Steel beam segment erecting method and system

Abstract

The invention discloses a steel beam segment erection method and system, and relates to the technical field of bridge construction, and the method comprises the steps: obtaining the actual end point coordinate and the actual linear parameter of an erected steel beam segment, and calculating the first deviation value of the actual end point coordinate and the preset end point coordinate, and the second deviation value of the actual linear parameter and the preset linear parameter; calculating a theoretical endpoint coordinate of the steel beam section to be erected; theoretical linear parameters of the to-be-erected steel beam sections are calculated; real-time end point coordinates and real-time linear parameters of the steel beam segment to be erected are obtained, and a third deviation value between the real-time end point coordinates and the theoretical end point coordinates and a fourth deviation value between the actual linear parameters and the theoretical linear parameters are calculated; and erecting the to-be-erected steel beam section according to the third deviation value and the fourth deviation value. The to-be-erected position of the to-be-erected steel beam section can be intelligently measured, the to-be-erected steel beam section is guided to be rapidly and precisely in place, and the construction efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of bridge construction, and in particular to a method and system for erecting steel beam segments. Background Art

[0002] The erection of steel beam segments is a common technology used in bridge erection. Traditionally, the erection of steel beam segments is carried out by separating manual measurement from the erection of steel beam segments. Measurement is performed while erection is performed. After the measurement data of the characteristic points of the steel beam segments are manually collected, they are handed over to the construction personnel, who direct the erection and adjustment of the steel beam segments. However, due to the low accuracy of manual work, repeated operations of measurement-adjustment-re-measurement-re-adjustment are often required. Repeated operations require a large number of surveying technicians, engineering technicians, safety managers, and skilled workers with proficient erection experience to follow up on the work. This will cause complex personnel deployment and training during the erection of steel beam segments, consume a lot of manpower and material resources, and have high safety risks. There are also defects such as low efficiency and high cost. Summary of the invention

[0003] The present application provides a steel beam segment erection method and system, which can solve the technical problem of high cost and high efficiency caused by the need for a large amount of manpower and material resources in the prior art bridge erection.

[0004] In a first aspect, an embodiment of the present application provides a method for erecting a steel beam segment. The method for erecting a steel beam segment includes: obtaining actual endpoint coordinates and actual linear parameters of an erected steel beam segment, calculating a first deviation value between the actual endpoint coordinates and preset endpoint coordinates, and a second deviation value between the actual linear parameters and preset linear parameters; calculating theoretical endpoint coordinates of the steel beam segment to be erected according to the first deviation value and the second deviation value; calculating theoretical linear parameters of the steel beam segment to be erected according to the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected; obtaining real-time endpoint coordinates and real-time linear parameters of the steel beam segment to be erected, calculating a third deviation value between the real-time endpoint coordinates and the theoretical endpoint coordinates, and a fourth deviation value between the real-time linear parameters and the theoretical linear parameters; erecting the steel beam segment to be erected according to the third deviation value and the fourth deviation value.

[0005] In combination with the first aspect, in one embodiment, the theoretical endpoint coordinates of the steel beam segment to be erected are calculated based on the first deviation value and the second deviation value, including: adding the actual endpoint coordinates to the first deviation value to calculate the first coordinate; adding the values ​​in the first coordinates to the second deviation value respectively to calculate the theoretical endpoint coordinates of the steel beam segment to be erected.

[0006] In combination with the first aspect, in one embodiment, the calculation of the theoretical linear parameters of the steel beam segment to be erected according to the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected includes: if the theoretical linear parameters include the elevation difference between the front end and the rear end of the steel beam segment, the elevation difference between the front end and the rear end of the steel beam segment to be erected is calculated according to the theoretical endpoint coordinates of the steel beam segment to be erected, the values ​​of the corresponding elevations in the two sets of real-time endpoint coordinates are subtracted and then the average is taken to calculate the elevation difference, the elevation difference is added to the second deviation value to calculate the theoretical linear parameter of the steel beam segment to be erected. parameter; if the theoretical linear parameters include the locating axis position of the steel beam segment, the locating axis position of the steel beam segment to be erected is calculated according to the theoretical endpoint coordinates of the steel beam segment to be erected, the horizontal and vertical quantities in the same group of real-time endpoint coordinates are subtracted and the average value is taken to calculate the locating axis position, the locating axis position is added to the second deviation value to calculate the theoretical linear parameters of the steel beam segment to be erected; wherein, the front end and the rear end of the steel beam segment to be erected include two corresponding groups of real-time endpoint coordinates, and one group of real-time endpoint coordinates includes two relative real-time endpoint coordinates.

