A measurement method for point cloud fusion of manufacturing configuration points of large-section steel truss girders

Abstract

The present invention provides a method for fusing and measuring the point cloud of the manufacturing configuration of a large-section steel truss beam, which comprises the following steps: obtaining the three-dimensional coordinates of the bolt hole centers at the corner points of the bolt hole group at the end of the steel truss beam; obtaining the aperture diameters and planar coordinates of the bolt hole centers of the bolt hole group at the end of the steel truss beam; performing point cloud registration according to the aperture diameters and planar coordinates and in combination with the three-dimensional coordinates to determine the point cloud information of the manufacturing configuration of the steel truss beam. This measurement method saves the originally cumbersome workload of three-dimensional scanning by only scanning the three-dimensional coordinates of special points; by directly measuring the geometric features of the bolt holes, it can effectively reduce the errors affected by external factors, and then based on the geometric features, through the fitting and pairing with the actually measured three-dimensional coordinates of the bolt holes at special points, reliable point cloud data of the manufacturing configuration of the steel truss beam can be quickly obtained, significantly improving the measurement efficiency and accuracy of the manufacturing configuration of the large-section steel truss beam.

Description

Technical Field

[0001] This application relates to the technical field of bridge engineering, and particularly relates to a method for measuring the point cloud fusion of the manufacturing configuration of large segment steel truss girders. Background Art

[0002] Steel truss girders are commonly used beam types for long-span cable railway bridges due to their high stiffness and good integrity. In recent years, with the need of waterways, the span of railway bridges has reached the kilometer level. To ensure the comfort and safety of train operation, it is necessary to strictly control the local alignment of the bridge, and the manufacturing configuration of the steel truss girder plays a decisive role in the quality of the local alignment of the bridge. Therefore, it is necessary to measure the manufacturing configuration of the steel truss girder in order to carry out digital assembly, so as to predict in advance the influence of manufacturing deviation on the as-built alignment and make active adjustments to the alignment in time.

[0003] The manufacturing configuration of the steel truss girder mainly refers to the geometric information of the bolt hole groups at both ends of the main truss, including the bolt hole diameter and the measured three-dimensional coordinates of the bolt hole centers. The existing technology places 3 target balls at different positions near the bolt hole groups at the ends of the steel truss girder. Use a terrestrial three-dimensional laser scanner to scan the whole large steel truss girder component to obtain the whole point cloud data containing the target balls; use a handheld three-dimensional scanner to locally scan the bolt hole groups and target balls at the ends of the steel truss girder to obtain the local point cloud data of the target balls and bolt hole groups. Map and register the whole point cloud data and the local point cloud data to determine the manufacturing configuration information of the steel truss girder. However, this method has the following defects:

[0004] (1) Since it is necessary to measure the target ball features additionally and scan the spatial features of each end bolt hole group, the workload of three-dimensional scanning is increased, the measurement of a single large segment steel truss girder takes a long time and has low efficiency.

[0005] (2) Using the target ball for sphere fitting to establish the relationship between the whole point cloud data and the local point cloud data will affect the data accuracy, and the measurement accuracy can only be controlled within 3 mm; while in actual engineering, the measurement accuracy of the manufacturing configuration needs to reach 1 mm, and the measurement accuracy of this method is low. Summary of the Invention

[0006] This application provides a method for measuring the point cloud fusion of the manufacturing configuration of large segment steel truss girders, which can solve the problems of time-consuming measurement and low accuracy in measuring the geometric information of the manufacturing configuration of large segment steel truss girders in the prior art.

[0007] An embodiment of this application provides a method for measuring the point cloud fusion of the manufacturing configuration of large segment steel truss girders, which includes obtaining the measured three-dimensional coordinates of the bolt hole centers at the corner points of the bolt hole groups at the ends of the steel truss girder; obtaining the planar coordinates and hole diameters of the bolt hole centers of the bolt hole groups at the ends of the steel truss girder; performing point cloud registration according to the hole diameter and planar coordinates, and combining with the measured three-dimensional coordinates to determine the point cloud information of the manufacturing configuration of the steel truss girder.

[0008] In one embodiment, determining the point cloud information of the manufacturing configuration of the steel truss girder includes the following steps: obtaining the measured three-dimensional coordinates of the bolt hole centers at the corner points of the bolt hole groups at the ends of the steel truss girder, and integrating them to obtain a three-dimensional information set; obtaining the hole diameters and planar coordinates of the bolt hole centers of the bolt hole groups at the ends of the steel truss girder; and integrating them to obtain a planar geometric information set; based on the three-dimensional information set and the planar geometric information set, performing point cloud registration to determine the point cloud information of the manufacturing configuration of the steel truss girder.

[0009] In one embodiment, obtaining the measured three-dimensional coordinates of the bolt hole centers at the corner points of the bolt hole groups at the ends of the steel truss girder includes the following steps: using a laser coordinate instrument to measure and obtain the measured three-dimensional coordinates of the bolt hole centers at the corner points of each bolt hole group at the ends of the steel truss girder respectively, and storing them as the first information to be processed; integrating the first information to be processed to obtain a three-dimensional information set.

