Space positioning automatic adjusting system and method in segment assembly beam hoisting process

Abstract

The invention discloses a system and a method for automatically adjusting space positioning in a segmental assembled beam hoisting process, which are characterized in that different measuring components are combined, and innovative association is carried out based on segmental beam adjusting control measuring points and adjusting control acting points, so that automatic completion from segmental beam hoisting control point measurement to adjusting alignment is realized; and meanwhile, a two-stage progressive adjustment mode is adopted, so that the efficient and automatic implementation of the adjustment process is ensured. According to the scheme, the problems existing in the prior art can be effectively solved.

Description

Technical Field

[0001] The present invention relates to bridge construction technology, and particularly to segmental girder erection technology. Background Art

[0002] The alignment quality control of bridge construction based on segmental erection construction mainly includes two links: prefabrication and erection.

[0003] During the process of segmental girder erection, at present, alignment is mainly carried out by visual inspection and total station measurement. The operator controls the lifting of each lifting point of the spreader by visual inspection and manual remote control to control the spatial attitude of the segmental girder. After being basically aligned, the surveyor operates the total station to measure the control measurement points, and repeatedly operates the remote control to adjust the lifting points according to the feedback results of the surveyor, and finally realizes the erection in place of the segmental girder.

[0004] In order to improve the measurement accuracy, during the process of segmental girder erection, a measurement robot is also used to cooperate with a positioning prism to measure the control measurement points. However, at present, the automatic aiming system of the measurement robot can only automatically identify and position the prism within a small range for measurement, and the overall practicability is not strong.

[0005] Such segmental girder erection construction has high requirements for the experience of operators. The operation process completely relies on manual measurement and manual operation, and the alignment efficiency is low. Summary of the Invention

[0006] Aiming at the problems existing in the existing bridge construction scheme based on segmental erection during the process of segmental girder erection, the purpose of the present invention is to provide an automatic adjustment scheme for spatial positioning during the hoisting process of segmental erection girders. This scheme is based on the alignment adjustment related to the adjustment control measurement points and adjustment control action points of the segmental girder, and can realize the automation of the whole process from the measurement of the hoisting control points of the segmental girder to the adjustment and alignment.

[0007] To achieve the above purpose, the present invention provides an automatic adjustment system for spatial positioning during the hoisting process of segmental erection girders, and the adjustment system includes:

[0008] A measurement component, the measurement component includes a first measurement component and a second measurement component. The first measurement component is correspondingly deployed at the first-stage adjustment control measurement points on the segmental girder to be erected, and can dynamically measure the position information of the first-stage adjustment control measurement points; the second measurement component is correspondingly deployed at the second-stage adjustment control measurement points on the segmental girder to be erected, and can dynamically measure the position information of the second-stage adjustment control measurement points;

[0009] An adjustment control module, which is data-connected to the measurement component, can calculate and determine the current attitude of the segmental girder to be assembled during the hoisting and assembly process of the segmental girder to be assembled, based on the position information of the first-stage adjustment control measurement points on the segmental girder to be assembled measured by the first measurement component, and analyze and calculate the adjustment amount of each adjustment control action point on the segmental girder to be assembled during the process of adjusting its current attitude to the target attitude, and form an adjustment instruction according to the adjustment amount.

[0010] When the adjustment amount of the first-stage adjustment control measurement points is less than the set threshold, the adjustment control module can calculate and determine the current attitude of the segmental girder to be assembled based on the position information of the second-stage adjustment control measurement points on the segmental girder to be assembled measured by the second measurement component, and analyze and calculate the adjustment amount of each adjustment control action point on the segmental girder to be assembled during the process of adjusting its current attitude to the target attitude, and form an adjustment instruction according to the adjustment amount.

[0011] In some embodiments of the present invention, the measurement accuracies of the first measurement component and the second measurement component are different.

[0012] In some embodiments of the present invention, the first-stage adjustment control measurement points are distributed at the corner points of the segmental girder to be assembled; the second-stage adjustment control measurement points are at least distributed at the center line end points of the segmental girder to be assembled.

[0013] In some embodiments of the present invention, the adjustment control module calculates and determines the adjustment amount of each adjustment control action point on the segmental girder to be assembled by establishing a mapping relationship equation of each adjustment control measurement point during the process of the segmental girder to be assembled converting from the current attitude to the target attitude at each stage.

[0014] In some embodiments of the present invention, in the first stage, the adjustment control module performs a first-stage rough adjustment on the attitude of the segmental girder to be assembled based on the positioning measurement data of the first measurement component for the first-stage adjustment control measurement points on the segmental girder to be assembled, so that the segmental girder to be assembled can be quickly adjusted to an attitude close to the target attitude.

[0015] In the second stage, the adjustment control module performs a second-stage fine adjustment on the attitude of the segmental girder to be assembled based on the positioning measurement data of the second measurement component for the second-stage adjustment control measurement points on the segmental girder to be assembled, so that the segmental girder to be assembled can be quickly adjusted to the target attitude.

[0016] To achieve the above object, the present invention provides a method for automatically adjusting the spatial positioning during the hoisting process of a segmental assembled girder, and the adjustment method includes:

[0017] Deploy a first measurement component at the first-stage adjustment control measurement points on the segmental girder to be assembled, and dynamically measure the position information of the first-stage adjustment control measurement points by the first measurement component; deploy a second measurement component at the second-stage adjustment control measurement points on the segmental girder to be assembled, and dynamically measure the position information of the second-stage adjustment control measurement points by the second measurement component.

