Positioning method and positioning system for steel truss girder in-place construction

Abstract

The invention discloses a positioning method and a positioning system for in-place construction of a steel truss girder, and belongs to the technical field of in-place construction of the steel truss girder. According to the positioning method, a radio frequency positioning technology is used for monitoring coordinates of a positioning fixing point of a steel rod piece, the end of the steel rod piece and the end of a hoisting arm in real time; the whole hoisting and positioning process is divided into two parts according to the coordinate points, firstly, the hoisted end of the steel rod piece is positioned according to the drop point, then the swinging condition of the steel rod piece is monitored, and when the state of the steel rod piece is relatively stable, the height of the steel rod piece is adjusted; according to the method, the influence on the positioning safety of the steel rod piece caused by shaking of the steel rod piece in the transferring process is avoided, the construction safety is improved, the whole descending process is further divided into two parts, it is further guaranteed that the steel rod piece has good stability when being close to a descending point, and the positioning accuracy and safety are guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of steel truss girder in-situ construction, and specifically relates to a positioning method and a positioning system for steel truss girder in-situ construction. Background Art

[0002] Since steel has many advantages such as high strength, uniform material, good plasticity and toughness, and good weldability, bridges built with steel, steel bridges, have the following characteristics: large spanning capacity, suitable for industrial manufacturing, easy transportation, fast installation, easy repair and replacement of steel bridge components, etc. Steel bridges can be built in various forms according to different conditions. There are more types of steel bridges than bridges made of other materials. They can be mainly divided into beam system, arch system and combined system.

[0003] When the steel trusses are put into place for construction, a large number of high-quality steel rods need to be hoisted and transferred to the corresponding positions for positioning and fixing. However, due to the heavy weight, long length and high hoisting height of the rods, their positioning during the hoisting process requires the cooperation of the hoisting staff and external auxiliary personnel to make repeated adjustments to achieve positioning. On the one hand, this method is inefficient, and on the other hand, it requires external auxiliary personnel to be close to the positioning point, which poses a greater safety risk. In order to solve this problem, the present invention provides the following technical solutions to minimize or exclude external personnel from approaching the positioning point during the positioning stage and improve construction safety. Summary of the invention

[0004] The purpose of the present invention is to provide a positioning method and a positioning system for the in-situ construction of a steel truss, so as to solve the problem in the prior art that when the steel truss is under construction, accurate positioning requires the cooperation of the driver of the lifting device and external personnel, resulting in poor safety.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A positioning method for in-situ construction of a steel truss beam comprises the following steps:

[0007] Step 1: deploy three or more radio frequency readers in the construction area, establish a spatial rectangular coordinate system, and obtain the coordinates of each radio frequency reader in the spatial coordinate system;

[0008] Step 2: fix the second positioning tag near the positioning fixing point of the steel bar, the first positioning tag is fixedly installed on the end of the hoisting arm of the hoisting device away from the hoisting vehicle body, and the third positioning tag is fixedly installed on the end of the hoisted steel bar close to the positioning fixing point of the steel bar;

[0009] Step 3, the corresponding steel rod is hoisted, and each radio frequency reader is turned on to obtain the spatial coordinates of the first positioning tag, the second positioning tag, and the third positioning tag;

[0010] And according to the coordinates of the second positioning tag and the third positioning tag, the spatial coordinates (x2, y2, z2) of the geometric center of the steel bar positioning fixing point and the coordinates (x3, y3, z3) of the geometric center of the surface on the end of the steel bar fitting the steel bar positioning fixing point are obtained;

[0011] Step 4: adjust the position of the end of the suspension arm according to the spatial coordinates (x1, y1, z1) and the spatial coordinates (x2, y2, z2) of the first positioning tag. The value is less than the preset threshold q1, and both |x1-x2| and |y1-y2| are less than the preset threshold q2.

