Steel pipe column construction method and equipment and storage medium

Abstract

The invention discloses a steel pipe column construction method and device and a storage medium. The method comprises the following steps that S1, a pile hole is constructed and formed in the position where a steel pipe column needs to be installed, and a pile casing is installed in the pile hole; s2, the universal platform is moved, and the center point of the universal platform coincides with the center point of the pile casing; and S3, the steel pipe column is fixedly installed on the tool column, the tool column is lifted to the position above the center of the universal platform and put down, the position of the steel pipe column is monitored through a wireless positioning module and an auxiliary positioning module, and when the position of the steel pipe column deviates, deviation is corrected. The wireless positioning module on the tool column and the auxiliary positioning module on the universal platform are used for monitoring the position of the steel pipe column, and when the position of the steel pipe column deviates, the deviation is corrected, so that the center of the steel pipe column coincides with the center of the universal platform and the center of the pile casing, and the tool column is in a vertical state; positioning, adjusting and lowering of the steel pipe column in the placing process are achieved, and the construction efficiency and precision of the steel pipe column are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a steel pipe column construction method, equipment and storage medium. Background Art

[0002] In the field of modern engineering construction, steel pipe columns are widely used due to their excellent structural performance and economic benefits, especially in high-rise buildings and large-scale engineering structures. However, during the construction of steel pipe columns, it is crucial to ensure their precise positioning and verticality, which not only affects the stability and safety of the structure, but is also directly related to the quality and progress of the project. Traditional construction methods often rely on manual operation and simple auxiliary equipment, which are inefficient and prone to errors, and cannot meet the requirements of high efficiency, high quality and high safety of modern engineering construction.

[0003] To solve the above problems, the universal platform came into being. The universal platform is an advanced construction machine that integrates positioning, clamping and adjustable elevation, and can provide strong technical support for steel pipe column construction. However, the existing equipment is not accurate in controlling the position and posture of the steel pipe column during the hanging process and has a low degree of automation, resulting in frequent manual assistance in positioning, calibration and adjustment of the steel pipe column during the lowering process, which reduces construction efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a steel pipe column construction method.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A steel pipe column construction method comprises the following steps: S1, constructing a pile hole at a desired installation position of the steel pipe column, and installing a casing in the pile hole; S2, moving a universal platform, making the center point of the universal platform coincide with the center point of the casing, and leveling the universal platform; S3, fixing the steel pipe column on a tool column, hoisting the tool column to above the center of the universal platform and lowering it, using a wireless positioning module on the tool column and an auxiliary positioning module on the universal platform to monitor the position of the steel pipe column, and when the position of the steel pipe column deviates, correcting the deviation, making the center of the steel pipe column coincide with the center of the universal platform and the center of the casing, and making the tool column vertical, until the steel pipe column is embedded in the casing and lowered to a specified height.

[0007] Furthermore, the use of the wireless positioning module on the tool column and the auxiliary positioning module on the universal platform to monitor the position of the steel pipe column specifically includes: S31, obtaining the first position of the wireless positioning module based on the data collected by the wireless positioning module; S32, using the auxiliary positioning module on the universal platform to locate the wireless positioning module on the steel pipe column to obtain the second position of the wireless positioning module; S33, using the second position and the first position of the wireless positioning module to fuse to obtain the spatial position of the fused wireless positioning module.

[0008] Further, step S31 specifically includes: obtaining the current posture q(t) according to the data collected by the wireless positioning module; converting q(t) into a posture matrix R(t); converting the acceleration vector a(t) from the sensor coordinate system to the global coordinate system: a global (t ) is the acceleration vector in the global coordinate system; integrating the acceleration gives the velocity: v(0) is the velocity at the initial moment; integrating the velocity gives the first position of the wireless positioning module:

[0009] t is time; x(0) is the position at the initial moment.

[0010] Further, step S32 specifically includes:

[0011] Assume that the coordinates of the auxiliary positioning module nodes A, B, C, and D on the universal platform are (x A ,y A , z A )、(x B ,y B , z B )、(x C ,y C , z C )、(x D ,y D , z D ), let the second position coordinate x of the wireless positioning module BLE (t) = [x 1 (t), y 1 (t), z 1 (t)]; Assume that the distances between the wireless positioning module and nodes A, B, C, and D are d A1 (t), d B1 (t), d C1 (t), d D1 (t);

[0012] The system of equations is constructed as follows:

[0013]

[0014] Solve the above linear equations to obtain the second position coordinate x of the wireless positioning module BLE (t) = [x 1 (t), y 1 (t), z 1 (t)], A is the coefficient matrix, and b(t) is the distance matrix.