[0018] During the hoisting and assembly process of the segmental girder to be assembled, calculate and determine the current attitude of the segmental girder to be assembled based on the position information of the first-stage adjustment control measurement points on the segmental girder to be assembled measured by the first measurement component, analyze and calculate the adjustment amount of each adjustment control action point on it during the process of adjusting the current attitude of the segmental girder to be assembled to the target attitude, and form a first-stage adjustment instruction according to the adjustment amount to adjust the attitude of the segmental girder to be assembled.

[0019] When the adjustment amount of the first-stage adjustment control measurement points is less than the set threshold, calculate and determine the current attitude of the segmental girder to be assembled based on the position information of the second-stage adjustment control measurement points on the segmental girder to be assembled measured by the second measurement component, analyze and calculate the adjustment amount of each adjustment control action point on it during the process of adjusting the current attitude of the segmental girder to be assembled to the target attitude, and form a second-stage adjustment instruction according to the adjustment amount to adjust the attitude of the segmental girder to be assembled until the segmental girder to be assembled is adjusted to the target attitude.

[0020] In some embodiments of the present invention, different measurement accuracy first measurement components and second measurement components are deployed at the first-stage adjustment control measurement points and the second-stage adjustment control measurement points on the segmental girder to be assembled in the adjustment method.

[0021] In some embodiments of the present invention, when determining the first-stage adjustment control measurement points on the segmental girder to be assembled, the first-stage adjustment control measurement points are distributed at the corner points of the segmental girder to be assembled; when determining the second-stage adjustment control measurement points on the segmental girder to be assembled, the second-stage adjustment control measurement points are at least distributed at the center line endpoints of the segmental girder to be assembled.

[0022] In some embodiments of the present invention, in the adjustment method, a mapping relationship equation of each adjustment control measurement point is established for each stage during the process of the segmental girder to be assembled converting from the current attitude to the target attitude, and based on this, the adjustment amount of each adjustment control action point on the segmental girder to be assembled is calculated and determined.

[0023] In some embodiments of the present invention, in the first stage, based on the positioning measurement data of the first measurement component for the first-stage adjustment control measurement points on the segmental girder to be assembled, a rough adjustment of the first stage is performed on the attitude of the segmental girder to be assembled, so that the segmental girder to be assembled can be quickly adjusted to an attitude close to the target attitude.

[0024] In the second stage, based on the positioning measurement data of the second-stage adjustment control measurement points on the segment girder to be assembled by the second measurement component, the attitude of the segment girder to be assembled is finely adjusted in the second stage, so that the segment girder to be assembled can be quickly adjusted to the target attitude.

[0025] The automatic adjustment scheme for spatial positioning during the hoisting process of segment assembled girders provided by the present invention innovatively correlates the adjustment control measurement points and the adjustment control action points of the segment girder, and performs alignment adjustment accordingly, thereby realizing the automation of the whole process from the measurement of the hoisting control points of the segment girder to the adjustment and alignment.

[0026] Furthermore, the automatic adjustment scheme for spatial positioning during the hoisting process of segment assembled girders provided by the present invention adopts a two-stage adjustment mode during alignment adjustment, ensuring the efficient and automatic realization of the adjustment process; at the same time, it can also solve the problem that the current automatic aiming system of the measurement robot can only automatically identify and position the prism within a small range. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0028] Figure 1 It is the schematic diagram of the composition principle of the automatic adjustment system for spatial positioning during the hoisting process of segment assembled girders in the present invention;

[0029] Figure 2 It is the schematic diagram of the composition principle of the adjustment control module in the present invention;

[0030] Figure 3 It is the schematic diagram of the layout scheme of the adjustment control action points of the segment girder to be assembled in the embodiment of the present invention;

[0031] Figure 4 It is the schematic diagram of the layout scheme of the adjustment control measurement points of the segment girder to be assembled in the embodiment of the present invention;

[0032] Figure 5 It is the example diagram of the automatic adjustment process for spatial positioning during the hoisting process of the segment girder to be assembled in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific drawings.

[0034] For the segment girder assembly stage in the bridge construction process, the present invention provides an automatic adjustment scheme for spatial positioning during the hoisting process of segment assembled girders, thereby realizing efficient alignment and splicing of the segment girders.

[0035] The automatic adjustment scheme for spatial positioning during the hoisting process of segmental assembled beams provided by the present invention is based on two positioning measurement methods (such as total station robots and Beidou positioning systems) to perform multi-point and multi-stage dynamic positioning measurements on the segmental beam to be assembled during the hoisting process. On this basis, two-stage progressive alignment adjustment is further carried out through the association of the adjustment control measurement points and the adjustment control action points of the segmental beam, thereby realizing the automatic completion from the measurement of the hoisting control points of the segmental beam to the adjustment and alignment. At the same time, the two-stage progressive adjustment method adopted ensures the efficient and automatic realization of the adjustment process and also solves the problem that the automatic aiming system of the current total station robot can only automatically identify and position the prism within a small range.

[0036] The adjustment control measurement points here are the position measurement points deployed by the positioning measurement components or devices on the segmental beam to be assembled;

[0037] The adjustment control action points are the connection action points when the segmental beam hoisting equipment hoists the segmental beam to be assembled.

[0038] Specifically, in the adjustment scheme provided by the present invention, the association relationship between the adjustment control measurement points and the adjustment control action points of the segmental beam is innovatively constructed, and thereby, by only measuring the coordinate positions of the adjustment control measurement points of the segmental beam, the adjustment amounts of all lifting points (i.e., adjustment control action points) are determined through spatial conversion, effectively avoiding the problem in the existing conventional technology that each lifting point needs to be adjusted one by one to make each measurement control point in place.

[0039] Furthermore, the scheme of the present invention innovatively adopts two different positioning measurement modes to realize the two-stage progressive automatic adjustment method, which can further greatly reduce the manual workload during the adjustment process on the basis of improving the adjustment accuracy, and also ensure the final assembly accuracy, thus overcoming the problems brought by the manual control of the lifting point adjustment through visual inspection and gradual trial-and-error adjustment in the existing conventional technology.