[0010] In one embodiment, integrating the first information to be processed to obtain the three-dimensional information set includes the following steps: denoting the measured three-dimensional coordinates of the bolt holes at each corner point in the first information to be processed as (X, Y, Z), and replacing them with {C}, where X is the three-dimensional abscissa, Y is the three-dimensional ordinate, and Z is the three-dimensional vertical coordinate; obtaining the location of the corresponding end bolt hole group for each bolt hole at each corner point, the location of the corresponding surface bolt hole group for each bolt hole at each corner point, and the location of each bolt hole at each corner point in the corresponding surface bolt hole group, and then combining {C} to obtain the processed three-dimensional information of each bolt hole at each corner point , where represents the k th end bolt hole group, the j th surface bolt hole group, and the measured three-dimensional coordinates of the bolt hole at the i-th corner point; obtaining the three-dimensional information of all bolt holes at the corner points in the above manner to form a three-dimensional information set.

[0011] In one embodiment, obtaining the planar coordinates and hole diameters of the bolt hole centers of the bolt hole groups at the ends of the steel truss girder includes the following steps: using a planar scanner to measure and obtain the planar coordinates and hole diameters of all bolt hole centers of each bolt hole group at the ends of the steel truss girder respectively, and storing them as the second information to be processed; integrating the second information to be processed to obtain a planar geometric information set.

[0012] In one embodiment, integrating the second information to be processed to obtain the set of planar geometric information includes the following steps: Denote the planar coordinates and aperture diameter of each bolt hole in the second information to be processed as (x, y, φ), and replace it with {G}, where x is the planar abscissa, y is the planar ordinate, and φ is the bolt hole diameter; Obtain the location of the corresponding end bolt hole group, the location of the corresponding surface bolt hole group, and the location of each bolt hole in the corresponding surface bolt hole group for each bolt hole in the second information to be processed, and then combine with {G} to obtain the processed planar geometric information of each bolt hole. , where represents the k th end bolt hole group, the j th surface bolt hole group, the planar coordinates and aperture diameter of the center of the mth bolt hole; Obtain the planar geometric information of all bolt holes in the above manner to form the set of planar geometric information.

[0013] In one embodiment, based on the three-dimensional information set and the set of planar geometric information, point cloud registration is performed to determine the point cloud information of the steel truss beam manufacturing configuration, which includes the following steps: Convert the planar coordinates of the bolt holes at the corner points corresponding to the end bolt hole groups in the set of planar geometric information into fitted three-dimensional coordinates; Based on the measured three-dimensional coordinates and the fitted three-dimensional coordinates of the bolt holes at the corner points of the end bolt hole groups in the three-dimensional information set, obtain the coordinate transformation parameters of the corresponding surface bolt hole groups; Transform the set of planar geometric information of all bolt holes in the end bolt hole groups according to the coordinate transformation parameters to determine the point cloud information of the steel truss beam manufacturing configuration.

[0014] In one embodiment, converting the planar coordinates of the bolt holes at the corner points corresponding to the end bolt hole groups into fitted three-dimensional coordinates includes the following steps: Based on the planar coordinates x and y of the bolt holes at the corner points in the set of planar geometric information, obtain the fitted three-dimensional coordinates of the bolt holes at the corner points of all surface bolt hole groups of all end bolt hole groups, and denote them as (X', Y', Z'), where X' is the fitted three-dimensional abscissa, Y' is the fitted three-dimensional ordinate, and Z' is the fitted three-dimensional vertical coordinate.

[0015] In one embodiment, processing and calculating the coordinate transformation parameters of all surface bolt hole groups of all end bolt hole groups includes the following steps: Establish an unconstrained nonlinear optimization expression for the distance between the corresponding surface bolt hole groups of the corresponding end bolt hole groups; Process and calculate the unconstrained nonlinear optimization expression for the distance to obtain the corresponding coordinate transformation parameters.

[0016] In one embodiment, the planar geometric information sets of all bolt holes in the end bolt hole group are collected and converted according to the coordinate conversion parameters to determine the point cloud information of the steel truss beam manufacturing configuration, which includes the following steps: Based on the stored planar geometric information sets and according to the corresponding coordinate conversion parameters, the planar coordinates of all bolt holes in the end bolt hole group are converted one by one; the converted three-dimensional coordinates and hole diameters of each bolt hole are denoted as (X, Y, Z, φ), and replaced with { }; Obtain the location of each bolt hole in the corresponding end bolt hole group, the location of the corresponding surface bolt hole group of each bolt hole, and the location of each bolt hole in the corresponding surface bolt hole group, and then combine { } to obtain the point cloud information of each bolt hole after conversion , where represents the k th end bolt hole group, the j th surface bolt hole group, the converted three-dimensional coordinates and hole diameter of the mth bolt hole; Obtain the point cloud information of all bolt holes in the above manner to form the point cloud information of the steel truss beam manufacturing configuration.