[0015] Further, step S33 specifically includes:

[0016] The second position and the first position are fused according to the following formula:

[0017] x fused (t) = x fused (t-1)+k·(x BLE (t)-x fused (t-1))+(1-k)·(x IMU (t)-x fused (t-1)); x fused (t) for the

[0018] The spatial position after merging.

[0019] Furthermore, the method further includes step S4, tightening the reducer clip of the universal platform, and then reducing the hoisting force on the tool column, and performing concrete pouring construction of the steel pipe column after the steel pipe column is stable.

[0020] Further, step S2 specifically includes: arranging a cross line at the upper end of the casing, drawing a plumb line through the center point of the universal platform, and moving the universal platform so that the plumb line of the universal platform coincides with the intersection of the cross lines; detecting the horizontal data of the universal platform, and controlling the extension and retraction of the hydraulic support legs at the bottom of the universal platform according to the horizontal data, so that the universal platform is adjusted to a horizontal state.

[0021] The present invention also provides a steel pipe column construction device, including: a casing for inserting into a pile hole; a universal platform coinciding with the center point of the casing; a wireless positioning module for monitoring the position of the steel pipe column; a hoisting device for hoisting a tool column and a steel pipe column on the tool column; and a correction module for controlling the hoisting device to correct the tool column and the steel pipe column on the tool column.

[0022] Furthermore, it also includes an auxiliary positioning module for locating the position of the wireless positioning module.

[0023] The present invention also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steel pipe column construction method is implemented.

[0024] The present invention has the following beneficial effects:

[0025] The present invention utilizes the wireless positioning module on the tool column and the auxiliary positioning module on the universal platform to monitor the position of the steel pipe column. When the position of the steel pipe column deviates, the deviation is corrected so that the center of the steel pipe column coincides with the center of the universal platform and the center of the casing and the tool column is in a vertical state, thereby realizing the positioning, adjustment and lowering of the steel pipe column during the placement process, and improving the efficiency and accuracy of the steel pipe column construction.

[0026] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 It is a schematic diagram of the overall process of the present invention;

[0029] Figure 2 is a specific flow chart of step S3 of the present invention;

[0030] Figure 3 It is a top view of the universal platform;

[0031] Figure 4 It is a side view of the universal platform;

[0032] Figure 5 It is a schematic diagram of the construction process. DETAILED DESCRIPTION

[0033] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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 all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] Please refer to Figure 1 A steel pipe column construction method in a preferred embodiment provided by the present invention includes steps S1, S2 and S3.

[0038] S1, construct a pile hole at the desired installation position of the steel pipe column, and install a casing 10 in the pile hole.

[0039] S2, move the universal platform 6, make the center point of the universal platform 6 coincide with the center point of the casing 10, and level the universal platform 6. Figures 3 to 5 , a through hole 3 is provided at the center of the universal platform 6, and the center point of the universal platform 6 is the center point of the through hole 3. A hook 7 is provided around the universal platform 6 to facilitate lifting and movement.

[0040] S3, the steel pipe column 9 is fixedly installed on the tool column 8, the tool column 8 is lifted to the top of the center of the universal platform 6 and lowered, and the position of the steel pipe column is monitored by using the wireless positioning module on the tool column 8 and the auxiliary positioning module on the universal platform. When the position of the steel pipe column 9 deviates, the deviation is corrected so that the center of the steel pipe column coincides with the center of the universal platform and the center of the casing and the tool column is in a vertical state until the steel pipe column is embedded in the casing and lowered to the specified height.

[0041] The present invention utilizes the wireless positioning module on the tool column and the auxiliary positioning module on the universal platform to monitor the position of the steel pipe column, and realizes accurate monitoring of the steel pipe column through the positioning modules on two different main bodies, and the two positionings can verify and correct each other. When the position of the steel pipe column deviates, the deviation is corrected so that the center of the steel pipe column coincides with the center of the universal platform and the center of the casing and the tool column is in a vertical state, thereby realizing the positioning, adjustment and lowering of the steel pipe column during the placement process, and improving the efficiency and accuracy of the steel pipe column construction.

