Intelligent management and control method for installation of box girder embedded part

Abstract

The invention discloses an intelligent management and control method for installation of a box girder embedded part. The method comprises the steps that a box girder pouring mold model is established; the embedded part is matched to the installation position on the box girder pouring mold, and a model of the embedded part is arranged; extracting position information and height information of the embedded part on the embedded part; an image acquisition device is adopted to acquire installation image data of the embedded part; extracting specific position data of the embedded part on the bottom plate of the box girder pouring mold according to the installation image data, wherein the specific position data comprises actually measured position information and actually measured height information; and comparing the actually measured position information and the actually measured height information with comparison data of corresponding models in a database, judging whether requirements are met or not, and if not, performing adjustment until the requirements are met. According to the method, the installation quality of the embedded part can be judged, if the requirement is met, the embedded part is qualified, otherwise, adjustment is conducted, installation quality monitoring of the embedded part is rapidly achieved, efficiency and accuracy are improved, and time and labor are saved.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent control of box girder embedded parts installation, and relates to an intelligent control method for box girder embedded parts installation. Background Art

[0002] As an important part of high-speed railway, bridge engineering has always been the highlight and image of a railway. Box girders have always had a common feature, that is, the prevention of hollow noise in the embedded support plate has always been an important problem that has plagued construction. The 40m box girder integrated embedded support plate is 30% larger than the general embedded support plate, with a thickness of 30mm, which is thicker and larger than the ordinary support. It is heavier and more difficult to install, and it is more likely to have the problem of inaccurate installation position of the embedded support plate. The existing method usually uses a tape measure to measure the position of the embedded plate and the bottom height of the protruding box girder casting template manually, which is inefficient, has large errors, and is difficult to achieve accurate position monitoring. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent control method for the installation of box girder embedded parts, which can realize rapid judgment of the installation position of the embedded parts and improve the installation efficiency.

[0004] In view of the above problems, the technical solution adopted by the present invention is: an intelligent control method for installing box beam embedded parts, the method comprising the following steps: Step 1: Establish a matching box girder casting mold model according to the box girder model; Step 2: According to the box girder casting mold model and the embedded parts position of the box girder design, the embedded parts are matched to the installation positions on the box girder casting mold, and a model of the box girder casting mold for setting the embedded parts is constructed; Step 3: Based on the information of the embedded parts constructed on the box beam casting mold, the position information and height information of the embedded parts on the embedded parts are extracted and stored in the database as comparison data; Step 4: using an image acquisition device to acquire embedded parts installation image data; Step 5: extracting specific position data of the embedded parts on the bottom plate of the box beam casting mold according to the installation image data, wherein the specific position data includes measured position information and measured height information; Step six, compare the measured position information and the measured height information with the comparison data of the corresponding model in the database. If the error of the position information and the error of the height information are respectively less than the corresponding set value one and set value two, it is judged that the requirements are met; otherwise, if the requirements are not met, the embedded parts that do not meet the requirements will be adjusted on the bottom plate of the box girder casting mold until the requirements are met.

[0005] Furthermore, the above-mentioned image acquisition device includes a three-dimensional laser scanner and a traveling frame. The three-dimensional laser scanner is connected to the transverse moving mechanism through a lifting mechanism. The transverse moving mechanism is installed on the traveling frame. The traveling frame is installed on the walking support beams on both sides of the gantry walking device.

[0006] Furthermore, the base of the three-dimensional laser scanner is fixedly connected to the horizontal section of the L-shaped connecting plate with the probe facing downward, and the vertical section of the connecting plate is fixedly connected to the slider of the lifting mechanism.

[0007] Furthermore, the above-mentioned lateral movement mechanism includes a sliding plate, a screw and nut pair and a slider guide pair. The sliding plate is a vertical strip structure, which is connected to the front side of the top crossbeam of the walking frame near the upper end through two slider guide pairs arranged horizontally up and down. The nut of the screw and nut pair is fixedly connected to a nut seat set on the sliding plate. Both ends of the screw of the screw and nut pair are connected to the front side of the top crossbeam of the walking frame through a bearing seat and one end is connected to the drive motor after extending out of the bearing seat. The drive motor is installed on the front side of the top crossbeam of the walking frame.