[0017] The beneficial effects brought by the technical solutions provided in the embodiments of this application include:

[0018] By means of a large-segment steel truss beam manufacturing configuration point cloud fusion measurement method, the problems of time-consuming measurement and low accuracy in measuring the geometric information of the manufacturing configuration of large-segment steel truss beams in the related art are solved. Among them, the purpose of this method is to accurately measure the geometric characteristics of the bolt hole groups at the ends of the steel truss beam, realize the fusion and registration of the configuration point cloud, so as to provide high-precision manufacturing configuration data; for the distribution characteristics of the bolt holes of the steel truss beam, only the three-dimensional coordinates of the bolt holes at the corner points within the range forming the bolt hole group are obtained for measurement, that is, only a number of bolt holes are obtained as characteristic bolt holes, reducing the workload of three-dimensional scanning; and the plane coordinates and hole diameters of the centers of each bolt hole are obtained as plane geometric information. The acquisition of this information improves the scanning efficiency on the one hand, and on the other hand, obtaining the actual plane information of the bolt holes can greatly reduce the measurement error and improve the accuracy; and the three-dimensional coordinate information of the bolt holes at the obtained corner points is covered by the centers of these bolt holes; the three-dimensional coordinates of the bolt holes at the corner points are corresponding fitted and registered with the obtained bolt hole plane information, and the plane geometric information of the center of each bolt hole is converted into three-dimensional coordinates and hole diameters, so as to determine the point cloud information of the manufacturing configuration of the steel truss beam. This measurement method saves the originally cumbersome workload of three-dimensional scanning by only scanning the three-dimensional coordinates of the bolt holes at the corner points; by directly measuring the geometric characteristics of the bolt holes, the error affected by external factors can be effectively reduced, and then based on the geometric characteristics, through the fitting and pairing with the measured three-dimensional coordinates of the bolt holes at the corner points, reliable point cloud data of the manufacturing configuration of the steel truss beam can be quickly obtained, significantly improving the measurement efficiency and accuracy of the manufacturing configuration of large-segment steel truss beams. Description of the Drawings

[0019] Figure 1 It is a schematic flow chart of the large-segment steel truss beam manufacturing configuration point cloud fusion measurement method of this application;

[0020] Figure 2 It is a schematic diagram of the steel truss beam structure of the large-segment steel truss beam manufacturing configuration point cloud fusion measurement method of this application;

[0021] Figure 3 It is a schematic diagram of the end bolt hole group and bolt hole structure of the large-segment steel truss beam manufacturing configuration point cloud fusion measurement method of this application.

[0022] In the figure: 1. End thread hole group; 2. Surface thread hole group; 3. Thread hole at the corner point. Detailed Implementation Manner

[0023] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0024] Further analyzing the defects of the existing measurement means, it should be noted that in the prior art, a target ball is used to establish the relationship between the overall point cloud data and the local point cloud data. The establishment process of this relationship will bring data errors, and it is necessary to additionally measure the characteristics of the target ball, and it is necessary to scan the spatial characteristics of each end bolt hole group, which increases the workload of 3D scanning and greatly increases the measurement time.

[0025] To make the purpose, technical solution and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0026] The embodiment of this application provides a method for measuring the point cloud fusion of the manufacturing configuration of a large-section steel truss girder. Refer to Figure 1 , Figure 1 This is a schematic flow diagram of the method for measuring the point cloud fusion of the manufacturing configuration of the large-section steel truss girder in this application. As Figure 1 shown, the method for measuring the point cloud fusion of the manufacturing configuration of the large-section steel truss girder includes:

[0027] Step 1: Obtain the measured three-dimensional coordinates of the center of the bolt hole 3 at the corner point of the bolt hole group 1 at the end of the steel truss girder;

[0028] In this step, only the measured three-dimensional coordinates of the center of the bolt hole 3 at the corner point are obtained, providing a conversion reference basis for the conversion of the coordinates of all subsequent bolt holes. Compared with the originally cumbersome measurement of the three-dimensional coordinates of all bolt holes, a large amount of scanning workload can be saved.

[0029] Step 2: Obtain the plane coordinates and hole diameters of the centers of the bolt holes in the bolt hole group 1 at the end of the steel truss girder;

[0030] In this step, the plane coordinates and hole diameters of the center of each bolt hole are obtained. The scanning of this plane information can save a lot of time compared with the acquisition of three-dimensional information, and can accurately obtain the characteristic information of each bolt hole, greatly improving the measurement accuracy.

[0031] Step 3: Perform point cloud registration according to the hole diameter and plane coordinates, and combine with the measured three-dimensional coordinates to determine the point cloud information of the manufacturing configuration of the steel truss girder.

[0032] In this step, by performing point cloud registration on the three-dimensional coordinates of the bolt holes 3 at the corner points and the planar geometric information of all the measured bolt holes including those at the corner points, it is possible to convert the originally measured planar geometric information into the desired corresponding three-dimensional coordinate information, thereby saving time and improving accuracy.