[0012] As a further solution of the present invention, after completing step 4, the coordinates (x3, y3, z3) are monitored in real time to obtain the maximum value x3max of x3, the maximum value y3max of y3, the minimum value x3min of x3, and the minimum value y3min of y3 within a continuous time period of a preset value t1;

[0013] when When it is greater than or equal to the preset threshold value q3, no subsequent processing is performed and / or the steel bar is stabilized by external equipment;

[0014] The Q value is calculated once every preset time period t2 until Q is less than a preset threshold value q3, and then the height of the steel rod is lowered by the hoisting arm.

[0015] As a further solution of the present invention, when the height of the steel rod is lowered by the lifting arm, when z3-z2 is less than the preset height value zy, the further lowering of the height of the steel rod is stopped, and then the Q value is updated until Q is less than the preset threshold value q4, and then the height of the steel rod is continued to be lowered until the positioning is completed, wherein the preset threshold value q4 is less than q3.

[0016] The present invention also discloses a positioning system for the in-situ construction of a steel truss beam, comprising:

[0017] A radio frequency reader / writer unit, comprising three or more radio frequency readers / writers, which are distributed in the construction area and installed on objects that will not move during the entire construction process;

[0018] A mobile label unit, comprising a first positioning label, a second positioning label and a third positioning label;

[0019] The positioning correction unit is used to receive the information uploaded by the radio frequency reading and writing unit, analyze and obtain the coordinate position of each positioning tag in the mobile tag unit, and plan the transfer positioning process of the steel rod according to the coordinates of each positioning tag.

[0020] As a further solution of the present invention, the second positioning tag is fixed to the geometric center of the steel rod positioning fixing point, and the geometric center of the steel rod positioning fixing point refers to the geometric center of the steel rod positioning fixing point and the contact surface of the steel rod.

[0021] As a further solution of the present invention, the second positioning tag is arranged in a spherical area with the steel rod positioning and fixing point as the center and a radius of a preset value r, and is not the geometric center of the steel rod positioning and fixing point; the third positioning tag is arranged on the end of the hoisted steel rod close to the steel rod positioning and fixing point, and is not the geometric center of the surface of the steel rod end that fits the steel rod positioning and fixing point.

[0022] As a further solution of the present invention, the staff measures the distance a between the second positioning tag and the geometric center of the steel bar positioning fixing point, the angle b between the line between the geometric center and the second positioning tag and the laying direction of the steel truss, the angle c between the line between the geometric center of the steel bar positioning fixing point and the second positioning tag and the horizontal plane, and the height d between the second positioning tag and the preset plane, obtains the position correction parameters (a, b, c, d) of the second positioning tag, and uploads the correction parameters to the positioning correction unit;

[0023] The positioning correction unit obtains the real-time spatial coordinates (x2, y2, z2) of the geometric center of the steel bar positioning fixing point according to the correction parameters and the real-time spatial coordinates of the second positioning tag;

[0024] Similarly, by measuring the spatial relationship between the third positioning tag and the geometric center of the fitting surface between the end of the steel rod and the steel rod positioning and fixing point, the real-time coordinates (x3, y3, z3) of the geometric center of the fitting surface between the end of the steel rod and the steel rod positioning and fixing point are obtained according to the real-time spatial coordinates of the third positioning tag.

[0025] Beneficial effects of the present invention:

[0026] The present invention utilizes radio frequency positioning technology to carry out real-time monitoring of the coordinates of the steel rod positioning fixing point, the steel rod end and the end of the lifting arm, and divides the entire lifting positioning process into two parts according to these coordinate points. First, the lifted end of the steel rod is positioned according to the landing point, and then the swing of the steel rod is monitored. The height of the steel rod is adjusted only when the state of the steel rod is relatively stable, so as to avoid the shaking of the steel rod caused during the transfer process from affecting the positioning safety of the steel rod, thereby improving the construction safety. The entire descending process is further divided into two parts, so as to further ensure that the steel rod has good stability when it is close to the landing point, and ensure the accuracy and safety of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] Figure 1 The present invention is a schematic flow chart of a positioning method for in-situ construction of a steel truss beam. DETAILED DESCRIPTION

[0029] 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.

