A multi-truss segment assembling method and system based on a steel truss beam

Abstract

The application provides a multi-truss segment splicing method based on a steel truss, which comprises the following steps: acquiring feature information of bolt hole groups at each end of a truss segment and three-dimensional coordinates of weight holes in each bolt hole group, fusing the feature information and the three-dimensional coordinates, and generating initial coordinate information of all bolt holes of the bolt hole groups; establishing a finite element analysis model according to actual parameters of the truss segment, and acquiring a truss segment deformation amount; based on the truss segment deformation amount, correcting the initial coordinate information to obtain a truss segment model; in a multi-truss segment splicing process, after adjacent truss segment models are spliced, an error amount is acquired through projection, and the relative hole distance of corresponding bolt holes of the adjacent truss segments is adjusted based on the error amount. The technical problem that in the related art, accurate bolt hole group coordinate information cannot be used to monitor and adjust errors in the splicing process of adjacent truss segments, so that errors are accumulated after multi-truss segment splicing and the quality of the steel truss is affected is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of civil engineering and intelligent construction technology, and in particular to a multi-truss segment assembly method and system based on a steel truss beam. BACKGROUND

[0002] In the construction of large bridges and fabricated steel structures, the assembly precision of the truss segments of the steel truss beam directly determines the bridge line shape and structural safety. In the current construction, each truss segment is composed of dozens of rod members connected by welding or bolts, and multiple truss segments need to be sequentially assembled into a main beam on site. In this process, the connection error of the end faces of the upper and lower chords will form a line shape drift through the intersegment superposition, and if it is not corrected in time, it will lead to closure difficulties, structural internal force imbalance, and even segment demolition and rework. The existing technology has the following defects:

[0003] (1) The use of total station or theodolite to test a small number of control points can only intermittently obtain the relative position of the truss segment, cannot cover the three-dimensional coordinates of the bolt hole group and the end face inclination characteristics, and is time-consuming.

[0004] (2) The traditional method lacks a correction mechanism for truss segment deformation. The real-time deformation of the truss segment caused by factors such as temperature and self-weight will affect the three-dimensional coordinates of the bolt hole group, increasing the error.

[0005] (3) There is a lack of monitoring of the assembly of adjacent truss segments. In the multi-segment truss assembly process of the steel truss beam, the plane deviation of the bolt hole group of the upper and lower chords of each truss segment is not easy to find, and after the multi-segment truss assembly is completed, the cumulative error is directly observed, affecting the quality of the steel truss beam. SUMMARY

[0006] The embodiments of the present application provide a multi-truss segment assembly method and system based on a steel truss beam to solve the technical problem in the related art that in the truss segment assembly process of the steel truss beam, the accurate bolt hole group coordinate information cannot be used to monitor and adjust the error in the assembly process of adjacent truss segments, resulting in error accumulation after the multi-segment truss assembly and affecting the quality of the steel truss beam.

[0007] In a first aspect, a multi-truss segment assembly method based on a steel truss beam is provided, which includes: obtaining the feature information of the bolt hole group of each end of the truss segment and the three-dimensional coordinates of the weight holes in each bolt hole group, and fusing the feature information and the three-dimensional coordinates to generate the initial coordinate information of all bolt holes of the bolt hole group; establishing a finite element analysis model according to the actual parameters of the truss segment to obtain the truss segment deformation; based on the truss segment deformation, correcting the initial coordinate information to obtain a truss segment model; in the multi-truss segment assembly process, after the assembly of adjacent truss segment models, the error amount is obtained by projection, and the relative hole distance of the corresponding bolt holes of the adjacent truss segments is adjusted based on the error amount.

[0008] In some embodiments, the feature information of the bolt hole group is acquired, including the following steps:

[0009] The point cloud information of the bolt hole group at each end of the truss segment is collected;

[0010] The end faces of each bolt hole in the point cloud information are fitted by a RANSAC algorithm to obtain sub-feature information between the bolt holes.

[0011] In some embodiments, the three-dimensional coordinates of the weight holes of each bolt hole group are acquired, including the following steps:

[0012] Eight bolt holes at the corners of the bolt hole group at each end of the truss segment are selected as weight holes;

[0013] The target ball abuts against the inner wall of the weight hole, and the center coordinate of the target ball is measured;

[0014] At least four non-collinear points are selected on the side of the weight hole ring, and a local plane is fitted; the center coordinate of the weight hole is obtained by projecting the center coordinate of the target ball onto the plane, and is taken as the three-dimensional coordinate of the weight hole.

[0015] In some embodiments, a finite element analysis model is established according to the actual parameters of the truss segment, and the deformation amount of the truss segment is acquired, including the following steps:

[0016] A static model of the truss segment in a stress-free state is established;

[0017] Based on the temperature parameters, support point positions and numbers, and internal stress of the truss segment, and in combination with the boundary conditions of the truss segment, the static model is corrected to obtain a finite element analysis model;

[0018] Data of the finite element analysis model is collected to obtain the deformation amount of the truss segment.

[0019] In some embodiments, the initial coordinate information is corrected based on the deformation amount of the truss segment to obtain a truss segment model, including the following steps:

[0020] Based on the deformation amount of the truss segment, the deformation components of each bolt hole of the truss segment are calculated;

[0021] The initial coordinate information of each bolt hole is subtracted by the corresponding deformation component to obtain the actual coordinate information of each bolt hole;

[0022] The Umeyama rigid registration algorithm is used to unify the actual coordinate information of each bolt hole to the same coordinate system to generate a truss segment model containing each truss segment of the steel truss girder.