[0033] In this embodiment, it aims to accurately measure the geometric features of the bolt hole group 1 at the end of the steel truss beam to achieve the fusion and registration of the configuration point cloud, so as to provide high-precision manufacturing configuration data. Measure the three-dimensional coordinates of the bolt holes 3 at the corner points of the bolt hole group 1 at the end of the steel truss beam, that is, obtain the measured three-dimensional coordinates of several bolt holes as the characteristic bolt holes. Then obtain the planar coordinates and hole diameters of the centers of each bolt hole as the planar geometric information, and these bolt hole centers cover the characteristic bolt holes whose three-dimensional coordinates have been obtained as mentioned above. Fit and register the characteristic bolt holes with the obtained bolt holes, and combine the geometric relationship between the hole diameter and the center coordinates to convert the planar geometric information of the center of each bolt hole into the converted three-dimensional coordinates and hole diameters, thereby determining the steel truss beam manufacturing configuration point cloud information. This measurement method can effectively reduce the errors affected by external factors by directly measuring the geometric features of the bolt holes, and then quickly obtain reliable point cloud data of the steel truss beam manufacturing configuration by fitting and pairing the measured three-dimensional coordinates of the characteristic bolt holes based on the geometric features, significantly improving the measurement efficiency and accuracy of the manufacturing configuration of large segment steel truss beams. Thus, it solves the problems of time-consuming measurement and low accuracy in measuring the geometric information of the manufacturing configuration of large segment steel truss beams in the prior art.

[0034] Further, in one embodiment, determining the steel truss beam manufacturing configuration point cloud information includes the following steps:

[0035] Step 10: Obtain the measured three-dimensional coordinates of the centers of the bolt holes 3 at the corner points of the bolt hole group 1 at the end of the steel truss beam, and integrate them to obtain a three-dimensional information set;

[0036] Step 20: Obtain the hole diameters and planar coordinates of the centers of the bolt holes in the bolt hole group 1 at the end of the steel truss beam; and integrate them to obtain a planar geometric information set;

[0037] Step 30: Based on the three-dimensional information set and the planar geometric information set, perform point cloud registration to determine the steel truss beam manufacturing configuration point cloud information.

[0038] In this embodiment, the point cloud information of the fabricated configuration of the steel truss girder is obtained through a systematic procedure, providing high-precision data support for subsequent installation and calibration. First, the measured three-dimensional coordinates of the centers of the bolt holes 3 at the corner points are obtained. The bolt hole groups 1 at the ends of the steel truss girder are measured, and only the corner points of each bolt hole are selected. The high-precision laser scanner is used to measure their three-dimensional coordinates, and the measured three-dimensional coordinates of the centers of the bolt holes 3 at the corner points of all bolt hole groups are integrated and recorded in a three-dimensional information set. Secondly, the aperture diameters and planar coordinates of all bolt holes are obtained. The aperture diameters are identified and the planar coordinates of the centers of each bolt hole are recorded to generate a planar geometric information set. This set contains the aperture diameters of all bolt hole centers and their corresponding planar coordinates. Finally, based on the three-dimensional information set (the three-dimensional coordinates of the bolt holes 3 at the corner points) and the planar geometric information set (the aperture diameters and planar coordinates of all bolt holes), point cloud registration processing is performed, and the three-dimensional information and planar geometric information are comprehensively analyzed. The best alignment of the point cloud is determined through feature matching and coordinate transformation. Through the registration processing, the point cloud information of the fabricated configuration of the steel truss girder is finally determined to obtain an accurate and complete model. In this embodiment, the point cloud information of the fabricated configuration of the steel truss girder is obtained through a systematic procedure, including the integration and registration of three-dimensional coordinates, aperture diameters, and planar coordinates. This method can effectively improve the accuracy and efficiency of the fabrication and installation of steel truss girders.

[0039] Further, in one embodiment, obtaining the measured three-dimensional coordinates of the centers of the bolt holes 3 at the corner points of the bolt hole groups 1 at the ends of the steel truss girder includes the following steps:

[0040] Step 101: Use a laser coordinate instrument to measure and obtain the measured three-dimensional coordinates of the centers of the bolt holes 3 at the corner points of each bolt hole group 1 at the ends of the steel truss girder respectively, and store them as the first information to be processed; integrate the first information to be processed to obtain a three-dimensional information set.

[0041] In this embodiment, the specific measurement steps for obtaining the measured three-dimensional coordinates of the center of the bolt hole 3 at the corner of the bolt hole group 1 at the end of the steel truss girder are described in detail. A laser coordinate instrument is used for high-precision measurement, and the data is integrated to form a three-dimensional information set. Before measurement, the laser coordinate instrument is calibrated to ensure that its measurement accuracy meets the requirements. Secondly, it is necessary to ensure that all the steel truss girders to be measured are at the same horizontal height, so that the measurement data of each steel truss girder is relatively accurate. During measurement, at the end of the steel truss girder, the corner of the bolt hole group 1 at the end is located, and each bolt hole 3 at each corner is measured one by one, and the measured three-dimensional coordinates of each bolt hole 3 at each corner are recorded. The measured three-dimensional coordinate data of the center of each bolt hole 3 at each corner is stored as the first information to be processed, which can be a data list or a part of a database for subsequent analysis. Finally, the measured three-dimensional coordinates of all bolt holes 3 at the corners are integrated to form a complete three-dimensional information set, and the integrated three-dimensional information set is verified to check the accuracy and consistency of the measurement data, ensure that there is no missing or incorrect data, and if necessary, re-measure the suspicious bolt holes to ensure the reliability of the final three-dimensional information set.