[0008] Furthermore, travel switches are provided at both ends of the guide rails of the slider guide pair.

[0009] Furthermore, the two bottom ends of the walking frame are provided with powered walking wheel groups, which are installed on rails, and the rails are fixedly connected to the walking support beams.

[0010] Furthermore, the above-mentioned image acquisition device also includes a reference alignment device, which includes a reference plate arranged at the center of one end of the bottom plate of the box beam casting mold and an alignment laser installed on a three-dimensional laser scanner, and a reference point is set on the reference plate.

[0011] Furthermore, when the above-mentioned image acquisition device is used, the three-dimensional laser scanner is first controlled to locate the reference point. After the reference point is located, the three-dimensional laser scanner is started to scan. After scanning, the collected data is modeled to obtain a model of the embedded parts installed on the bottom plate of the embedded parts casting mold, and the position information and height information of the embedded parts are extracted as measured data.

[0012] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows: 1) The present invention establishes a theoretical model of embedded parts, extracts theoretical data of position and height, and compares them with the measured position and height to judge the installation quality of embedded parts. If the requirements are met, it is qualified, otherwise it is adjusted, and the installation quality monitoring of embedded parts is quickly realized, which improves efficiency and accuracy, saves time and labor, and establishes a theoretical model of embedded parts installed in the box beam casting mold through box beam model matching, which can improve matching accuracy: 2) Use a 3D laser scanner to scan the installation image data of embedded parts. The scanning is fast and accurate, and the position and height information of embedded parts can be quickly extracted, saving time and effort. The lifting linear moving module can lower the position of the 3D laser scanner to achieve higher accuracy. The lateral moving mechanism can realize the axial movement of the 3D laser scanner in the center, thereby achieving symmetrical scanning and improving scanning accuracy and scanning stability. 3) The 3D laser scanner cantilever is extended through the L-shaped connecting plate with the probe at the lower end, and the V-shaped casting template below is scanned directly to avoid obstruction by obstacles, greatly improving the scanning accuracy; 4) The guide rails of the two slide blocks are used to drive the guide rails, and the guide rails are used to move the guide rails in a directional manner. The guide rails are used to move the guide rails in a precise and stable manner, and the guide rails are used to support the guide rails. 5) It uses a powered walking wheel set, which has a large contact area, stable and reliable walking, and improves the data stability of image acquisition; 6) Scanning is performed after benchmark positioning. The data obtained can be directly and quickly compared and processed after being connected with the theoretical benchmark according to the benchmark, without the need for additional preprocessing of the benchmark, thereby improving data processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A flow chart of the intelligent control method for installing box girder embedded parts; Figure 2 It is a schematic diagram of the structure of the image acquisition device; Figure 3 This is a schematic diagram of the 3D laser scanner structure installation structure. DETAILED DESCRIPTION

[0014] The invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0015] Example 1: Reference Figure 1 As shown, a method for intelligent control of box beam embedded parts installation comprises the following steps: Step 1: Establish a matching box girder casting mold model according to the box girder model; Step 2: According to the box girder casting mold model and the embedded parts position of the box girder design, the embedded parts are matched to the installation positions on the box girder casting mold, and a model of the box girder casting mold for setting the embedded parts is constructed; Step 3: Based on the information of the embedded parts constructed on the box beam casting mold, the position information and height information of the embedded parts on the embedded parts are extracted and stored in the database as comparison data; Step 4: using an image acquisition device to acquire embedded parts installation image data; Step 5: extracting specific position data of the embedded parts on the bottom plate of the box beam casting mold according to the installation image data, wherein the specific position data includes measured position information and measured height information; Step six, compare the measured position information and the measured height information with the comparison data of the corresponding model in the database. If the error of the position information and the error of the height information are respectively less than the corresponding set value one and set value two, it is judged that the requirements are met; otherwise, if the requirements are not met, the embedded parts that do not meet the requirements will be adjusted on the bottom plate of the box girder casting mold until the requirements are met.