[0007] In combination with the first aspect, in one embodiment, before obtaining the actual endpoint coordinates of the erected steel beam segment and the actual linear parameters of the erected steel beam segment, it also includes: fixing the steel beam segment to be erected and the erection equipment, and obtaining the real-time endpoint coordinates of the erection equipment; calculating the fifth deviation value between the real-time endpoint coordinates of the erection equipment and the theoretical endpoint coordinates of the erection equipment; according to the fifth deviation value, moving the erection equipment to positions corresponding to the actual endpoint coordinates of the rear end of the erected steel beam segment; wherein the rear end of the erected steel beam segment corresponds to at least two actual endpoint coordinates, and the rear bottom cross beam of the erection equipment corresponds to at least two real-time endpoint coordinates; and locking the erection equipment.

[0008] In combination with the first aspect, in one embodiment, the obtaining of the real-time endpoint coordinates and real-time linear parameters of the steel beam segment to be erected includes: obtaining the real-time endpoint coordinates of the front top crossbeam of the erection equipment; measuring the relative distance of the real-time endpoint of the steel beam segment to be erected relative to the real-time endpoint coordinates of the front top crossbeam of the erection equipment; calculating the real-time endpoint coordinates of the steel beam segment to be erected based on the relative distance and the real-time endpoint coordinates of the front top crossbeam of the erection equipment; calculating the real-time linear parameters of the steel beam segment to be erected based on the real-time endpoint coordinates of the steel beam segment to be erected.

[0009] In combination with the first aspect, in one embodiment, the measurement of the relative distance of the real-time endpoint of the steel beam segment to be erected relative to the real-time endpoint coordinates of the front top crossbeam of the erection equipment includes: acquiring the absolute coordinates of the photographic device based on the real-time endpoint coordinates of the front top crossbeam of the erection equipment and the first relative distance between the photographic device and the erection equipment; acquiring image data of the steel beam segment to be erected through the photographic device; the image data includes the second relative distance of the absolute coordinates of the photographic device relative to the real-time endpoint coordinates of the front top crossbeam of the erection equipment; and calculating the relative distance of the real-time endpoint of the steel beam segment to be erected relative to the real-time endpoint coordinates of the front top crossbeam of the erection equipment based on the first relative distance, the second relative distance and the absolute coordinates of the photographic device.

[0010] In combination with the first aspect, in one embodiment, the steel beam segment to be erected is erected according to the third deviation value and the fourth deviation value, including: according to the third deviation value, moving the rear end of the steel beam segment to be erected to a position corresponding to the actual endpoint coordinates of the front end of the erected steel beam; the front end of the erected steel beam segment corresponds to at least two actual endpoint coordinates, and the front and rear ends of the steel beam segment to be erected correspond to at least two real-time endpoint coordinates respectively; calculating the real-time endpoint coordinates of the front end of the steel beam segment to be erected according to the real-time endpoint coordinates of the rear end of the steel beam segment to be erected after the movement and the fourth deviation value; adjusting the front end of the steel beam segment to be erected to the position corresponding to the real-time endpoint coordinates of the front end of the steel beam segment to be erected.

[0011] In a second aspect, an embodiment of the present application provides a steel beam segment erection system for implementing the above-mentioned steel beam segment erection method, including: a first acquisition device, the first acquisition device is used to acquire the actual endpoint coordinates of the erected steel beam segment and the actual linear parameters of the erected steel beam segment; a second acquisition device, the second acquisition device is used to acquire the real-time endpoint coordinates of the steel beam segment to be erected and the real-time linear parameters of the steel beam segment to be erected; an erection device, the erection device is used to erect the steel beam segment to be erected; a central controller, the central controller is respectively communicated with the first acquisition device, the second acquisition device and the erection equipment; the central controller The device is used to calculate a first deviation value between the actual endpoint coordinates of the erected steel beam segment and the preset endpoint coordinates, and a second deviation value between the actual linear parameters of the erected steel beam segment and the preset linear parameters; calculate the theoretical endpoint coordinates of the steel beam segment to be erected according to the first deviation value and the second deviation value; calculate the theoretical linear parameters of the steel beam segment to be erected according to the first deviation value, the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected; calculate the third deviation value between the real-time endpoint coordinates of the steel beam segment to be erected and the theoretical endpoint coordinates, and a fourth deviation value between the real-time linear parameters of the steel beam segment to be erected and the theoretical linear parameters.

[0012] In combination with the second aspect, in one embodiment, the second acquisition device also includes: a photographic device, the photographic device is used to acquire image data between the steel beam segment to be erected and the erected steel beam segment and between the steel beam segment to be erected and the erection equipment; the image data includes the relative distance of the steel beam segment to be erected relative to the real-time endpoint coordinates of the front top crossbeam of the erection equipment; an acquisition component, the acquisition component is used to acquire the real-time endpoint coordinates of the photographic device; the photographic device and the acquisition component are respectively communicatively connected to the central controller, the central controller calculates the real-time endpoint coordinates of the steel beam segment to be erected based on the relative distance and the real-time endpoint coordinates of the front top crossbeam of the erection equipment, and calculates the real-time linear parameters of the steel beam segment to be erected based on the real-time endpoint coordinates of the steel beam segment to be erected.