[0042] Further, in one embodiment, the first information to be processed is integrated to obtain the three-dimensional information set, which includes the following steps:

[0043] Step 102: Denote the measured three-dimensional coordinates of each bolt hole 3 at the corner in the first information to be processed as (X, Y, Z), and replace it with {C}, where X is the three-dimensional abscissa, Y is the three-dimensional ordinate, and Z is the three-dimensional vertical coordinate; obtain the location of each bolt hole 3 at the corner corresponding to the bolt hole group 1 at the end, the location of the surface bolt hole group 2 corresponding to each bolt hole 3 at the corner, and the location of each bolt hole 3 in the corresponding surface bolt hole group 2, and then combine {C} to obtain the processed three-dimensional information of each bolt hole 3 at the corner , where represents the k th bolt hole group 1 at the end, the j th surface bolt hole group 2, and the measured three-dimensional coordinates of the i-th bolt hole 3 at the corner; obtain the three-dimensional information of all bolt holes 3 at the corners in the above manner to form a three-dimensional information set.

[0044] In this embodiment, by integrating the first information to be processed to obtain a three-dimensional information set including the bolt holes 3 at the corners, reference can be made to Figures 2-3, the number of end bolt hole groups 1, surface bolt hole groups 2, and bolt holes 3 at the corners is limited; first, the three-dimensional coordinates of the bolt holes 3 at the corners are defined, denoted as (X, Y, Z), and can be replaced by {C}. Secondly, the measured three-dimensional coordinates of all bolt holes 3 at the corners are stored in the three-dimensional information set. It should be noted that in the measurement of large segment steel truss girders, a single steel truss girder has multiple end bolt hole groups 1, multiple surface bolt hole groups 2, and multiple bolt holes 3 at the corners. Refer to Figures 2-3 , there are 6 end bolt hole groups 1, 2 surface bolt hole groups, and 8 bolt holes 3 at the corners on one side; the three-dimensional information set contains multiple three-dimensional coordinates similar to {C}. Specifically, for the k th end bolt hole group 1, the j th surface bolt hole group 2, the central three-dimensional coordinates of the i-th bolt hole 3 at the corner are . This embodiment clearly outlines how to integrate the measured three-dimensional coordinates of the bolt holes at the corners based on the first piece of information to be processed to form a systematic three-dimensional information set.

[0045] Furthermore, in one embodiment, obtaining the planar coordinates and hole diameters of the centers of the bolt holes in the end bolt hole group 1 of the steel truss girder includes the following steps:

[0046] Step 201: Use a planar scanner to measure and obtain the planar coordinates and hole diameters of the centers of all bolt holes in each end bolt hole group 1 of the steel truss girder, and store them as the second piece of information to be processed; integrate the second piece of information to be processed to obtain a planar geometric information set.

[0047] In this embodiment, it details how to obtain the planar coordinates and hole diameters of the centers of all bolt holes in the end bolt hole group 1 of the steel truss girder and integrate them into a planar geometric information set; first, use a high-precision planar scanner to ensure the accuracy of the measurement data. According to the requirements of the measurement area, place and debug the planar scanner reasonably to ensure that it is parallel to the measurement surface and fixed; secondly, start the planar scanner and perform a comprehensive scan of the end bolt hole group 1 of the steel truss girder. Ensure that the scanning range covers all bolt holes. Extract the planar coordinates and hole diameters of the centers of each bolt hole from the output of the scanner and store them as the second piece of information to be processed; further integrate the second piece of information to be processed and output the integrated planar geometric information set for subsequent analysis; collect data through a high-precision planar scanner and perform effective information integration to finally form a planar geometric information set.

[0048] Furthermore, in one embodiment, integrating the second piece of information to be processed to obtain a planar geometric information set includes the following steps:

[0049] Step 202: Denote the planar coordinates and aperture diameter of each bolt hole in the second piece of information to be processed as (x, y, φ), and replace them with {G}, where x is the planar abscissa, y is the planar ordinate, and φ is the bolt hole diameter; obtain the location of the corresponding end bolt hole group 1 for each bolt hole in the second piece of information to be processed, the location of the corresponding surface bolt hole group 2 for each bolt hole, and the location of each bolt hole in the corresponding surface bolt hole group 2, and then combine with {G} to obtain the processed planar geometric information of each bolt hole , where represents the k th end bolt hole group 1, the j th surface bolt hole group 2, and the planar coordinates and aperture diameter of the center of the mth bolt hole; obtain the planar geometric information of all bolt holes in this way to form the set of the planar geometric information.