[0030] Embodiment 1

[0031] A positioning system for in-situ construction of a steel truss beam, comprising:

[0032] The radio frequency reader / writer unit includes three or more radio frequency readers / writers, which are distributed in the construction area and are fixed in position during the entire construction process, that is, the radio frequency reader / writer should be installed on an object that will not move during the entire construction process;

[0033] The mobile tag unit includes a first positioning tag fixedly installed on the end of the hoisting arm of the hoisting device away from the hoisting vehicle body, a second positioning tag moved by a staff member and set within a certain range of the steel bar positioning fixing point, and a third positioning tag fixedly installed on the end of the hoisted steel bar close to the steel bar positioning fixing point;

[0034] Preferably, the second positioning tag can be fixed at the geometric center of the steel bar positioning fixing point, that is, the coordinates of the second positioning tag are the coordinates of the geometric center of the steel bar positioning fixing point. This has the advantage of improving efficiency, but has the disadvantage of requiring the second positioning tag to be transferred at the end of the positioning work, that is, when the steel bar is about to fit the steel bar positioning fixing point, which may be more dangerous under some construction conditions.

[0035] The geometric center of the steel bar positioning and fixing point refers to the geometric center of the contact surface between the steel bar positioning and fixing point and the steel bar;

[0036] The positioning correction unit is used to receive the information uploaded by the radio frequency reading and writing unit, analyze and obtain the coordinate position of each positioning tag in the mobile tag unit, and plan the transfer positioning process of the steel rod according to the coordinates of each positioning tag.

[0037] Embodiment 2

[0038] On the basis of the first embodiment, since the second positioning tag and the third positioning tag cannot be accurately installed at the center position mentioned in the first embodiment in many cases, this embodiment further proposes a method for setting the fixed position of the second positioning tag and the third positioning tag and a subsequent processing flow, specifically:

[0039] The second positioning tag is set in a spherical area with the steel rod positioning and fixing point as the center and a radius of a preset value r, and is not the geometric center of the steel rod positioning and fixing point; the third positioning tag is set on the end of the hoisted steel rod close to the steel rod positioning and fixing point, and is not the geometric center of the surface on the end of the steel rod that fits the steel rod positioning and fixing point.

[0040] The staff measures the distance a between the second positioning tag and the geometric center of the steel bar positioning fixing point, the angle b between the line between the geometric center and the second positioning tag and the laying direction of the steel truss, the angle c between the line between the geometric center of the steel bar positioning fixing point and the second positioning tag and the horizontal plane, and the height d between the second positioning tag and the preset plane, obtains the position correction parameters (a, b, c, d) of the second positioning tag, and uploads the correction parameters to the positioning correction unit;

[0041] The positioning correction unit obtains the real-time spatial coordinates (x2, y2, z2) of the geometric center of the steel bar positioning fixing point according to the correction parameters and the real-time spatial coordinates of the second positioning tag;

[0042] The preset plane is a plane preset by the staff according to the construction environment, which can be a certain pier working plane or the plane where the radio frequency reader is located;

[0043] Similarly, if the third positioning tag is not installed at the geometric center of the fitting surface between the end of the steel rod and the steel rod positioning and fixing point, the spatial relationship between the third positioning tag and the geometric center of the fitting surface between the end of the steel rod and the steel rod positioning and fixing point can also be measured, and then the real-time coordinates (x3, y3, z3) of the geometric center of the fitting surface between the end of the steel rod and the steel rod positioning and fixing point can be obtained based on the real-time spatial coordinates of the third positioning tag.