[0013] In combination with the second aspect, in one embodiment, the erection equipment includes: a wire rope group, which is used to fix the steel beam segment to be erected to the lifting point of the erection equipment; a CNC component, which is used to move the rear end of the steel beam segment to be erected to a position corresponding to the actual endpoint coordinates of the front end of the erected steel beam; the CNC component and the wire rope group are respectively communicated with the central controller.

[0014] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0015] The present application provides a method for erecting steel beam segments. By using an intelligent method to obtain the erection environment before erection and calculate the erection position and erection linearity of the steel beam segments, there is no need to rely on manual calculation and measurement. The measurement and calculation results are accurate and reliable, which solves the technical problem in the related technology that the erection of steel beam segments requires a lot of manpower and material resources, resulting in low efficiency and high cost of the erection of steel beam segments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of a flow chart of an embodiment of a method for erecting a steel beam segment of the present application;

[0017] Figure 2 For this application Figure 1 Detailed flow chart of step S102;

[0018] Figure 3 For this application Figure 1 A detailed flow chart of an embodiment of step S103;

[0019] Figure 4 For this application Figure 1 Another embodiment of step S103 is a detailed flow chart;

[0020] Figure 5 For this application Figure 1 Schematic diagram of the detailed process before step S101;

[0021] Figure 6 For this application Figure 1 A detailed flow chart of step S104;

[0022] Figure 7 For this application Figure 1 A detailed flow chart of step S124;

[0023] Figure 8 For this application Figure 1 A detailed flow chart of step S105;

[0024] Fig. 9 This is a front view structural schematic diagram of the steel beam segment erection system of the present application;

[0025] Fig.10 This is a top view structural schematic diagram of the steel beam segment erection system of this application.

[0026] Figure numerals: 1. first Beidou receiver; 2. first erected steel beam segment; 3. third erected steel beam segment; 4. second Beidou receiver; 5. second erected steel beam segment; 6. third Beidou receiver; 7. bridge-building machine; 8. camera; 9. steel beam segment to be erected; 10. CNC assembly; 11. CNC hydraulic jack assembly; 12. lifting point; 13. wire rope group; 14. lifting system. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0029] The present application provides a steel beam segment erection method and system, which can solve the technical problem of high cost and high efficiency caused by the need for a large amount of manpower and material resources in the prior art bridge erection.

[0030] In a first aspect, an embodiment of the present application provides a method for erecting steel beam segments.

[0031] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the steel beam segment erection method of the present application. Figure 1 As shown, the steel beam segment erection method includes:

[0032] Step S101, obtaining the actual endpoint coordinates and actual linear parameters of the erected steel beam segment, calculating a first deviation value between the actual endpoint coordinates and the preset endpoint coordinates, and a second deviation value between the actual linear parameters and the preset linear parameters.

[0033] Specifically, in an embodiment of the present application, a spatial coordinate system is established based on the preset segment division of the bridge and the preset linearity of the bridge, and the position of each steel beam segment corresponds to at least four endpoint coordinates for determining the position of the steel beam segment.

[0034] Step S102, calculating the theoretical endpoint coordinates of the steel beam segment to be erected according to the first deviation value and the second deviation value.

[0035] Step S103, calculating theoretical linear parameters of the steel beam segment to be erected according to the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected.

[0036] Step S104, obtaining the real-time endpoint coordinates and real-time linear parameters of the steel beam segment to be erected, calculating the third deviation value between the real-time endpoint coordinates and the theoretical endpoint coordinates, and the fourth deviation value between the real-time linear parameters and the theoretical linear parameters.

[0037] Step S105, erecting the steel beam segment to be erected according to the third deviation value and the fourth deviation value.

[0038] The steel beam segment erection method provided in this embodiment uses an intelligent method to obtain the erection environment before erection, as well as calculate the erection position and erection linearity of the steel beam segment. It no longer needs to rely on manual calculation and measurement, and the measurement and calculation results are accurate and reliable. This solves the technical problem in related technologies that the erection of steel beam segments requires a lot of manpower and material resources, resulting in low efficiency and high cost of steel beam segment erection.

[0039] Figure 2 For this application Figure 1 Detailed flow chart of step S102 in FIG. Figure 2 In some optional embodiments, the detailed process of calculating the theoretical endpoint coordinates of the steel beam segment to be erected according to the first deviation value and the second deviation value includes:

[0040] Step S112, adding the actual endpoint coordinates to the first deviation value to calculate the first coordinates.