[0050] In this embodiment, first, define the planar geometric information. Based on the second piece of information to be processed, represent the planar coordinates of each bolt hole as (x, y, φ), and replace them with the symbol {G}. Initialize an empty set of planar geometric information, and store the planar coordinates of each bolt hole in this empty set of planar geometric information. This set contains multiple similar {G}'s. Specifically, the k th end bolt hole group 1, the j th surface bolt hole group 2, and the planar coordinates and aperture diameter of the mth bolt hole are .

[0051] Further, in one embodiment, based on the three-dimensional information set and the set of planar geometric information, perform point cloud registration to determine the point cloud information of the steel truss beam manufacturing configuration, which includes the following steps:

[0052] Step 31: Convert the planar coordinates of the bolt holes 3 at the corner points corresponding to the end bolt hole group 1 in the set of planar geometric information into fitted three-dimensional coordinates;

[0053] Step 32: Based on the measured three-dimensional coordinates and the fitted three-dimensional coordinates of the bolt holes 3 at the corner points of the end bolt hole group 1 in the three-dimensional information set, obtain the coordinate transformation parameters for the corresponding surface bolt hole group 2;

[0054] Step 33: Convert the planar coordinates of all bolt holes in the end bolt hole group 1 based on the coordinate transformation parameters to determine the point cloud information of the steel truss beam manufacturing configuration.

[0055] In this embodiment, first, the planar coordinates of the bolt holes 3 at the conversion corner points are fitted into three-dimensional coordinates. First, determine the set of planar geometric information of the end bolt hole group 1, find the bolt holes 3 at the corresponding corner points in the end bolt hole group 1, and fit the corresponding planar coordinates into three-dimensional coordinates. Secondly, calculate the coordinate conversion parameters of the end bolt hole group 1. Finally, perform coordinate conversion and point cloud information determination. Using the calculated coordinate conversion parameters, perform corresponding conversion on the planar coordinates of all bolt holes in the end bolt hole group 1 to obtain new three-dimensional coordinates, and integrate all the converted three-dimensional coordinates to form the final point cloud information set.

[0056] Further, in one embodiment, converting the planar coordinates of the bolt holes 3 at the corresponding corner points of the end bolt hole group 1 into fitted three-dimensional coordinates includes the following steps:

[0057] Step 311: Based on the planar coordinates x and y of the bolt holes 3 at the corner points in the set of planar geometric information, obtain the fitted three-dimensional coordinates of the bolt holes 3 at the corner points of all surface bolt hole groups 2 of all end bolt hole groups 1, and denote them as (X', Y', Z'), where X' is the fitted three-dimensional abscissa, Y' is the fitted three-dimensional ordinate, and Z' is the fitted three-dimensional vertical coordinate.

[0058] In this embodiment, the planar coordinates of the bolt holes 3 at the conversion corner points are fitted into three-dimensional coordinates. First, determine the set of planar geometric information of the end bolt hole group 1, find the bolt holes 3 at the corresponding corner points in the end bolt hole group 1, and fit the corresponding planar coordinates into three-dimensional coordinates.

[0059] Further, in one embodiment, processing and calculating the coordinate conversion parameters of all surface bolt hole groups 2 of all end bolt hole groups 1 includes the following steps:

[0060] Step 312: Establish a distance unconstrained nonlinear optimization expression for the corresponding surface bolt hole group 2 of the corresponding end bolt hole group 1; process and calculate the corresponding distance unconstrained nonlinear optimization expression to obtain the corresponding coordinate conversion parameters.

[0061] In this embodiment, establish a distance unconstrained nonlinear optimization expression, use it to represent the difference between the planar coordinates and the fitted three-dimensional coordinates, and take this distance as the objective function for unconstrained nonlinear optimization. The goal is to minimize D, and define the objective function D = , use it to represent the difference between the planar coordinates and the fitted three-dimensional coordinates, take this distance D as the objective function for unconstrained nonlinear optimization. The goal is to minimize D, and then calculate the coordinate conversion parameters of the corresponding surface bolt hole group 2 of the corresponding end bolt hole group 1 , and then obtain the corresponding coordinate conversion parameters of all surface bolt hole groups 2.

[0062] Further, in one embodiment, the set of planar geometric information of all bolt holes in the end bolt hole group 1 is converted according to the coordinate conversion parameters to determine the point cloud information of the steel truss beam manufacturing configuration, which includes the following steps:

[0063] Step 313: Based on the stored set of planar geometric information and according to the corresponding coordinate conversion parameters, convert the planar coordinates of all bolt holes in the end bolt hole group 1 one by one;

[0064] Record the converted three-dimensional coordinates and aperture of each bolt hole as (X, Y, Z, φ), and use { } to replace it; Obtain the location of each bolt hole in the end bolt hole group 1, the location of the corresponding surface bolt hole group 2 for each bolt hole, and the location of each bolt hole in the corresponding surface bolt hole group 2, and then combine { } to obtain the point cloud information of each bolt hole after conversion , where represents the k th end bolt hole group 1, the j th surface bolt hole group 2, the converted three-dimensional coordinates and aperture of the mth bolt hole; Obtain the point cloud information of all bolt holes in the above manner to form the point cloud information of the steel truss beam manufacturing configuration.