[0040] See Figure 1 , which shows the automatic adjustment system scheme for spatial positioning during the hoisting process of segmental assembled beams formed based on the above automatic adjustment scheme for spatial positioning during the hoisting process of segmental assembled beams of the present invention.

[0041] Combined with the drawings, the automatic adjustment system 100 for spatial positioning during the hoisting process of segmental assembled beams provided by the present invention mainly includes two functional modules: a measurement component 110 and an adjustment control module 120 in terms of specific composition.

[0042] Among them, the measurement component 110, as the front-end data acquisition module of the entire system, is used to be deployed on the segmental beam to be assembled and is used to measure the attitude data information of the segmental beam to be assembled in real time and dynamically during the hoisting and splicing process of the segmental beam to be assembled.

[0043] Specifically, the measurement component 110 in this system is specifically composed of a first measurement component 111 and a second measurement component 112 in cooperation.

[0044] Among them, the first measurement component 111 is correspondingly deployed at the first-stage adjustment control measurement points on the segment beam to be assembled, and is set to be able to dynamically measure the position information of each first-stage adjustment control measurement point on the segment beam to be assembled.

[0045] At the same time, the second measurement component 112 is correspondingly deployed at the second-stage adjustment control measurement points on the segment beam to be assembled, and is set to be able to dynamically measure the position information of the second-stage adjustment control measurement points on the segment beam to be assembled during the hoisting process of the segment beam to be assembled.

[0046] On this basis, the first measurement component 111 and the second measurement component 112 in this system are composed of measurement components with different measurement accuracies and measurement modes, and the distribution positions of the first-stage adjustment control measurement points and the second-stage adjustment control measurement points of the first measurement component 111 and the second measurement component 112 on the segment beam to be assembled are different, so as to cooperate with the system for two-stage regulation to improve the regulation efficiency and accuracy of the entire system.

[0047] Specifically, the measurement accuracy of the second measurement component 112 in this system is higher than that of the first measurement component 111.

[0048] This system performs rough adjustment in the first stage based on the positioning measurement data of the first-stage adjustment control measurement points on the segment beam to be assembled by the first measurement component 111, which can quickly adjust the segment beam to be assembled to an attitude close to the target attitude, reduce the range of fine adjustment in the second stage, and thus improve the efficiency of the entire adjustment process;

[0049] On this basis, this system performs fine adjustment in the second stage based on the positioning measurement data of the second-stage adjustment control measurement points on the segment beam to be assembled by the second measurement component 112, which can quickly adjust the segment beam to be assembled to the target attitude, and thus improve the accuracy of the entire adjustment process.

[0050] Accordingly, this system realizes a two-stage progressive automatic adjustment mode of first rough adjustment and then fine adjustment, which can improve the regulation efficiency and accuracy of the entire system at the same time.

[0051] The adjustment control module 120 in this system serves as the data analysis and control center of the entire system. It can be data-connected to the measurement component 110, and can perform two-stage progressive adjustment control on the segment beam to be assembled according to the data measured by the measurement component 110 during the hoisting and assembly process of the segment beam to be assembled, so as to complete the automatic adjustment and alignment of the segment beam to be assembled.

[0052] Specifically, for the segmental girder to be assembled during the hoisting and assembly process, in the initial first stage, the adjustment control module 120 only obtains the first position information of the first-stage adjustment control measurement points on the segmental girder to be assembled measured by the first measurement component 111, and calculates and determines the current attitude of the segmental girder to be assembled based on this first position information.

[0053] On this basis, further analyze and calculate the adjustment amount of each adjustment control action point on the segmental girder to be assembled during the process of adjusting its attitude from the current attitude to the target attitude. Finally, a first-stage adjustment instruction can be formed according to the calculated adjustment amount to control the hoisting state of the corresponding adjustment control action point on the segmental girder to be assembled by the hoisting equipment, and then realize the adjustment of the attitude of the segmental girder to be assembled.

[0054] During the attitude adjustment process of the segmental girder to be assembled in the first stage, the adjustment control module 120 synchronously obtains the first position information of each first-stage adjustment control measurement point on the segmental girder to be assembled from the first measurement component 111, and further calculates and determines the segmental girder to be assembled after the attitude adjustment. During the process of adjusting its attitude from the current attitude to the target attitude, the adjustment amount of each adjustment control action point on it is calculated, and then it is judged whether the adjustment amount is less than the set threshold. If it is not less than, the first-stage attitude adjustment of the segmental girder to be assembled is continued based on the calculated adjustment amount; if it is less than the set threshold, the second-stage attitude adjustment is performed.

[0055] Accordingly, the adjustment control module 120 realizes the rough adjustment in the first stage based on the positioning measurement data of the first-stage adjustment control measurement points on the segmental girder to be assembled by the first measurement component 111, which can quickly adjust the segmental girder to be assembled to an attitude close to the target attitude.

[0056] After entering the second stage, the adjustment control module 120 only obtains the second position information of the second-stage adjustment control measurement points on the segmental girder to be assembled measured by the second measurement component 112, and calculates and determines the current attitude of the segmental girder to be assembled based on this second position information.

[0057] On this basis, further analyze and calculate the adjustment amount of each adjustment control action point on the segmental girder to be assembled during the process of adjusting its attitude from the current attitude to the target attitude. Finally, a second-stage adjustment instruction can be formed according to the calculated adjustment amount to control the hoisting state of the corresponding adjustment control action point on the segmental girder to be assembled by the hoisting equipment, and then realize the adjustment of the attitude of the segmental girder to be assembled.