[0041] Among them, in the spatial coordinate system, the real-time endpoint coordinates include horizontal coordinates, vertical coordinates and vertical coordinates, and the first deviation value is the difference between the actual endpoint coordinates and the theoretical endpoint coordinates of the erected steel beam segment, so the first deviation value also includes horizontal coordinates, vertical coordinates and vertical coordinates.

[0042] Step S122, adding the values ​​in the first coordinates to the second deviation values ​​respectively, and calculating the theoretical endpoint coordinates of the steel beam segment to be erected.

[0043] Specifically, the first coordinate also includes a horizontal coordinate, a vertical coordinate and a vertical coordinate, and the second deviation value is a numerical parameter of the actual linear parameter of the erected steel beam segment and the preset linear parameter, so the second deviation value is added to the numerical value in the first coordinate respectively to obtain the theoretical endpoint coordinates of the steel beam segment to be erected.

[0044] Figure 3 For this application Figure 1 A detailed flow chart of an embodiment of step S103 in FIG. Figure 3 In some optional embodiments, the detailed process of calculating the theoretical linear parameters of the steel beam segment to be erected according to the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected includes:

[0045] Step S113, if the theoretical linear parameters include the elevation difference between the front end and the rear end of the steel beam segment, the elevation difference between the front end and the rear end of the steel beam segment to be erected is calculated according to the theoretical endpoint coordinates of the steel beam segment to be erected.

[0046] Step S123, subtract the corresponding elevation values ​​in the two sets of real-time endpoint coordinates and take the average value to calculate the elevation difference.

[0047] Step S133, adding the elevation difference to the second deviation value to calculate the theoretical linear parameters of the steel beam segment to be erected.

[0048] The front end and the rear end of the steel beam segment to be erected include two corresponding sets of real-time endpoint coordinates, and one set of real-time endpoint coordinates includes two relative real-time endpoint coordinates.

[0049] Figure 4 For this application Figure 1 Another embodiment of step S103 in the detailed flow chart. Figure 4 In some optional embodiments, the detailed process of calculating the theoretical linear parameters of the steel beam segment to be erected according to the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected includes:

[0050] Step S1031, if the theoretical linear parameters include the locating axis position of the steel beam segment, the locating axis position of the steel beam segment to be erected is calculated according to the theoretical endpoint coordinates of the steel beam segment to be erected.

[0051] Step S1032, subtract the horizontal and vertical quantities in the same set of real-time endpoint coordinates and take the average value to calculate the positioning axis position.

[0052] Step S1033, adding the positioning axis position to the second deviation value to calculate the theoretical linear parameters of the steel beam segment to be erected.

[0053] The front end and the rear end of the steel beam segment to be erected include two corresponding sets of real-time endpoint coordinates, and one set of real-time endpoint coordinates includes two relative real-time endpoint coordinates.

[0054] Figure 5 For this application Figure 1 In conjunction with the first aspect, in an optional embodiment, the refinement process before obtaining the actual endpoint coordinates of the erected steel beam segment and the actual linear parameters of the erected steel beam segment also includes:

[0055] Step S110, fix the steel beam segment to be erected and the erection equipment, and obtain the real-time endpoint coordinates of the erection equipment.

[0056] Step S120, calculating a fifth deviation value between the real-time endpoint coordinates of the erection equipment and the theoretical endpoint coordinates of the erection equipment.

[0057] Step S130, according to the fifth deviation value, moves the erection equipment to positions corresponding to the actual endpoint coordinates of the rear end of the erected steel beam segment; wherein the rear end of the erected steel beam segment corresponds to at least two actual endpoint coordinates, and the rear bottom cross beam of the erection equipment corresponds to at least two real-time endpoint coordinates.

[0058] Step S140, locking the installation equipment.

[0059] The embodiment of the present application guides the erection equipment into position in an intelligent manner, and can more accurately measure the various parameters required in the erection process, so that the steel beam segments to be erected can be quickly and accurately positioned, greatly improving construction efficiency.

[0060] Figure 6 For this application Figure 1 Detailed flow chart of step S104 in FIG. Figure 6 In some optional embodiments, the detailed process of obtaining the real-time endpoint coordinates and real-time linear parameters of the steel beam segment to be erected includes:

[0061] Step S114, obtaining the real-time endpoint coordinates of the front top beam of the erection equipment.

[0062] Step S124, measuring the relative distance between the real-time endpoint of the steel beam segment to be erected and the real-time endpoint coordinates of the front top beam of the erection equipment.

[0063] Step S134, calculating the real-time endpoint coordinates of the steel beam segment to be erected according to the relative distance and the real-time endpoint coordinates of the front top crossbeam of the erection equipment.

[0064] Step S144, calculating the real-time linear parameters of the steel beam segment to be erected according to the real-time endpoint coordinates of the steel beam segment to be erected.