[0065] In this embodiment, by performing coordinate conversion on the planar coordinates of all bolt holes in the end bolt hole group 1 according to the corresponding conversion parameters, the point cloud information of the large segment steel truss beam manufacturing configuration can be determined , fit and register the bolt holes 3 at the corner points with all the obtained bolt holes, and combine the geometric relationship between the aperture and the center coordinates to convert the planar geometric information of the center of each bolt hole into three-dimensional coordinates and aperture, so as to determine the point cloud information of the steel truss beam manufacturing configuration.

[0066] The beneficial effects brought by the present invention include:

[0067] The purpose of this method is to achieve the fusion and registration of configuration point clouds by accurately measuring the geometric features of the bolt hole group 1 at the end of the steel truss girder, so as to provide high-precision manufacturing configuration data. Measure the three-dimensional coordinates of the bolt holes 3 at the corner points of the bolt hole group 1 at the end of the steel truss girder, that is, obtain the measured three-dimensional coordinates of several bolt holes as characteristic bolt holes. Then obtain the planar coordinates of the center of each bolt hole and the hole diameter as planar geometric information, and these bolt hole centers cover the characteristic bolt holes whose three-dimensional coordinates have been obtained as mentioned above. Fit and register the characteristic bolt holes with the obtained bolt holes, and combine the geometric relationship between the hole diameter and the center coordinates to convert the planar geometric information of the center of each bolt hole into transformed three-dimensional coordinates and hole diameter, so as to determine the information of the manufacturing configuration point cloud of the steel truss girder. This measurement method can effectively reduce the errors affected by external factors by directly measuring the geometric features of the bolt holes, and then quickly obtain reliable point cloud data of the manufacturing configuration of the steel truss girder by fitting and pairing the measured three-dimensional coordinates of the characteristic bolt holes based on the geometric features, significantly improving the measurement efficiency and accuracy of the manufacturing configuration of large-section steel truss girders. Thus, it solves the problems of time-consuming measurement and low accuracy in measuring the geometric information of the manufacturing configuration of large-section steel truss girders in the prior art.

[0068] It should be noted that the serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0069] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusion. 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 further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions of terms such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are of different types.

[0070] In the description of the embodiments of the present application, terms such as "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of terms such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0071] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0072] In some of the processes described in the embodiments of the present application, there are a plurality of operations or steps that appear in a specific order. However, 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 may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in order or in parallel, and these operations or steps may be combined.

[0073] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented 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, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) as described above and includes several instructions for causing a terminal device to execute the methods described in the various embodiments of the present application.

[0074] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for measuring the manufacturing configuration of large-segment steel trusses using point cloud fusion, characterized in that: It includes the following steps: Obtain the measured three-dimensional coordinates of the centers of the bolt holes (3) at the corner points of the bolt hole group (1) at the end of the steel truss girder; Obtain the planar coordinates and hole diameters of the centers of the bolt holes in the bolt hole group (1) at the end of the steel truss girder; Based on the hole diameter and planar coordinates, and combined with the measured three-dimensional coordinates, perform point cloud registration to determine the point cloud information of the manufacturing configuration of the steel truss girder, which includes the following steps: Obtain the measured three-dimensional coordinates of the centers of the bolt holes (3) at the corner points of the bolt hole group (1) at the end of the steel truss girder, and integrate to obtain a three-dimensional information set; obtain the hole diameters and planar coordinates of the centers of the bolt holes in the bolt hole group (1) at the end of the steel truss girder; and integrate to obtain a planar geometric information set; based on the three-dimensional information set and the planar geometric information set, perform point cloud registration to determine the point cloud information of the manufacturing configuration of the steel truss girder; Among them, obtaining the measured three-dimensional coordinates of the centers of the bolt holes (3) at the corner points of the bolt hole group (1) at the end of the steel truss girder includes the following steps: Use a laser coordinate instrument to measure and obtain the measured three-dimensional coordinates of the centers of the bolt holes (3) at the corner points of each bolt hole group (1) at the end of the steel truss girder, and store them as the first information to be processed; integrate the first information to be processed to obtain a three-dimensional information set; Among them, integrating the first information to be processed to obtain the three-dimensional information set includes the following steps: Record the measured three-dimensional coordinates of the bolt holes (3) at each corner point in the first piece of information to be processed as (X, Y, Z), and replace them with {C}, where X is the three-dimensional abscissa, Y is the three-dimensional ordinate, and Z is the three-dimensional vertical coordinate; obtain the location of the corresponding end bolt hole group (1) of the bolt hole (3) at each corner point in the first piece of information to be processed, the location of the corresponding surface bolt hole group (2) of the bolt hole (3) at each corner point, and the location of the bolt hole (3) at each corner point in the corresponding surface bolt hole group (2), and then combine {C} to obtain the processed three-dimensional information of the bolt hole (3) at each corner point , where represents the measured three-dimensional coordinates of the k-th end bolt hole group (1), the j-th surface bolt hole group (2), and the i-th bolt hole (3) at the corner point; obtain the three-dimensional information of all bolt holes (3) at the corner points according to this step to form the three-dimensional information set.