[0058] Meanwhile, during the second-stage adjustment of the attitude of the segmental girder to be assembled, the adjustment control module 120 synchronously obtains the second position information of each second-stage adjustment control measurement point on the segmental girder to be assembled from the second measurement component 112, and further calculates and determines the segmental girder to be assembled after attitude adjustment. During the process of adjusting from the current attitude to the target attitude, the adjustment amount of each adjustment control action point on it is calculated, and then it is judged whether the adjustment amount is less than the set threshold. If it is not less than, the second-stage attitude adjustment of the segmental girder to be assembled is continued based on the calculated adjustment amount; if it is less than the set threshold, it is considered that the attitude of the segmental girder to be assembled has been adjusted to the target attitude.

[0059] Accordingly, the adjustment control module 120 realizes the fine adjustment in the second stage based on the positioning measurement data of the second-stage adjustment control measurement points on the segmental girder to be assembled by the second measurement component 112, which can enable the segmental girder to be assembled to be quickly adjusted to the target attitude, thereby improving the accuracy of the entire adjustment process.

[0060] For each component in the above-mentioned space positioning automatic adjustment system 100 for the hoisting process of the segmental assembled girder, the present invention further gives a specific composition scheme and specific equipment that may be involved.

[0061] When the first measurement component 111 and the second measurement component 112 in this system are deployed on the segmental girder to be assembled, first, according to the structural characteristics of the segmental girder to be assembled, the corresponding first-stage adjustment control measurement points and second-stage adjustment control measurement points are determined.

[0062] To cooperate with the two-stage progressive adjustment control in this scheme, the first-stage adjustment control measurement points here are used to obtain position information that can quickly determine the specific spatial position of the segmental girder to be assembled.

[0063] Accordingly, in this scheme, it is preferably to deploy at least three first-stage adjustment control measurement points on the segmental girder to be assembled, and these at least three first-stage adjustment control measurement points are distributed at the corner points of the segmental girder to be assembled.

[0064] Meanwhile, the second-stage adjustment control measurement points here are used to obtain position information that can accurately determine the specific spatial attitude of the segmental girder to be assembled.

[0065] Accordingly, in this scheme, it is preferably to deploy at least three second-stage adjustment control measurement points on the segmental girder to be assembled, and these at least three second-stage adjustment control measurement points are selected and distributed at the center line endpoints and corner points of the segmental girder to be assembled.

[0066] Furthermore, the first-stage adjustment control measurement points and the second-stage adjustment control measurement points determined in this way are distributed on the segmental girder to be assembled

[0067] As a further example, a Beidou GNSS receiver can be adopted for the first measurement component 111, and one Beidou GNSS receiver is deployed at each first-stage adjustment control measurement point on the segment beam to be assembled, thereby dynamically measuring the spatial coordinates of each first-stage adjustment control measurement point;

[0068] For the second measurement component 112, a measuring robot equipped with a prism can be adopted, and a group of measuring robots equipped with prisms are deployed at each second-stage adjustment control measurement point on the segment beam to be assembled, thereby dynamically measuring the spatial coordinates of each second-stage adjustment control measurement point.

[0069] It should be noted here that the first measurement component 111 and the second measurement component 112 are not limited to the above-mentioned composition schemes. It can be understood that the first measurement component 111 and the second measurement component 112 can adopt any other scheme capable of measuring spatial position information to achieve.

[0070] When the adjustment control module 120 in this system is specifically implemented, in each stage, by establishing the mapping relationship equation of each adjustment control measurement point during the process of the segment beam to be assembled transitioning from the current attitude to the target attitude, and calculating and determining the adjustment amount of each adjustment control measurement point based on this, and then further adjusting the attitude of the segment beam to be assembled on this basis.

[0071] See Figure 2 , as a further illustration, this adjustment control module 120 is specifically composed of four functional sub-modules: a parameter setting sub-module 121, a positioning calculation sub-module 122, a segment beam attitude analysis sub-module 123, and an adjustment execution sub-module 124, which cooperate with each other.

[0072] Among them, the parameter setting sub-module 121 is used to set the basic parameters for assisting the adjustment control module 120 to complete the attitude analysis and adjustment of the segment beam.

[0073] The basic parameters specifically set by this parameter setting sub-module 121 include the final target positions of each adjustment control measurement point, the positional relationships between each adjustment control measurement point and the design line of the segment beam, the positional relationships between each adjustment control action point and the design line of the segment beam, etc.

[0074] As an example, the parameters input for each adjustment control measurement point on the segment beam include the final target xyz coordinate values of each adjustment control measurement point and the distances between each adjustment control measurement point and the design line of the segment beam.

[0075] The parameters input for each adjustment control action point on the segment beam include the distances between each adjustment control action point (i.e., the suspension point) and the design line of the segment beam.

[0076] Here, there is no limitation on the form of setting input corresponding parameters for the parameter setting sub-module 121, which can be determined according to actual requirements. As an example, the parameter setting sub-module 121 can configure corresponding parameters through an input device, or complete parameter setting by importing a parameter configuration file.

[0077] The positioning calculation sub-module 122 is configured to interact with the parameter setting sub-module 121 in terms of data, and can establish a data connection with the first measurement component 111 and the second measurement component 112 in the measurement component 110. The positioning calculation sub-module 122 can control the measurement working states of the first measurement component 111 and the second measurement component 112, and can obtain measurement data from the first measurement component 111 or the second measurement component 112 in a directional manner, such as obtaining measurement data only from the first measurement component 111, or only from the second measurement component 112.