[0042] Reference Figure 2 In a further embodiment of the present invention, the position of the steel pipe column is monitored by using the wireless positioning module on the tool column and the auxiliary positioning module on the universal platform, which specifically includes steps S31, S32 and S33.

[0043] S31, obtaining the first position of the wireless positioning module based on the data collected by the wireless positioning module. Since the steel pipe column is fixedly installed on the tool column and the wireless positioning module is fixedly installed on the tool column, the position of the wireless positioning module can be equivalently considered as the position of the steel pipe column.

[0044] S32, using the auxiliary positioning module on the universal platform to position the wireless positioning module on the steel pipe column to obtain a second position of the wireless positioning module;

[0045] S33, using the second position and the first position of the wireless positioning module to fuse, so as to obtain the fused spatial position of the wireless positioning module, that is, the position of the steel pipe column.

[0046] The fused spatial position is more accurate, and is not obtained by a single-dimensional sensor. It can achieve precise monitoring of the position of steel pipe columns and ensure construction accuracy.

[0047] Step S31 specifically includes steps S311, S312, S313, S314, and S315.

[0048] S311, according to the data collected by the wireless positioning module, the current posture q(t) is obtained; assuming that the current posture is represented by quaternion q(t), its form is:

[0049]

[0050] Among them, q 0 is the real part, q 1 ,q 2 ,q 3 is the imaginary part, of course q 0 ,q 1 ,q 2 ,q 3 are all time variables, and can also be expressed as q 0 (t), q 1 (t), q 2 (t), q 3 (t) respectively.

[0051] S312, convert q(t) into a posture matrix R(t).

[0052] Quaternion (q 0 ,q 1 ,q 2 ,q 3 )The corresponding posture matrix is:

[0053]

[0054] S313, convert the acceleration vector a(t) from the sensor coordinate system to the global coordinate system:

[0055] a global (t ) is the acceleration vector in the global coordinate system; the global coordinate system can be a coordinate system based on the universal platform. g is the gravitational acceleration.

[0056] S314, integrate the acceleration to obtain the velocity: v(0) is the velocity at the initial moment; v(t) is the velocity of the wireless positioning module at moment t.

[0057] S315, integrating the speed to obtain the first position of the wireless positioning module:

[0058]

[0059] t is time; x(0) is the position at the initial moment.

[0060] In a specific embodiment of the present invention, step S32 specifically includes step S321.

[0061] S321, assume that the coordinates of the auxiliary positioning module nodes A, B, C, and D on the universal platform are (x A ,y A , z A )、(x B ,y B , z B )、(x C ,y C , z C )、(x D ,y D , z D ), let the second position coordinate x of the wireless positioning module BLE (t) = [x 1 (t), y 1 (t), z 1 (t)]; Assume that the distances between the wireless positioning module and nodes A, B, C, and D are d A1 (t), d B1 (t), d C1 (t), d D1 (t);

[0062] S322, construct the equation group as follows:

[0063]

[0064]

[0065] in

[0066] S323 solves the above linear equations to obtain the second position coordinate x of the wireless positioning module. BLE (t) = [x 1 (t), y 1 (t), z 1 (t)], A is the coefficient matrix, and b(t) is the distance matrix.

[0067] In some embodiments of the present invention, step S33 specifically includes:

[0068] The second position and the first position are fused according to the following formula:

[0069] x fused (t) = x fused (t-1)+k·(x BLE (t)-x fused (t-1))+(1-k)·(x IMU (t)-x fused (t-1));

[0070] x fused (t-1) is the spatial position after fusion at time t-1; x fused (t) is the spatial position after fusion at time t, and k is the fusion coefficient. It can be understood that the wireless positioning module includes multiple modules, each of which can obtain x by fusing the second position and the first position. fused (t).x fused (0) is the initial position x(0).