[0065] In the embodiment of the present application, the steel beam segment to be erected is suspended on the erection equipment, and the steel beam segment to be erected is erected by the erection equipment. Therefore, the position of the steel beam segment to be erected can be confirmed by confirming the position of the erection equipment.

[0066] Figure 7 For this application Figure 1 Detailed flow chart of step S124 in FIG. Figure 7 In some optional embodiments, the detailed process of measuring the relative distance between the real-time endpoint of the steel beam segment to be erected and the real-time endpoint coordinates of the front top beam of the erection equipment includes:

[0067] Step S1241, obtaining the absolute coordinates of the photographic device according to the real-time endpoint coordinates of the front top crossbeam of the mounting device and the first relative distance between the photographic device and the mounting device;

[0068] Step S1242, obtaining image data of the steel beam segment to be erected by means of a photographic device;

[0069] Step S1243, the image data includes a second relative distance between the absolute coordinates of the photographic device and the real-time endpoint coordinates of the front top beam of the erection device;

[0070] Step S1244, calculating the relative distance of the real-time endpoint coordinates of the steel beam segment to be erected relative to the real-time endpoint coordinates of the front top beam of the erection equipment based on the first relative distance, the second relative distance and the absolute coordinates of the photographic equipment.

[0071] In the embodiment of the present application, through intelligent acquisition methods and intelligent image acquisition equipment, the real-time position of the steel beam segment to be erected can be easily and contactlessly acquired without the need for repeated manual measurements and calculations, thereby improving the efficiency of the steel beam segment erection process and saving the cost of steel beam segment erection.

[0072] Figure 8 For this application Figure 1 Detailed flow chart of step S105 in FIG. Figure 8 In some optional embodiments, according to the third deviation value and the fourth deviation value, the detailed process of erecting the steel beam segment to be erected includes:

[0073] Step S115, according to the third deviation value, moving the rear end of the steel beam segment to be erected to a position corresponding to the actual endpoint coordinates of the front end of the erected steel beam;

[0074] Step S125, the front end of the erected steel beam segment corresponds to at least two actual endpoint coordinates, and the front end and the rear end of the to-be-erected steel beam segment correspond to at least two real-time endpoint coordinates respectively;

[0075] Step S135, calculating the real-time endpoint coordinates of the front end of the steel beam segment to be erected according to the real-time endpoint coordinates of the rear end of the steel beam segment to be erected after the movement and the fourth deviation value;

[0076] Step S145, adjusting the front end of the steel beam segment to be erected to a position corresponding to the real-time endpoint coordinates of the front end of the steel beam segment to be erected.

[0077] In the embodiment of the present application, the steel beam segments to be erected are erected in an intelligent manner, and no manual work is required during the erection process, which can significantly reduce labor costs while ensuring construction safety.

[0078] Based on the same inventive concept, an embodiment of the present application provides a steel beam segment erection system for implementing the above-mentioned steel beam segment erection method.

[0079] Fig. 9 This is a front view structural schematic diagram of the steel beam segment erection system of this application. Fig.10 This is a top view of the structural diagram of the steel beam segment erection system of this application. Fig. 9 and Fig.10 It can be seen that the steel beam segment erection system includes: a first acquisition device, the first acquisition device is used to acquire the actual endpoint coordinates of the erected steel beam segment and the actual linear parameters of the erected steel beam segment; a second acquisition device, the second acquisition device is used to acquire the real-time endpoint coordinates of the steel beam segment 9 to be erected and the real-time linear parameters of the steel beam segment 9 to be erected; an erection device, the erection device is used to erect the steel beam segment 9 to be erected; a central controller, the central controller is respectively connected to the first acquisition device, the second acquisition device and the erection device; the central controller is used to calculate the actual linear parameters of the erected steel beam segment The first deviation value between the real-time endpoint coordinates and the preset endpoint coordinates, and the second deviation value between the actual linear parameters of the erected steel beam segment and the preset linear parameters; according to the first deviation value and the second deviation value, the theoretical endpoint coordinates of the steel beam segment 9 to be erected are calculated; according to the first deviation value, the second deviation value and the theoretical endpoint coordinates of the steel beam segment 9 to be erected, the theoretical linear parameters of the steel beam segment 9 to be erected are calculated; the third deviation value between the real-time endpoint coordinates of the steel beam segment 9 to be erected and the theoretical endpoint coordinates, and the fourth deviation value between the real-time linear parameters of the steel beam segment 9 to be erected and the theoretical linear parameters are calculated.