[0078] On this basis, the positioning calculation sub-module 122 can also perform positioning calculations based on the measurement data obtained from the first measurement component 111 or the second measurement component 112 to determine the spatial position information of the adjustment control measurement points on the segment beam to be assembled corresponding to the first measurement component 111 or the second measurement component 112, and use this as the current position of the corresponding adjustment control measurement points.

[0079] The spatial position information here is specifically the three-dimensional coordinates of each adjustment control measurement point in the coordinate system. The coordinate system here is the coordinate system of the bridge under construction.

[0080] The segment beam attitude analysis sub-module 123 is configured to interact with the parameter setting sub-module 121, the positioning calculation sub-module 122, and the adjustment execution sub-module 124 in terms of data. This segment beam attitude analysis sub-module 123 can calculate the adjustment amounts of each adjustment control action point on the segment beam to be assembled from the current attitude to the target attitude based on the basic parameters set by the parameter setting sub-module 121 and the spatial position information of the corresponding adjustment control measurement points on the segment beam to be assembled calculated by the positioning calculation sub-module 122, and transmit them to the adjustment execution sub-module 124.

[0081] Specifically, the segment beam attitude analysis sub-module 123 can first obtain the input basic parameters from the parameter setting sub-module 121 and establish a mapping relationship equation model of the set adjustment control measurement points on the segment beam during the process of the segment beam converting from the current attitude to the target attitude; and on this basis, obtain the corresponding basic parameters from the parameter setting sub-module 121 and the measurement results (i.e., the current position information) of each adjustment control measurement point obtained from the positioning calculation sub-module 122, and calculate the corresponding adjustment amounts of each adjustment control action point on the segment beam during the process of the segment beam adjusting from the current attitude to the target attitude through the mapping relationship equation model.

[0082] The adjustment execution sub-module 124 is configured to interact with the parameter setting sub-module 121, the segment beam attitude analysis sub-module 123, and the lifting equipment data of the segment beam. This adjustment execution sub-module 124 can obtain the adjustment thresholds of the adjustment amounts of each adjustment control action point for each adjustment stage set in the parameter setting sub-module 121, and obtain the adjustment amounts of each adjustment control action point on the segment beam in the current adjustment stage calculated and determined from the segment beam attitude analysis sub-module 123, and compare the adjustment amounts of each adjustment control action point with the corresponding adjustment thresholds, and further generate corresponding multi-stage adjustment instructions according to the comparison results to control the lifting equipment of the segment beam to perform corresponding lifting state adjustments on each adjustment control action point on the segment beam to be spliced.

[0083] Specifically, through comparison, if the current adjustment amount is not less than the set threshold, the adjustment execution sub-module 124 forms an adjustment instruction based on the obtained adjustment amounts of each adjustment control action point, and controls the lifting equipment of the segment beam through this adjustment instruction to control the lifting equipment of the segment beam to perform corresponding lifting state adjustments on each adjustment control action point on the segment beam to be spliced, thereby realizing the adjustment of the attitude of the segment beam to be assembled;

[0084] If the adjustment amount is less than the set threshold, the adjustment execution sub-module 124 directly generates an advanced instruction to enter the next adjustment stage, and transmits this advanced instruction to the segment beam attitude analysis sub-module 123, so that the segment beam attitude analysis sub-module 123 obtains the measurement results of the corresponding adjustment control measurement points on the segment beam to be assembled in the next adjustment stage from the positioning calculation sub-module 122 under this advanced instruction, and performs corresponding segment beam attitude analysis calculation and adjustment in the next adjustment stage until the attitude of the segment beam to be assembled is adjusted to the target attitude.

[0085] Based on the automatic adjustment system 100 for spatial positioning during the hoisting process of the segment assembled beam formed by the above solution, through the organic cooperation between the measurement component 110 and the adjustment control module 120, the automatic adjustment and alignment during the assembly of the segment beam in the bridge construction project can be completed.

[0086] To further illustrate the automatic adjustment solution for spatial positioning during the hoisting process of the segment assembled beam given by the present invention, the application implementation process of this solution is exemplified below.

[0087] The automatic adjustment solution for spatial positioning during the hoisting process of the segment assembled beam given by the present invention, when specifically applied and implemented, can form a corresponding software program to form a corresponding automatic adjustment software system for spatial positioning during the hoisting process of the segment assembled beam. This software program cooperates with the hoisting equipment of the segment assembled beam, and when running, can control the hoisting equipment of the segment assembled beam to automatically adjust the attitude of the segment beam during the assembly process of the segment beam, and realize the automatic adjustment and alignment of the segment beam.

[0088] Meanwhile, the software system for automatic adjustment of spatial positioning during the hoisting process of segmental assembled beams constructed in this example can be stored in a corresponding storage medium for the processor to retrieve and execute.

[0089] When the software system for automatic adjustment of spatial positioning during the hoisting process of segmental assembled beams constructed in this example is applied, it is deployed and run at the control end of the hoisting equipment for segmental assembled beams; meanwhile, on-site for the segmental beam to be assembled, according to the structural characteristics of the segmental beam to be assembled, the corresponding adjustment control action points on the segmental beam to be assembled are determined, as well as the corresponding first-stage adjustment control measurement points and second-stage adjustment control measurement points are determined, and the corresponding measurement components are selected.

[0090] For example, refer to Figure 3 , which shows the hoisting example for the segmental beam to be assembled in this example.

[0091] In this example, a four-lifting-point hoisting scheme is set for the segmental beam 10 to be assembled, that is, four symmetric lifting points N-1, N-2, N-3, and N-4 are formed on the top plate 11 of the segmental beam to be assembled, and each lifting point serves as an adjustment control action point.

[0092] On this basis, further refer to Figure 4 , which shows the deployment example of adjustment control measurement points for the segmental beam to be assembled in this example.