[0071] In order to further improve the position accuracy. The comprehensive spatial coordinates P of the tool column current (t) can be calculated according to the following formula:

[0072]

[0073] x fusedi (t) is the spatial position of the fused i-th wireless positioning module. N is the total number of wireless positioning modules. current (t) Monitoring the position of the steel pipe column. It is understandable that when the installation heights of the wireless positioning modules are the same, by comparing the fused spatial positions x of the wireless positioning modules, fusedi (t), the posture of the steel column can be obtained, that is, when the spatial position x of each wireless positioning module is fused fusedi When the heights of the wireless positioning modules are at the same height or the height difference is within the preset threshold, it can be determined that it is in a vertical state. Of course, when the heights of the wireless positioning modules are not at the same height, the posture of the steel pipe column can also be determined by comparing whether the height difference of each wireless positioning module is within the preset height. When there is a posture deviation, that is, the fused spatial position x of each wireless positioning modulefusedi When the height difference of (t) is greater than the preset threshold, the posture of the steel pipe column needs to be adjusted by a crane. Usually, there are multiple lifting points when the tool column is hoisted. The crane can adjust the height of each lifting point to adjust the posture of the tool column and the steel pipe column.

[0074] Then according to P current (t) Correct the position deviation of the steel pipe column. Specifically, the deviation correction value ΔP(t) of the steel pipe column position can be obtained according to the following formula:

[0077] ΔP(t)=P target -P current (t).

[0078] The crane movement is controlled according to the deviation correction amount ΔP(t). Usually P target and P current (t) are all expressed in three-axis coordinates. target =(x target ,y target ,z target );P current (t) = (x current (t),y current (t),z current (t)). target is the target coordinate, x target ,y target ,z target They are the three-axis coordinate values ​​of the target coordinates. current (t),y current (t),z current (t) are the three-axis coordinate values ​​of the comprehensive spatial coordinates of the tool column.

[0079] Therefore, ΔP(t) can be expressed as: ΔP(t) = (x target -x current (t),y target -y current (t),z target -z current (t)).

[0080] The crane control module receives the deviation correction value ΔP(t) and then performs the following operations:

[0081] Displacement adjustment in x direction: according to x target -x current (t) to determine the distance the crane needs to move in the x-axis direction;

[0082] Displacement adjustment in y direction: according to y target -y current (t) to determine the distance the crane needs to move in the y-axis direction;

[0083] Displacement adjustment in z direction: according to z target -z current (t) to determine the distance the crane needs to move in the z-axis direction.

[0084] In some embodiments of the present invention, step S4 is also included, in which the hydraulic cylinder 2 drives the clamp 1 of the universal platform 6 to be tightened, and the clamp 1 clamps the steel pipe column 9. Then the lifting force on the tool column 8 decreases, and the concrete pouring construction of the steel pipe column is carried out after the steel pipe column 9 is stabilized.

[0085] When the steel pipe column is embedded in the casing and lowered to the specified height, the depth of the pile hole is usually dug out with a little margin, so that the steel pipe column generally does not directly contact the soil layer at the bottom of the pile hole. In order to prevent the steel pipe column from falling due to insufficient friction when the clamp 1 clamps the steel pipe column, causing the height of the steel pipe column to deviate from the specified height, before step S4, a circle of steel bars will be welded on the steel pipe column, and the steel bars are higher than the clamp 1, so that the steel bars are supported on the clamp 1, so that when the clamp 1 clamps the steel pipe column, it can also bear the steel pipe column and prevent the steel pipe column from falling. Subsequently, concrete will be poured into the steel pipe column and the gap between the steel pipe column and the casing 10.

[0086] Step S2 specifically includes: arranging a crosshair at the upper end of the casing, drawing a plumb line from the center point of the universal platform, and moving the universal platform so that the plumb line of the universal platform coincides with the intersection of the crosshairs; detecting the horizontal data of the universal platform, and controlling the extension and retraction of the hydraulic support legs 5 at the bottom of the universal platform 6 according to the horizontal data, so that the universal platform is adjusted to a horizontal state.

[0087] The present invention also provides a steel pipe column construction device, including: a casing for inserting into a pile hole; a universal platform coinciding with the center point of the casing; a wireless positioning module for monitoring the position of the steel pipe column; a hoisting device for hoisting a tool column and a steel pipe column on the tool column; and a correction module for controlling the hoisting device to correct the tool column and the steel pipe column on the tool column.

[0088] In some embodiments of the present invention, an auxiliary positioning module is also included to locate the position of the wireless positioning module.