[0016] Example 2: Figure 2-3 As shown, the image acquisition device includes a three-dimensional laser scanner 1 and a traveling frame 2. The three-dimensional laser scanner 1 is connected to a transverse moving mechanism 4 through a lifting mechanism 3. The transverse moving mechanism 4 is installed on the traveling frame 2. The traveling frame 2 is installed on the traveling support beams 5 on both sides of the gantry traveling device. A plurality of box beam casting molds 12 are arranged between the traveling support beams 5 on both sides. Four embedded plates 12 are installed near the four corners of the bottom plate of the box beam casting mold. A three-dimensional laser scanner is used to scan the installation image data of the embedded parts. The scanning is fast and accurate, and the position information and height information of the embedded parts can be quickly extracted, which saves time and effort. The lifting linear moving module is used to lower the position of the three-dimensional laser scanner to achieve higher accuracy. The transverse moving mechanism is used to realize the axial movement of the three-dimensional laser scanner set in the center, thereby realizing symmetrical scanning and improving scanning accuracy and scanning stability.

[0017] In order to avoid obstruction during scanning and improve scanning accuracy, the base of the three-dimensional laser scanner 1 is fixedly connected to the horizontal section of the L-shaped connecting plate 6 with the probe facing downward, and the vertical section of the connecting plate 6 is fixedly connected to the slider 7 of the lifting mechanism 3. The lifting mechanism 3 adopts a vertical linear moving module. The three-dimensional laser scanner 1 cantilever is extended through the L-shaped connecting plate 6 with the probe located at the lower end, and the V-shaped casting template below is directly scanned to avoid obstruction by obstacles, thereby greatly improving scanning accuracy.

[0018] In order to achieve precise positioning, the horizontal moving mechanism 4 includes a sliding plate 401, a screw nut pair 402 and a slider guide pair 403. The sliding plate 401 is a vertical strip structure, which is connected to the front side of the top beam of the walking frame 2 near the upper end through two slider guide pairs 403 arranged horizontally up and down. The nut of the screw nut pair 402 is fixedly connected to a nut seat set on the sliding plate 401. Both ends of the screw of the screw nut pair 402 are connected to the front side of the top beam of the walking frame 2 through a bearing seat 404, and one end extends out of the bearing seat and is connected to a drive motor 405. The drive motor 405 is installed on the front side of the top beam of the walking frame 2. It adopts a screw nut drive and cooperates with the directional movement and support of the two slider guide pairs. The walking position is precise and stable, and the support is reliable.

[0019] In order to improve walking safety, travel switches 406 are provided at both ends of the guide rails of the slider guide pair 403. The travel switches can protect the lateral moving mechanism.

[0020] In order to achieve stable walking, the two bottom ends of the walking frame 2 are provided with powered walking wheel groups 8, which are installed on rails 9, and the rails 9 are fixedly connected to the walking support beam 5. The powered walking wheel groups are used for walking, with a large contact area, smooth and reliable walking, and improved data stability of image acquisition.

[0021] In order to facilitate modeling and matching with model data, the image acquisition device also includes a reference alignment device, which includes a reference plate 10 arranged at the center of one end of the bottom plate of the box girder casting mold and an alignment laser 11 installed on the three-dimensional laser scanner 1. A reference point is set on the reference plate 10, and scanning is performed after the reference positioning is adopted. After the obtained data is connected with the theoretical reference according to the reference, it can be directly compared and processed quickly without additional pre-processing of the reference, thereby improving data processing efficiency.

[0022] When the image acquisition device is used, the three-dimensional laser scanner is first controlled to locate the reference point. After the reference point is located, the three-dimensional laser scanner is started to scan. After scanning, the collected data is modeled to obtain a model of the embedded parts installed on the bottom plate of the embedded parts casting mold, and the position information and height information of the embedded parts are extracted as measured data.