[0093] Based on the illustration, in this example, three first-stage adjustment control measurement points LB, RF, and RB are deployed on the segmental beam 10 to be assembled, and these three first-stage adjustment control measurement points LB, RF, and RB are distributed at three of the four corners of the top plate 11 of the segmental beam to be assembled.

[0094] Specifically, adjustment control measurement points RF and RB are deployed at the two corners on the right side of the top plate 11 of the segmental beam to be assembled, and then adjustment control measurement point LB is deployed at the rear corner on the left side of the top plate 11 of the segmental beam to be assembled.

[0095] At the same time, a Beidou GNSS receiver is arranged at each first-stage adjustment control measurement point respectively, so as to automatically and quickly measure the three-dimensional spatial coordinates of the three first-stage adjustment control measurement points LB, RF, and RB.

[0096] Further, three second-stage adjustment control measurement points CF, CB, and LF are deployed on the segment beam 10 to be assembled. Two of these three second-stage adjustment control measurement points CF and CB are distributed at the intersections of the design line 12 and the two sides on the top plate 11 of the segment beam to be assembled, and the third adjustment control measurement point LF is distributed at the front corner on the left side of the top plate 11 of the segment beam to be assembled, thus facilitating the rapid and accurate determination of the target position. At the same time, a surveying robot equipped with a set of matching prisms is arranged at each second-stage adjustment control measurement point, thereby realizing the dynamic measurement of the three-dimensional space coordinates of the three second-stage adjustment control measurement points CF, CB, and LF.

[0097] It should be noted here that for the front-back direction on the top plate of the segment beam to be assembled, it is determined according to the assembly direction of the segment beam to be assembled.

[0098] After completing the determination and deployment of the adjustment control action points and adjustment control measurement points on the segment beam to be assembled, the spatial positioning automatic adjustment of the segment beam hoisting process can be completed by deploying and running the segment beam hoisting equipment control end of the spatial positioning automatic adjustment software system for the segment beam hoisting process.

[0099] See Figure 5 , in this example, the process of the spatial positioning automatic adjustment of the segment beam hoisting process includes the following steps:

[0100] (1) Basic parameter setting;

[0101] In this step, the spatial positioning automatic adjustment software system for the segment beam hoisting process is run through the segment beam hoisting equipment control end of the spatial positioning automatic adjustment software system for the segment beam hoisting process, and for the adjustment control action points and adjustment control measurement points deployed on the segment beam to be assembled on-site, scheme parameters such as the adjustment control measurement point scheme and the adjustment control action point scheme are input or imported.

[0102] Specifically, the scheme parameters for each adjustment control action point on the segment beam to be assembled include the positional relationships between each lifting point (i.e., each adjustment control action point) N-1, N-2, N-3, N-4 and the beam segment design line 12, etc.;

[0103] The scheme parameters for each adjustment control measurement point on the segment beam to be assembled include the final target positions of each measurement point (LB, RF, RB, CF, CB, LF), and the positional relationships between each measurement point and the beam segment design line 12.

[0104] (2) Measurement and calculation of the first-stage measurement points;

[0105] Based on the basic parameters set in the lifting equipment control end of the segment assembled beam in the basic parameter setting step, the lifting equipment is controlled to perform the first-stage lifting of the segment beam to be assembled. Three bucket GNSS receivers deployed on the segment beam to be assembled are used for automatic measurement, and the spatial coordinates of the three first-stage adjustment control measurement points LB, RF, and RB on the segment beam to be assembled are calculated, which are used as the current positions of each measurement point.

[0106] (3) Analysis of the attitude of the first-stage segment beam;

[0107] (3.1) Calculation of the measurement target positions of each measurement point;

[0108] Based on the basic parameters set in step (1), the final target positions of the three adjustment control measurement points LB, RF, and RB on the segment beam are determined.

[0109] (3.2) Establish a transformation equation model for the adjustment control measurement points;

[0110] A geometric mapping relationship from the current state to the target state of the segment beam is established through the three measurement points of the three adjustment control measurement points LB, RF, and RB. The specific establishment method is as follows:

[0111] ① Translation matrix

[0112]

[0113] Among them: Tx, Ty, and Tz are the moving distances of each point (x, y, z) among the three key points along the XYZ three axes.

[0114] ② Rotation matrix

[0115]

[0116] Among them: (u, v, w) is the rotation axis;

[0117] (a, b, c) is the starting coordinate of the rotation axis;

[0118] θ is the rotation angle required for the three key points to reach the target state after translation from the current state (where counterclockwise is positive).

[0119] The rotation axis (u, v, w) is a unit vector, that is:

[0120] u 2 +v 2 +w 2 = 1 (constraint condition equation)

[0121] By substituting the current positions and target position x, y, z coordinates of the three adjustment control measurement points LB, RF, and RB respectively, and combining with the aforementioned constraint condition equations, a 10 - element system of equations is established to solve 10 unknown parameters including Tx, Ty, Tz, u, v, w, a, b, c, and θ. Based on the relationships among these 10 parameters, a mapping relationship equation model is formed accordingly.

[0122] (3.3) Combining the basic parameter settings and the measurement results of the three adjustment control measurement points, calculate the coordinates (x1, y1, z1) of each adjustment control action point N - 1, N - 2, N - 3, N - 4 in the current state of the segment beam.

[0123] Specifically, based on the mapping relationship equation model determined in step (3.2), after calculating and determining the corresponding 10 parameters, when the current position x, y, z coordinates of the three adjustment control action points in the coordinate system are introduced into the mapping relationship equation model, the target position x, y, z coordinates of each adjustment control action point in the coordinate system can be calculated through calculation.