[0044] Embodiment 3

[0045] On the basis of the first and second embodiments, the positioning method of the steel truss girder in-situ construction is as follows: Figure 1 As shown, the following steps are included:

[0046] Step 1: deploy three or more radio frequency readers in the construction area, establish a spatial rectangular coordinate system, and obtain the coordinates of each radio frequency reader in the spatial coordinate system;

[0047] Step 2: Determine the steel bar to be fixed in the next step and the steel bar positioning and fixing point according to the construction sequence, and the staff fixes the second positioning tag at the geometric center of the steel bar positioning and fixing point;

[0048] Step 3: The hoisting device starts working to lift the corresponding steel rod, and each radio frequency reader starts working to obtain the spatial coordinates of the first positioning tag, the second positioning tag, and the third positioning tag;

[0049] And according to the coordinates of the second positioning tag and the third positioning tag, the spatial coordinates (x2, y2, z2) of the geometric center of the steel bar positioning fixing point and the coordinates (x3, y3, z3) of the geometric center of the surface on the end of the steel bar fitting the steel bar positioning fixing point are obtained;

[0050] Using RFID technology for spatial positioning is an existing technology, so its principle will not be elaborated in detail here;

[0051] Step 4: adjust the position of the end of the suspension arm according to the spatial coordinates (x1, y1, z1) and the spatial coordinates (x2, y2, z2) of the first positioning tag. The value is less than the preset threshold q1, and both |x1-x2| and |y1-y2| are less than the preset threshold q2.

[0052] Step 5, after completing step 4, the coordinates (x3, y3, z3) are monitored in real time to obtain the maximum value x3max of x3, the maximum value y3max of y3, the minimum value x3min of x3, and the minimum value y3min of y3 within a continuous time period of a preset value t1;

[0053] when When it is greater than or equal to the preset threshold value q3, no subsequent processing is performed and / or the steel bar is stabilized by external equipment;

[0054] The Q value is calculated every preset time t2 until Q is less than the preset threshold q3, then the next step is entered;

[0055] Step 6, lower the height of the steel bar by the hoisting arm. When z3-z2 is less than the preset height value zy, stop further lowering the height of the steel bar, and then update the Q value according to the method in step 5 until it is less than the preset threshold value q4, and then continue to lower the height of the steel bar until the positioning is completed;

[0056] The preset threshold q4 is smaller than q3.

[0057] The present invention utilizes radio frequency positioning technology to carry out real-time monitoring of the coordinates of the steel rod positioning fixing point, the steel rod end and the end of the lifting arm, and divides the entire lifting positioning process into two parts according to these coordinate points. First, the lifted end of the steel rod is positioned according to the landing point, and then the swing of the steel rod is monitored. The height of the steel rod is adjusted only when the state of the steel rod is relatively stable, so as to avoid the shaking of the steel rod caused during the transfer process from affecting the positioning safety of the steel rod, thereby improving the construction safety. The entire descending process is further divided into two parts, so as to further ensure that the steel rod has good stability when it is close to the landing point, and ensure the accuracy and safety of positioning.

[0058] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the invention or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. A method for positioning a steel truss beam in place, characterized in that: The steps include: Step 1: deploy three or more radio frequency readers in the construction area, establish a spatial rectangular coordinate system, and obtain the coordinates of each radio frequency reader in the spatial coordinate system; Step 2: fix the second positioning tag near the positioning fixing point of the steel bar, the first positioning tag is fixedly installed on the end of the hoisting arm of the hoisting device away from the hoisting vehicle body, and the third positioning tag is fixedly installed on the end of the hoisted steel bar close to the positioning fixing point of the steel bar; Step 3, the corresponding steel rod is hoisted, and each radio frequency reader is turned on to obtain the spatial coordinates of the first positioning tag, the second positioning tag, and the third positioning tag; And according to the coordinates of the second positioning tag and the third positioning tag, the spatial coordinates (x2, y2, z2) of the geometric center of the steel bar positioning fixing point and the coordinates (x3, y3, z3) of the geometric center of the surface on the end of the steel bar fitting the steel bar positioning fixing point are obtained; Step 4: adjust the position of the end of the suspension arm according to the spatial coordinates (x1, y1, z1) and the spatial coordinates (x2, y2, z2) of the first positioning tag. The value is less than the preset threshold q1, and both |x1-x2| and |y1-y2| are less than the preset threshold q2.