[0023] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An intelligent control method for installing box beam embedded parts, characterized in that: The method comprises the following steps: Step 1: Establish a matching box girder casting mold model according to the box girder model; Step 2: According to the box girder casting mold model and the embedded parts position of the box girder design, the embedded parts are matched to the installation positions on the box girder casting mold, and a model of the box girder casting mold for setting the embedded parts is constructed; Step 3: Based on the information of the embedded parts constructed on the box beam casting mold, the position information and height information of the embedded parts on the embedded parts are extracted and stored in the database as comparison data; Step 4: using an image acquisition device to acquire embedded parts installation image data; Step 5: extracting specific position data of the embedded parts on the bottom plate of the box beam casting mold according to the installation image data, wherein the specific position data includes measured position information and measured height information; Step six, compare the measured position information and the measured height information with the comparison data of the corresponding model in the database. If the error of the position information and the error of the height information are respectively less than the corresponding set value one and set value two, it is judged that the requirements are met; otherwise, if the requirements are not met, the embedded parts that do not meet the requirements will be adjusted on the bottom plate of the box girder casting mold until the requirements are met.

2. According to claim 1, a method for intelligent control of box beam embedded parts installation, characterized in that: The image acquisition device comprises a three-dimensional laser scanner (1) and a walking frame (2); the three-dimensional laser scanner (1) is connected to a lateral moving mechanism (4) via a lifting mechanism (3); the lateral moving mechanism (4) is mounted on the walking frame (2); and the walking frame (2) is mounted on walking support beams (5) on both sides of the gantry walking device.

3. According to claim 2, a method for intelligent control of box beam embedded parts installation is characterized in that: The base of the three-dimensional laser scanner (1) is fixedly connected to the horizontal section of the L-shaped connecting plate (6) with the probe facing downwards, the vertical section of the connecting plate (6) is fixedly connected to the slider (7) of the lifting mechanism (3), and the lifting mechanism (3) adopts a vertical linear moving module.

4. According to claim 1, a method for intelligent control of box beam embedded parts installation is characterized in that: The lateral movement mechanism (4) comprises a sliding plate (401), a lead screw nut pair (402) and a slider guide pair (403). The sliding plate (401) is a vertical strip structure, and is connected to the front side of the top crossbeam of the traveling frame (2) near the upper end through two slider guide pairs (403) arranged horizontally up and down. The nut of the lead screw nut pair (402) is fixedly connected to a nut seat provided on the sliding plate (401). Both ends of the lead screw of the lead screw nut pair (402) are connected to the front side of the top crossbeam of the traveling frame (2) through a bearing seat (404), and one end thereof is connected to a drive motor (405) after extending out of the bearing seat. The drive motor (405) is installed on the front side of the top crossbeam of the traveling frame (2).

5. According to claim 4, a method for intelligent control of box beam embedded parts installation is characterized in that: Travel switches are arranged at both ends of the guide rails of the slider guide rail pair (403).

6. The intelligent control method for installing box beam embedded parts according to claim 2 is characterized in that: Powered walking wheel assemblies (8) are provided at the two bottom ends of the walking frame (2), and the powered walking wheel assemblies (8) are mounted on rails (9), and the rails (9) are fixedly connected to the walking support beams (5).

7. The intelligent control method for installing box beam embedded parts according to claim 2 is characterized in that: It also includes a reference alignment device, which includes a reference plate (10) arranged at the center of one end of the bottom plate of the box beam casting mold and an alignment laser (11) installed on the three-dimensional laser scanner (1), and a reference point is arranged on the reference plate (10).

8. The intelligent control method for installing box beam embedded parts according to claim 5 is characterized in that: When the image acquisition device is used, the three-dimensional laser scanner is first controlled to locate the reference point. After the reference point is located, the three-dimensional laser scanner is started to scan. After scanning, the collected data is modeled to obtain a model of the embedded parts installed on the bottom plate of the embedded parts casting mold, and the position information and height information of the embedded parts are extracted as measured data.

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