[0080] Specifically, combined Fig. 9 It can be seen that the embodiment of the present application includes three sections of erected steel beam segments, namely the first erected steel beam segment 2, the second erected steel beam segment 5 and the third erected steel beam segment 3. The first acquisition device includes four first Beidou receivers 1 and two second Beidou receivers 4. The four first Beidou receivers 1 are respectively arranged on both sides of the end of the first erected steel beam segment 2 and the end of the third erected steel beam segment 3. The two second Beidou receivers 4 are respectively arranged on both sides of the intersection of the rear bottom cross beam of the bridge erection machine 7 and the end of the second erected steel beam segment 5. Therefore, through the setting of the Beidou receiver, the actual endpoint coordinates and actual linear parameters of the erected steel beam segment are obtained, and the actual endpoint coordinates and actual linear parameters of the erected steel beam segment are input into the central controller, and the central controller calculates the first deviation value between the actual endpoint coordinates of the erected steel beam segment and the preset endpoint coordinates, and the second deviation value between the actual linear parameters of the erected steel beam segment and the preset linear parameters.

[0081] In an embodiment of the present application, when obtaining the actual endpoint coordinates and actual linear parameters of the erected steel beam segment, the measurement data naturalization processing is performed on the set relationship between the center of the first Beidou receiver 1 and the second Beidou receiver 4 and the measurement feature points of the erected steel beam segment, and the measurement data of the first Beidou receiver 1 and the second Beidou receiver 4 are normalized to each feature point.

[0082] In some optional embodiments, the second acquisition device also includes: a photographic device, the photographic device is used to acquire image data between the steel beam segment 9 to be erected and the erected steel beam segment, and between the steel beam segment 9 to be erected and the erection equipment; the image data includes the relative distance of the steel beam segment 9 to be erected relative to the real-time endpoint coordinates of the front top crossbeam of the erection equipment; an acquisition component, the acquisition component is used to acquire the real-time endpoint coordinates of the photographic device; the photographic device and the acquisition component are respectively communicated with the central controller, the central controller calculates the real-time endpoint coordinates of the steel beam segment 9 to be erected according to the relative distance and the real-time endpoint coordinates of the front top crossbeam of the erection equipment, and calculates the real-time linear parameters of the steel beam segment 9 to be erected according to the real-time endpoint coordinates of the steel beam segment 9 to be erected.

[0083] Specifically, the erection equipment also includes a bridge-building machine 7, and the photographic equipment includes two cameras 8. Both cameras 8 can rotate 180° along the center line of the front top beam of the bridge-building machine 7 to take photos, thereby obtaining multiple groups of photographic images of the steel beam segment 9 to be erected.

[0084] The acquisition component includes two third Beidou receivers 6, which are respectively arranged on opposite sides of the front top beam of the bridge erection machine 7. Two cameras 8 are respectively located on the inner sides of the two third Beidou receivers 6. The camera 8 can cooperate with the third Beidou receiver 6 to obtain the center coordinates of the camera 8.

[0085] In some optional embodiments, the erection equipment includes: a wire rope group 13, the wire rope group 13 is used to fix the steel beam segment 9 to be erected to the hanging point 12 of the erection equipment; a numerical control component 10, the numerical control component 10 is used to move the rear end of the steel beam segment 9 to be erected to a position corresponding to the actual endpoint coordinates of the front end of the erected steel beam; wherein the front end of the erected steel beam segment corresponds to at least two actual endpoint coordinates, and the front end and rear end of the steel beam segment 9 to be erected correspond to at least two real-time endpoint coordinates; the numerical control component 10 and the wire rope group 13 are respectively connected to the central controller for communication. After the central controller calculates the real-time endpoint coordinates of the front end of the steel beam segment 9 to be erected according to the real-time endpoint coordinates of the rear end of the steel beam segment 9 to be erected after the movement and the fourth deviation value, the wire rope group 13 cooperates with the numerical control component 10 to adjust the front end of the steel beam segment 9 to be erected to the position corresponding to the real-time endpoint coordinates of the front end of the steel beam segment 9 to be erected.

[0086] Specifically, four steel wire rope groups 13 are used to fix the steel beam segment 9 to be erected to the four lifting points 12 of the erection equipment. The CNC component 10 includes four CNC winches, a CNC winch displacement device and a distance meter. The four CNC winches, the CNC winch displacement device and the distance meter are integrated at the center position of the front top beam of the bridge erection machine 7. The four CNC winches and the CNC winch displacement device can adjust the length of the four steel wire rope groups 13 respectively according to the instructions of the central controller, thereby moving the rear end of the steel beam segment 9 to be erected to a position corresponding to the actual endpoint coordinates of the front end of the erected steel beam. The distance meter is located at the top center of the four CNC winches and is used to measure the positional relationship between the center of the CNC component 10 and the two cameras 8.

[0087] The CNC component 10 also includes a CNC hydraulic jack component 11, which includes multiple CNC hydraulic jacks and locking devices, which are respectively arranged on the bottom beam of the bridge erection machine 7. According to the instructions of the central controller, it runs along the track of the bridge erection machine 7 and locks the bridge erection machine 7 in place to ensure safety during the erection process.