2. A method for positioning a steel truss beam for in-situ construction according to claim 1, characterized in that: After completing step 4, the coordinates (x3, y3, z3) are monitored in real time to obtain the maximum value x3max of x3, the maximum value y3max of y3, the minimum value x3min of x3, and the minimum value y3min of y3 within a continuous time period of a preset value t1; when When the value is greater than or equal to the preset threshold value q3, no subsequent processing is performed and / or the steel bar is stabilized by external equipment; The Q value is calculated once every preset time period t2 until Q is less than a preset threshold value q3, and then the height of the steel rod is lowered by the hoisting arm.

3. A method for positioning a steel truss beam in place according to claim 2, characterized in that: When the height of the steel rod is lowered by the lifting arm, when z3-z2 is less than the preset height value zy, stop further lowering the height of the steel rod, and then update the Q value until Q is less than the preset threshold value q4, and then continue to lower the height of the steel rod until the positioning is completed, wherein the preset threshold value q4 is less than q3.

4. A positioning system for the in-situ construction of a steel truss beam, the system being used to execute the positioning method for the in-situ construction of a steel truss beam as claimed in any one of claims 1 to 3, characterized in that: include: A radio frequency reader / writer unit, comprising three or more radio frequency readers / writers, which are distributed in the construction area and installed on objects that will not move during the entire construction process; A mobile label unit, comprising a first positioning label, a second positioning label and a third positioning label; The positioning correction unit is used to receive the information uploaded by the radio frequency reading and writing unit, analyze and obtain the coordinate position of each positioning tag in the mobile tag unit, and plan the transfer positioning process of the steel rod according to the coordinates of each positioning tag.

5. A positioning system for steel truss girder in-situ construction according to claim 4, characterized in that: The second positioning tag is fixed at the geometric center of the steel bar positioning fixing point, and the geometric center of the steel bar positioning fixing point refers to the geometric center of the steel bar positioning fixing point and the contact surface of the steel bar.

6. A positioning system for steel truss girder in-situ construction according to claim 4, characterized in that: The second positioning tag is set in a spherical area with the steel rod positioning and fixing point as the center and a radius of a preset value r, and is not the geometric center of the steel rod positioning and fixing point; the third positioning tag is set on the end of the hoisted steel rod close to the steel rod positioning and fixing point, and is not the geometric center of the surface on the end of the steel rod that fits the steel rod positioning and fixing point.

7. A positioning system for steel truss girder in-situ construction according to claim 6, characterized in that: The staff measures the distance a between the second positioning tag and the geometric center of the steel bar positioning fixing point, the angle b between the line between the geometric center and the second positioning tag and the laying direction of the steel truss, the angle c between the line between the geometric center of the steel bar positioning fixing point and the second positioning tag and the horizontal plane, and the height d between the second positioning tag and the preset plane, obtains the position correction parameters (a, b, c, d) of the second positioning tag, and uploads the correction parameters to the positioning correction unit; The positioning correction unit obtains the real-time spatial coordinates (x2, y2, z2) of the geometric center of the steel bar positioning fixing point according to the correction parameters and the real-time spatial coordinates of the second positioning tag; Similarly, by measuring the spatial relationship between the third positioning tag and the geometric center of the fitting surface between the end of the steel rod and the steel rod positioning and fixing point, the real-time coordinates (x3, y3, z3) of the geometric center of the fitting surface between the end of the steel rod and the steel rod positioning and fixing point are obtained according to the real-time spatial coordinates of the third positioning tag.

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