departing from the spirit and principles of the present invention, the technical solution can also be subjected to several simple modifications and substitutions, and these modifications and substitutions are also within the scope of protection covered by the claims.

Claims

1. A high-precision measurement and control multivariate data fusion control method for bridge piers, characterized in that: include: Acquire first real-time sampling data; wherein the first real-time sampling data is real-time surface elevation and verticality data of the pier scanned by a single-point laser scanner arranged around the pier; Acquire second real-time sampling data; wherein the second real-time sampling data is real-time vertical data of the pier measured by a roll sensor arranged on the pier; Acquire third real-time sampling data; wherein the third real-time sampling data is real-time elevation and vertical data of the pier measured by a total station arranged around the pier; Obtain error changes of first real-time sampling data, second real-time sampling data, and third real-time sampling data; Obtaining weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data according to error changes of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data; Normalizing the weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data to obtain normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data; The first real-time sampling data, the second real-time sampling data and the third real-time sampling data are weightedly fused according to their normalized weights to obtain real-time fused data for guiding construction adjustment.

2. The high-precision measurement and control multivariate data fusion control method for bridge piers according to claim 1 is characterized in that: According to the error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, the method for obtaining the weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data is: in, is the actual height of the pier, is a preliminary weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data as it changes with the pier height; , and These are the errors of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data, respectively.

3. The high-precision measurement and control multivariate data fusion control method for bridge piers according to claim 1 is characterized in that: The error of the first real-time sampling data is: in, is the error of the first real-time sampling data, and h is the actual height of the pier.

4. The high-precision measurement and control multivariate data fusion control method for bridge piers according to claim 1 is characterized in that: The error of the third real-time sampling data is: in, is the error of the first real-time sampling data, and h is the actual height of the pier.

5. The high-precision measurement and control multivariate data fusion control method for bridge piers according to claim 1 is characterized in that: The method of normalizing the weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data to obtain the normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data is: When the first real-time sampling data, the second real-time sampling data and the third real-time sampling data are all real-time vertical data, the normalization method of their weights is: When the first real-time sampling data and the third real-time sampling data are both real-time elevation data, the normalization method of their weights is: in, is the normalized weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data, is the normalized weight of the first real-time sampling data, is the normalized weight of the second real-time sampling data, is the normalized weight of the third real-time sampling data, It is the preliminary weight of the first real-time sampling data, the second real-time sampling data or the third real-time sampling data as it changes with the pier height.

6. The high-precision measurement and control multivariate data fusion control method for bridge piers according to claim 1 is characterized in that: The method of weightedly fusing the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain the real-time fused data for guiding the construction adjustment is: When obtaining the real-time fusion data of the verticality: the method of weighted fusion of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain the real-time fusion data for guiding the construction adjustment is: at this time, Real-time fusion data for sag, The real-time surface sag data of the first real-time sampling data, is the second real-time sampling data, The real-time vertical data of the third real-time sampling data, , and The normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data in sequence; When obtaining elevation real-time fusion data: the method of weighted fusion of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain real-time fusion data for guiding construction adjustment is: at this time, To integrate elevation data in real time, The real-time surface elevation data is the first real-time sampling data. The real-time elevation data of the third real-time sampling data, and These are the normalized weights of the first real-time sampling data and the third real-time sampling data, respectively.

7. A high-precision measurement and control multivariate data fusion control unit for bridge piers, characterized in that: include: A first real-time sampling data acquisition module: used to acquire first real-time sampling data; wherein the first real-time sampling data is real-time surface elevation or vertical data of the pier scanned by a single-point laser scanner arranged around the pier; A second real-time sampling data acquisition module: used to acquire second real-time sampling data; wherein the second real-time sampling data is real-time vertical data of the pier measured by the roll sensor arranged on the pier; A third real-time sampling data acquisition module is used to acquire third real-time sampling data; wherein the third real-time sampling data is real-time elevation or vertical data of the pier measured by a total station arranged around the pier; Error change acquisition module: used to acquire error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data; A weight acquisition module: used to acquire the weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the error changes of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data; A weight normalization module: used to normalize the weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data to obtain the normalized weights of the first real-time sampling data, the second real-time sampling data, and the third real-time sampling data; Fusion data acquisition module: used to weightedly fuse the first real-time sampling data, the second real-time sampling data and the third real-time sampling data according to the normalized weights of the first real-time sampling data, the second real-time sampling data and the third real-time sampling data to obtain real-time fusion data for guiding construction adjustments.

8. A high-precision measurement and control multivariate data fusion control system for bridge piers, characterized in that: It comprises a data acquisition mechanism and the data fusion control unit as claimed in claim 7; The data acquisition mechanism includes a laser scanner, a plurality of roll sensors and a plurality of total stations; the beam of the laser scanner can scan from the bottom to the top of the bridge pier; the roll sensors are distributed at different heights on the outer surface of the bridge pier; measuring points are arranged on the bridge pier, each measuring point is equipped with a reflective prism, and the laser beam of the total station can hit the reflective prism; The single-point laser scanner, roll sensor and total station are electrically connected or communication-connected with the data fusion control unit.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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