[0088] In the disclosed embodiment, the erection equipment further includes a lifting system 14. According to the principle that the linear shape of the steel beam changes with temperature, the actual linear shape of the erected steel beam segment and the erection linear shape of the steel beam segment 9 to be erected are both the linear shapes at the same actual temperature when the lifting system 14 lifts the steel beam segment 9 to be erected to the initial position.

[0089] The steel beam segment erection system provided in this embodiment, through intelligent settings to obtain the erection environment before erection, and to calculate the erection position and erection linearity of the steel beam segment, no longer needs to rely on manual calculation and measurement, and the measurement and calculation results are accurate and reliable, which solves the technical problem in related technologies that the erection of steel beam segments requires a lot of manpower and material resources, resulting in low efficiency and high cost of steel beam segment erection.

[0090] Among them, the functional implementation of each device in the above-mentioned steel beam segment erection system corresponds to the various steps in the above-mentioned steel beam segment erection method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0091] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0092] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0093] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0094] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0095] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0096] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for erecting steel beam segments, characterized in that: The steel beam segment erection method comprises: Acquire the actual endpoint coordinates and actual linear parameters of the erected steel beam segment, calculate a first deviation value between the actual endpoint coordinates and the preset endpoint coordinates, and a second deviation value between the actual linear parameters and the preset linear parameters; Calculating theoretical endpoint coordinates of the steel beam segment to be erected according to the first deviation value and the second deviation value; Calculating theoretical linear parameters of the steel beam segment to be erected according to the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected; Acquire the real-time endpoint coordinates and real-time linear parameters of the steel beam segment to be erected, calculate a third deviation value between the real-time endpoint coordinates and the theoretical endpoint coordinates, and a fourth deviation value between the real-time linear parameters and the theoretical linear parameters; The steel beam segment to be erected is erected according to the third deviation value and the fourth deviation value.

2. The method for erecting steel beam segments according to claim 1, characterized in that: The calculating the theoretical endpoint coordinates of the steel beam segment to be erected according to the first deviation value and the second deviation value includes: Add the actual endpoint coordinates to the first deviation value to calculate the first coordinates; The numerical values ​​in the first coordinates are added to the second deviation values ​​respectively to calculate the theoretical endpoint coordinates of the steel beam segment to be erected.

3. The method for erecting steel beam segments according to claim 1, characterized in that: The step of calculating the theoretical linear parameters of the steel beam segment to be erected according to the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected includes: If the theoretical linear parameter includes the elevation difference between the front end and the rear end of the steel beam segment, the elevation difference between the front end and the rear end of the steel beam segment to be erected is calculated according to the theoretical endpoint coordinates of the steel beam segment to be erected, the values ​​of the corresponding elevations in the two sets of real-time endpoint coordinates are subtracted and the average value is taken to calculate the elevation difference, the elevation difference is added to the second deviation value, and the theoretical linear parameter of the steel beam segment to be erected is calculated; If the theoretical linear parameters include the locating axis position of the steel beam segment, the locating axis position of the steel beam segment to be erected is calculated according to the theoretical endpoint coordinates of the steel beam segment to be erected, the horizontal and vertical quantities in the same set of real-time endpoint coordinates are subtracted and averaged to calculate the locating axis position, and the locating axis position is added to the second deviation value to calculate the theoretical linear parameters of the steel beam segment to be erected; The front end and the rear end of the steel beam segment to be erected include two corresponding sets of real-time endpoint coordinates, and one set of real-time endpoint coordinates includes two relative real-time endpoint coordinates.

4. The method for erecting steel beam segments according to claim 1, characterized in that: Before obtaining the actual endpoint coordinates of the erected steel beam segment and the actual linear parameters of the erected steel beam segment, the method further includes: Fixing the steel beam segment to be erected and the erection equipment, and obtaining the real-time endpoint coordinates of the erection equipment; Calculating a fifth deviation value between the real-time endpoint coordinates of the erection equipment and the theoretical endpoint coordinates of the erection equipment; According to the fifth deviation value, the erection equipment is moved to positions corresponding to the real-time endpoint coordinates of the rear end of the erected steel beam segment; wherein the rear end of the erected steel beam segment corresponds to at least two real-time endpoint coordinates, and the rear bottom cross beam of the erection equipment corresponds to at least two real-time endpoint coordinates; Lock the mounting equipment.