2. The method for measuring the manufacturing configuration of a large-segment steel truss according to claim 1, characterized in that: Obtaining the planar coordinates and hole diameters of the centers of the bolt holes in the bolt hole group (1) at the end of the steel truss girder includes the following steps: Use a planar scanner to measure and obtain the planar coordinates and hole diameters of the centers of all bolt holes in each bolt hole group (1) at the end of the steel truss girder, and store them as the second information to be processed; Integrate the second information to be processed to obtain a planar geometric information set.

3. The large-segment steel truss beam manufacturing configuration point cloud fusion measurement method according to claim 2, wherein Integrating the second information to be processed to obtain the planar geometric information set includes the following steps: Denote the planar coordinates and hole diameters of each bolt hole in the second information to be processed as (x, y, φ), and replace them with {G}, where x is the planar abscissa, y is the planar ordinate, and φ is the bolt hole diameter; Obtain the position of the end bolt hole group (1) corresponding to each bolt hole in the second information to be processed, the position of the surface bolt hole group (2) corresponding to each bolt hole, and the position of each bolt hole in the corresponding surface bolt hole group (2), and then combine {G} to obtain the plane geometric information of each bolt hole after processing ,in represents the plane coordinates and diameter of the kth end bolt hole group (1), the jth surface bolt hole group (2), and the center of the mth bolt hole; Obtain the planar geometric information of all bolt holes in the above manner to form the set of the planar geometric information.

4. The large-segment steel truss beam manufacturing configuration point cloud fusion measurement method according to claim 1, characterized in that Based on the three-dimensional information set and the planar geometric information set, perform point cloud registration to determine the point cloud information of the manufacturing configuration of the steel truss girder, which includes the following steps: Convert the planar coordinates of the bolt holes (3) at the corresponding corner points of the bolt hole group (1) in the planar geometric information set into fitted three-dimensional coordinates; Based on the measured three-dimensional coordinates and the fitted three-dimensional coordinates of the bolt holes (3) at the corner points of the bolt hole group (1) in the three-dimensional information set, obtain the coordinate conversion parameters of the corresponding surface bolt hole group (2); Convert all the planar geometric information sets of the bolt holes in the bolt hole group (1) according to the coordinate conversion parameters to determine the point cloud information of the manufacturing configuration of the steel truss girder.

5. The large-section steel truss beam manufacturing configuration point cloud fusion measurement method according to claim 4, wherein Converting the planar coordinates of the bolt holes (3) at the corresponding corner points of the bolt hole group (1) into fitted three-dimensional coordinates includes the following steps: Based on the planar coordinates x and y of the bolt holes (3) at the corner points in the set of planar geometric information, the fitted three-dimensional coordinates of the bolt holes (3) at the corner points of all surface bolt hole groups (2) of all end bolt hole groups (1) are obtained and denoted as (X', Y', Z'), where X' is the fitted three-dimensional abscissa, Y' is the fitted three-dimensional ordinate, and Z' is the fitted three-dimensional vertical coordinate.

6. The large-segment steel truss girder manufacturing configuration point cloud fusion measurement method according to claim 5, characterized in that Process and calculate the coordinate transformation parameters of all surface bolt hole groups (2) of all end bolt hole groups (1), which include the following steps: Establish a distance unconstrained nonlinear optimization expression for the corresponding surface bolt hole group (2) of the corresponding end bolt hole group (1); Process and calculate the corresponding distance unconstrained nonlinear optimization expression to obtain the corresponding coordinate transformation parameters.

7. The large-segment steel truss girder manufacturing configuration point cloud fusion measurement method according to claim 6, characterized in that Convert the set of planar geometric information of all bolt holes of the end bolt hole group (1) according to the coordinate transformation parameters to determine the point cloud information of the steel truss beam manufacturing configuration, which includes the following steps: Based on the stored set of planar geometric information and according to the corresponding coordinate transformation parameters, convert the planar coordinates of all bolt holes of the end bolt hole group (1) one by one; Record the converted three-dimensional coordinates and aperture diameters of each bolt hole after conversion as (X, Y, Z, φ), and replace them with { }; Obtain the location of the corresponding end bolt hole group (1) for each bolt hole, the location of the corresponding surface bolt hole group (2) for each bolt hole, and the location of each bolt hole in the corresponding surface bolt hole group (2), and then combine { } to obtain the transformed point cloud information of each bolt hole , where represents the transformed three-dimensional coordinates and hole diameters of the k-th end bolt hole group (1), the j-th surface bolt hole group (2), and the m-th bolt hole; Obtain the point cloud information of all bolt holes in the above manner to form the point cloud information of the steel truss girder manufacturing configuration.

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