[0089] The present invention also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, a steel pipe column construction method is implemented.

[0090] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A steel pipe column construction method, characterized in that: The steps include: S1, constructing a pile hole at the required installation position of the steel pipe column, and installing a casing in the pile hole; S2, move the universal platform so that the center point of the universal platform coincides with the center point of the casing, and level the universal platform; S3, the steel pipe column is fixedly installed on the tool column, the tool column is hoisted to the top of the center of the universal platform and lowered, and the position of the steel pipe column is monitored by the wireless positioning module on the tool column and the auxiliary positioning module on the universal platform. When the position of the steel pipe column deviates, the deviation is corrected so that the center of the steel pipe column coincides with the center of the universal platform and the center of the casing and the tool column is in a vertical state until the steel pipe column is embedded in the casing and lowered to the specified height.

2. The steel pipe column construction method according to claim 1, characterized in that: The wireless positioning module on the tool column and the auxiliary positioning module on the universal platform are used to monitor the position of the steel pipe column, specifically including: S31, acquiring a first position of the wireless positioning module according to data collected by the wireless positioning module; S32, using the auxiliary positioning module on the universal platform to position the wireless positioning module on the steel pipe column to obtain a second position of the wireless positioning module; S33, fusing the second position and the first position of the wireless positioning module to obtain a fused spatial position.

3. The steel pipe column construction method according to claim 1, characterized in that: Step S31 specifically includes: According to the data collected by the wireless positioning module, the current posture q(t) is obtained; Convert q(t) to the posture matrix R(t); Convert the acceleration vector a(t) from the sensor coordinate system to the global coordinate system: a global (t) is the acceleration vector in the global coordinate system; Integrating the acceleration gives the velocity: v(0) is the velocity at the initial moment; Integrate the speed to get the first position of the wireless positioning module: t is time; x(0) is the position at the initial moment.

4. The steel pipe column construction method according to claim 1, characterized in that: Step S32 specifically includes: Assume that the coordinates of the auxiliary positioning module nodes A, B, C, and D on the universal platform are (x A ,y A , z A )、(x B ,y B , z B )、(x C ,y C , z C )、(x D ,y D , z D ), let the second position coordinate x of the wireless positioning module BLE (t) = [x1(t), y1(t), z1(t)]; Assume that the distances between the wireless positioning module and nodes A, B, C, and D are d A1 (t), d B1 (t), d C1 (t), d D1 (t); The system of equations is constructed as follows: Solve the linear equations to obtain the second position coordinate x of the wireless positioning module BLE (t) = [x1(t), y1(t), z1(t)], A is the coefficient matrix, and b(t) is the distance matrix.

5. The steel pipe column construction method according to claim 1, characterized in that: Step S33 specifically includes: The second position and the first position are fused according to the following formula: x fused (t)=x fused (t-1)+k·(x BLE (t)-x fused (t-1))+(1-k)·(x IMU (t)-x fused (t-1)); x fused (t) is the spatial position after fusion.

6. The steel pipe column construction method according to claim 1, characterized in that: The method further includes step S4, tightening the reducer clip of the universal platform, and then reducing the hoisting force on the tool column, and performing concrete pouring construction of the steel pipe column after the steel pipe column is stable.

7. The steel pipe column construction method according to claim 1, characterized in that: Step S2 specifically includes: arranging a crosshair at the upper end of the casing, drawing a plumb line from the center point of the universal platform, and moving the universal platform so that the plumb line of the universal platform coincides with the intersection of the crosshairs; The level data of the universal platform is detected, and the hydraulic support legs at the bottom of the universal platform are controlled to extend and retract according to the level data, so that the universal platform is adjusted to a horizontal state.

8. A steel pipe column construction equipment, characterized in that: include: Casing, which is inserted into the pile hole; Universal platform, coincident with the center point of the casing; Wireless positioning module, used to monitor the position of steel pipe column; Lifting equipment, used for lifting the tool column and the steel pipe column on the tool column; The deviation correction module is used to control the lifting equipment to correct the deviation of the tool column and the steel pipe column on the tool column.

9. The steel pipe column construction equipment according to claim 8, characterized in that: It also includes an auxiliary positioning module for locating the position of the wireless positioning module.

10. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steel pipe column construction method according to any one of claims 1 to 8 is implemented.

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