5. The method for erecting steel beam segments according to claim 4, characterized in that: The step of obtaining the real-time endpoint coordinates and real-time linear parameters of the steel beam segment to be erected includes: Obtaining the real-time endpoint coordinates of the front top crossbeam of the erection equipment; Measuring the relative distance between the real-time endpoint of the steel beam segment to be erected and the real-time endpoint coordinates of the front top crossbeam of the erection equipment; Calculating the real-time endpoint coordinates of the steel beam segment to be erected according to the relative distance and the real-time endpoint coordinates of the front top crossbeam of the erection equipment; The real-time linear parameters of the steel beam segment to be erected are calculated according to the real-time endpoint coordinates of the steel beam segment to be erected.

6. The method for erecting steel beam segments according to claim 5, characterized in that: The measuring of the relative distance between the real-time endpoint of the steel beam segment to be erected and the real-time endpoint coordinate of the front top beam of the erection equipment comprises: Obtaining the absolute coordinates of the photographic device according to the real-time endpoint coordinates of the front top crossbeam of the mounting device and a first relative distance between the photographic device and the mounting device; Acquire image data of the steel beam segment to be erected by the photographic device; the image data includes a second relative distance between the absolute coordinates of the photographic device and the real-time endpoint coordinates of the front top crossbeam of the erection device; The relative distance between the real-time endpoint coordinates of the steel beam segment to be erected and the real-time endpoint coordinates of the front top beam of the erection equipment is calculated based on the first relative distance, the second relative distance and the absolute coordinates of the photographic equipment.

7. The method for erecting steel beam segments according to claim 5, characterized in that: According to the third deviation value and the fourth deviation value, erecting the steel beam segment to be erected includes: According to the third deviation value, the rear end of the steel beam segment to be erected is moved to a position corresponding to the actual endpoint coordinates of the front end of the erected steel beam; the front end of the erected steel beam segment corresponds to at least two actual endpoint coordinates, and the front end and the rear end of the steel beam segment to be erected correspond to at least two real-time endpoint coordinates respectively; Calculating the real-time endpoint coordinates of the front end of the steel beam segment to be erected according to the real-time endpoint coordinates of the rear end of the steel beam segment to be erected after the movement and the fourth deviation value; Adjust the front end of the steel beam segment to be erected to the position corresponding to the real-time endpoint coordinates of the front end of the steel beam segment to be erected.

8. A steel beam segment erection system, used to implement the steel beam segment erection method according to any one of claims 1 to 7, characterized in that: include: A first acquisition device, the first acquisition device is used to acquire the actual endpoint coordinates of the erected steel beam segment and the actual linear parameters of the erected steel beam segment; A second acquisition device, the second acquisition device is used to acquire the real-time endpoint coordinates of the steel beam segment to be erected and the real-time linear parameters of the steel beam segment to be erected; Erection equipment, the erection equipment is used to erect the steel beam segment to be erected; A central controller, the central controller is respectively connected to the first acquisition device, the second acquisition device and the erection equipment in communication; the central controller is used to calculate a first deviation value between the actual endpoint coordinates of the erected steel beam segment and the preset endpoint coordinates, and a second deviation value between the actual linear parameter of the erected steel beam segment and the preset linear parameter; Calculating theoretical endpoint coordinates of the steel beam segment to be erected according to the first deviation value and the second deviation value; calculating theoretical linear parameters of the steel beam segment to be erected according to the first deviation value, the second deviation value and the theoretical endpoint coordinates of the steel beam segment to be erected; Calculate the third deviation value between the real-time endpoint coordinates of the steel beam segment to be erected and the theoretical endpoint coordinates, and the fourth deviation value between the real-time linear parameters of the steel beam segment to be erected and the theoretical linear parameters.

9. The steel beam segment erection system according to claim 8, characterized in that: The second acquisition device also includes: A photographic device, the photographic device is used to obtain image data between the steel beam segment to be erected and the erected steel beam segment and between the steel beam segment to be erected and the erection equipment; the image data includes a relative distance of the real-time endpoint coordinates of the steel beam segment to be erected relative to the front top crossbeam of the erection equipment; An acquisition component, the acquisition component is used to acquire the real-time endpoint coordinates of the photographic device; The photographic equipment and the acquisition component are respectively connected to the central controller for communication. The central controller calculates the real-time endpoint coordinates of the steel beam segment to be erected based on the relative distance and the real-time endpoint coordinates of the front top crossbeam of the erection equipment, and calculates the real-time linear parameters of the steel beam segment to be erected based on the real-time endpoint coordinates of the steel beam segment to be erected.

10. The steel beam segment erection system according to claim 8, characterized in that: The installation equipment includes: A steel wire rope group, the steel wire rope group is used to fix the steel beam segment to be erected to the lifting point of the erection equipment; A numerical control component, the numerical control component is used to move the rear end of the steel beam segment to be erected to a position corresponding to the real-time endpoint coordinates of the front end of the erected steel beam; The numerical control component and the steel wire rope group are respectively connected to the central controller for communication.

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