[0124] On this basis, through the mapping relationship equation model established in step (3.2), further calculate the coordinates (x2, y2, z2) of each adjustment control action point N - 1, N - 2, N - 3, N - 4 in the target state of the segment beam.

[0125] (4) Determination of the adjustment plan;

[0126] First, according to the analysis results of the aforementioned step (3), calculate the distance d between the target state and the current state of each adjustment control action point N - 1, N - 2, N - 3, N - 4, and use this as the adjustment amount of each adjustment control action point N - 1, N - 2, N - 3, N - 4.

[0127] Specifically, calculate based on the following formula:

[0128]

[0129] Next, based on the calculated adjustment amount, further determine the adjustment plan for each adjustment control action point. The specific determination plan is as follows:

[0130] If the calculated adjustment amount is large, greater than the preset threshold (set to exceed 2 cm in this example), then control each lifting point (i.e., the adjustment control action point) to execute the one - stage adjustment step (5), and after the adjustment is completed, re - enter the one - stage control measurement point measurement step (2);

[0131] If the calculated adjustment amount is small, less than or equal to the preset threshold (within 2 cm in this example), then enter the two - stage control measurement point measurement and adjustment step (6).

[0132] (5) Perform first-stage adjustment;

[0133] In this step, according to the adjustment amount calculated and determined in step (4), electrically control the corresponding hoisting machines at each hoisting point, and operate the hoisting ropes to retract and extend to move each adjustment control point (i.e., the hoisting point) to reach the target position.

[0134] (6) Second-stage measurement point measurement and calculation;

[0135] Based on the basic parameters set in the basic parameter setting step at the control end of the segment erection equipment, control the hoisting equipment to hoist the segment to be erected in the second stage, and automatically measure the prisms at three second-stage adjustment control measurement points deployed on the segment to be erected through the deployed measuring robot from a distance, and calculate the spatial coordinates of the three second-stage adjustment control measurement points CF, CB, and LF on the segment to be erected, which are used as the current positions of the three second-stage adjustment control measurement points CF, CB, and LF.

[0136] It should be noted that based on the first-stage adjustment, when performing the second-stage measurement point measurement here, the current positions of the second-stage adjustment control measurement points measured by the measuring robot are already relatively close to the final target positions. At that time, the measuring robot will be able to automatically identify and position, effectively avoiding the problem that the current automatic aiming system of the measuring robot can only automatically identify and position the prism within a small range.

[0137] (7) Second-stage segment beam attitude analysis;

[0138] (7.1) Calculation of the measurement target positions of each measurement point;

[0139] Based on the basic parameters set in step (1), determine the final target positions of the three second-stage adjustment control measurement points CF, CB, and LF on the segment beam.

[0140] (7.2) Establish a transformation equation model for the adjustment control measurement points;

[0141] Establish a geometric mapping relationship from the current state to the target state of the segment beam through the three measurement points of the three second-stage adjustment control measurement points CF, CB, and LF. For the specific process, refer to the solution in step (3.2), which will not be elaborated here.

[0142] (7.3) Combine the basic parameter setting and the measurement results of the three adjustment control measurement points to calculate the coordinates (x1, y1, z1) of each adjustment control point N-1, N-2, N-3, N-4 in the current state of the segment beam. The specific implementation solution is as above.

[0143] On this basis, through the mapping relationship equation model established in step (7.2), further calculate the coordinates (x2, y2, z2) of each adjustment and control action points N-1, N-2, N-3, N-4 in the target state of the segment beam.

[0144] (8) Perform two-stage adjustment;

[0145] First, according to the analysis results of the foregoing step (7), calculate the distance d between the target state and the current state of each adjustment and control action points N-1, N-2, N-3, N-4, and use this as the adjustment amount of each adjustment and control action points N-1, N-2, N-3, N-4.

[0146] Specifically, calculate based on the following formula:

[0147]

[0148] Then, according to the calculated adjustment amount, electronically control the corresponding hoisting machines of each hoisting point, and operate the hoisting ropes to retract and release to move each adjustment and control action point (i.e., hoisting point) to reach the target position.

[0149] (9) Check the measuring point position

[0150] After completing the two-stage adjustment, continue to use the measuring robot to automatically observe the prism to measure the three-point coordinates of the three second-stage adjustment and control measurement points CF, CB, LF on the segment beam to be assembled, and compare them with the final target position to determine the error:

[0151] If the error does not exceed the preset allowable value (generally required to be 3-5 mm for the first segment and 10 mm for subsequent segments), the hoisting and adjustment process of the segment beam is completed;

[0152] If the error exceeds the preset allowable value, re-enter the two-stage control measuring point measurement step (6) and perform the two-stage spatial attitude adjustment of the segment beam again.

[0153] Based on the above example scheme, it can be seen that the scheme provided by the present invention realizes the automatic completion of the measurement from the hoisting control point of the segment beam to the adjustment and alignment by combining different measurement components and innovatively associating based on the adjustment and control measurement points and adjustment and control action points of the segment beam. At the same time, the two-stage progressive adjustment method adopted ensures the efficient and automatic realization of the adjustment process.

[0154] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A spatial positioning automatic adjustment system for the segmental assembly beam hoisting process, characterized in that: The regulating system comprises: The measuring component includes a first measuring component and a second measuring component. The first measuring component is correspondingly deployed at the first stage adjustment control measurement point on the segment beam to be assembled, and can dynamically measure the position information of the first stage adjustment control measurement point; the second measuring component is correspondingly deployed at the second stage adjustment control measurement point on the segment beam to be assembled, and can dynamically measure the position information of the second stage adjustment control measurement point; An adjustment control module, which is connected to the measurement component data and can calculate and determine the current posture of the segmental beam to be assembled according to the position information of the first-stage adjustment control measurement point on the segmental beam to be assembled measured by the first measurement component during the lifting and assembly process of the segmental beam to be assembled, and analyze and calculate the adjustment amount of each adjustment control action point on the segmental beam to be assembled during the process of adjusting the current posture of the segmental beam to be assembled to the target posture, and form an adjustment instruction according to the adjustment amount; The adjustment control module can calculate and determine the current posture of the segmental beam to be assembled based on the position information of the second-stage adjustment control measurement point on the segmental beam to be assembled obtained by the second measurement component when the adjustment amount of the first-stage adjustment control measurement point is less than the set threshold, and analyze and calculate the adjustment amount of each adjustment control action point on the segmental beam to be assembled during the process of adjusting the current posture of the segmental beam to be assembled to the target posture, and form an adjustment instruction based on the adjustment amount.

2. The automatic spatial positioning adjustment system for the segmental assembly beam hoisting process according to claim 1 is characterized in that: The first measuring component and the second measuring component have different measuring accuracies.

3. The automatic spatial positioning adjustment system for the segmental assembly beam hoisting process according to claim 1 is characterized in that: The first stage regulation control measurement points are distributed at the corner points of the segment beam to be assembled; The second stage adjustment control measurement points are distributed at least at the end points of the center line of the segment beam to be assembled.

4. The automatic spatial positioning adjustment system for the segmental assembly beam hoisting process according to claim 1 is characterized in that: The adjustment control module establishes a mapping relationship equation for each adjustment control measurement point during the process of converting the segment beam to be assembled from the current posture to the target posture at each stage, and calculates and determines the adjustment amount of each adjustment control action point on the segment beam to be assembled based on this.

5. The automatic spatial positioning adjustment system for the segmental assembly beam hoisting process according to claim 4 is characterized in that: In the first stage, the adjustment control module performs a first stage rough adjustment on the posture of the segmental beam to be assembled based on the positioning measurement data of the first stage adjustment control measurement point on the segmental beam to be assembled by the first measurement component, so that the segmental beam to be assembled can be quickly adjusted to a posture close to the target posture; In the second stage, the adjustment control module performs a second stage of fine adjustment on the posture of the segmental beam to be assembled based on the positioning measurement data of the second stage adjustment control measurement point on the segmental beam to be assembled by the second measurement component, so that the segmental beam to be assembled can be quickly adjusted to the target posture.

6. A method for automatic spatial positioning adjustment during the hoisting process of segmental assembled beams, characterized in that: The adjustment method comprises: A first measuring component is deployed at a first-stage adjustment control measurement point on the segment beam to be assembled, and the first measuring component dynamically measures the position information of the first-stage adjustment control measurement point; a second measuring component is deployed at a second-stage adjustment control measurement point on the segment beam to be assembled, and the second measuring component dynamically measures the position information of the second-stage adjustment control measurement point; During the lifting and assembly process of the segmental beam to be assembled, the current posture of the segmental beam to be assembled is calculated and determined according to the position information of the first-stage adjustment control measurement point on the segmental beam to be assembled measured by the first measurement component, and the adjustment amount of each adjustment control action point on the segmental beam to be assembled during the process of adjusting the current posture of the segmental beam to the target posture is analyzed and calculated, and the first-stage adjustment instruction is formed according to the adjustment amount to adjust the posture of the segmental beam to be assembled; When the adjustment amount of the first-stage adjustment control measurement point is less than the set threshold, the current posture of the segmented beam to be assembled is calculated and determined according to the position information of the second-stage adjustment control measurement point on the segmented beam to be assembled measured by the second measuring component, and the adjustment amount of each adjustment control action point on it during the process of adjusting the current posture of the segmented beam to be assembled to the target posture is analyzed and calculated, and the second-stage adjustment instruction is formed according to the adjustment amount to adjust the posture of the segmented beam to be assembled until the segmented beam to be assembled is adjusted to the target posture.

7. The method for automatic spatial positioning adjustment during the hoisting process of segmental assembled beams according to claim 6 is characterized in that: The adjustment method deploys a first measurement component and a second measurement component with different measurement accuracy at a first-stage adjustment control measurement point and a second-stage adjustment control measurement point on the segment beam to be assembled.

8. The method for automatic spatial positioning adjustment during the hoisting process of segmental assembled beams according to claim 6 is characterized in that: When the adjustment method determines the first-stage adjustment control measurement points on the segmental beam to be assembled, the first-stage adjustment control measurement points are distributed at the corner points of the segmental beam to be assembled; when the adjustment method determines the second-stage adjustment control measurement points on the segmental beam to be assembled, the second-stage adjustment control measurement points are at least distributed at the center line endpoints of the segmental beam to be assembled.

9. The method for automatic spatial positioning adjustment during the hoisting process of segmental assembled beams according to claim 6, characterized in that: The adjustment method establishes a mapping relationship equation for each adjustment control measurement point in the process of converting the segment beam to be assembled from the current posture to the target posture at each stage, and calculates and determines the adjustment amount of each adjustment control action point on the segment beam to be assembled based on the mapping relationship equation.

10. The method for automatic spatial positioning adjustment during the hoisting process of segmental assembled beams according to claim 9, characterized in that: In the first stage of the adjustment method, based on the positioning measurement data of the first stage adjustment control measurement points on the segmental beam to be assembled by the first measurement component, the posture of the segmental beam to be assembled is roughly adjusted in the first stage, so that the segmental beam to be assembled can be quickly adjusted to a posture close to the target posture; In the second stage, based on the positioning measurement data of the second measurement component for the second stage adjustment control measurement points on the segmental beam to be assembled, the posture of the segmental beam to be assembled is fine-tuned in the second stage, so that the segmental beam to be assembled can be quickly adjusted to the target posture.

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