[0023] In some embodiments, after the adjacent truss segment models are spliced, the error amount is obtained by projection, including the following steps:

[0024] A two-dimensional coordinate system is established based on the lower chord of the installed truss segment, the Umeyama algorithm is used to register the to-be-lifted truss segment model and the installed truss segment model, and a to-be-adjusted model is obtained;

[0025] The to-be-adjusted model is vertically projected to obtain a bending deviation, and the to-be-adjusted model is horizontally projected to obtain an upwarping or downwarping deviation.

[0026] In some embodiments, based on the bending deviation, the relative hole distance of the corresponding bolt holes of adjacent truss segments is adjusted, which includes the following steps:

[0027] Based on the bending deviation, the truss segment height and the truss segment length are combined, and the horizontal change amount of the to-be-lifted truss segment model is calculated by the similar triangle principle, that is, ; wherein x1 is the horizontal change amount, H is the truss segment height, L is the truss segment length, and x is the bending deviation.

[0028] In some embodiments, based on the upwarping or downwarping deviation, the relative hole distance of the corresponding bolt holes of adjacent truss segments is adjusted, which includes the following steps:

[0029] Based on the upwarping or downwarping deviation, the truss segment height and the truss segment length are combined, and the vertical change amount of the to-be-lifted truss segment model is calculated by the similar triangle principle, that is, ; wherein y1 is the vertical change amount, H is the truss segment height, L is the truss segment length, and y is the upwarping or downwarping deviation.

[0030] In some embodiments, it further includes monitoring the assembled truss segment, which includes the following steps:

[0031] After each truss segment is assembled, the point cloud data of the installed truss segment is obtained, and the point cloud data is compared and analyzed with the BIM design model to calculate the assembly deviation;

[0032] Based on the assembly deviation, the deviation trend of the un-assembled truss segment is predicted; and based on the deviation trend, the assembly reference of the un-assembled truss segment is updated.

[0033] In a second aspect, the application provides a multi-truss segment assembly system based on a steel truss, which includes:

[0034] A data acquisition module is configured to obtain feature information of bolt hole groups at each end of the truss segment and three-dimensional coordinates of weight holes of each bolt hole group;

[0035] A data processing module is configured to fuse the feature information and the three-dimensional coordinates to generate initial coordinate information of all bolt holes of the bolt hole group;

[0036] A finite element analysis module is configured to establish a finite element analysis model according to actual parameters of the truss segment to obtain a truss segment deformation amount; and based on the truss segment deformation amount, the initial coordinate information is corrected to obtain a truss segment model.

[0037] A truss segment regulation module is used in a multi-truss segment assembly process. After adjacent truss segment models are assembled, an error amount is obtained by projection, and the relative hole distance of corresponding bolt holes of the adjacent truss segments is adjusted based on the error amount.

[0038] The technical scheme provided by the present application has the following beneficial effects:

[0039] The multi-truss segment assembly method based on a steel truss provided by the embodiment of the present application comprises the following steps: obtaining bolt hole group feature information and weight hole three-dimensional coordinates, generating initial coordinate information through data fusion, that is, only calculating the precise coordinates of the weight holes, and obtaining the three-dimensional coordinate information of the bolt hole group in combination with the feature information of the bolt hole group, thereby improving the coordinate precision and saving time cost, wherein the weight hole is a bolt hole that can represent the key position of the bolt hole group, and the bolt holes at the corners are generally used as the weight holes. The actual deformation amount of the truss is obtained by considering the influence of the actual state of the truss, such as temperature and support state, on the deformation of the truss, and the three-dimensional coordinate information obtained is corrected based on the deformation amount to obtain the actual coordinate information under the stress state, so as to establish the truss model and improve the precision of the truss model, thereby reducing the error in the docking process of the truss model. After each truss segment is spliced, the linear deviation is quantified by projection, and real-time deviation correction is performed on each splicing process of the multi-truss segment, thereby avoiding error accumulation. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0041] Figure 1 The multi-truss segment assembly method of the steel truss provided by the embodiment of the present application is shown in the flowchart.

[0042] Figure 2 The bolt hole group of one truss segment of the steel truss provided by the embodiment of the present application is shown in the schematic diagram.

[0043] Figure 3 The weight hole coordinate acquisition diagram by target ball projection on a plane provided by the embodiment of the present application is shown in the schematic diagram.

[0044] Figure 4 The finite element model of the truss segment provided by the embodiment of the present application is shown in the schematic diagram.

[0045] Figure 5 The finite element analysis model of the truss segment after the actual parameters are inputted is shown in the schematic diagram.

[0046] Figure 6 The calculation schematic diagram of the truss segment assembly error modification amount provided by the embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to enable personnel in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0048] In order to make the technical problems to be solved by the present application more clear, the reasons for the technical problems will be specifically analyzed below.

[0049] The traditional method adopts a total station or a theodolite to test a small number of control points, which cannot cover the three-dimensional coordinates of the bolt hole group and the details such as the hole diameter and the end face inclination angle. Moreover, manual measurement needs to pause the positioning after the truss segment is lifted, and then continue to adjust after the measurement is completed, which results in long time consumption of single measurement and shortens the effective construction time per day. In addition, in the process of splicing multiple truss segments of a steel truss girder, the plane deviation of the bolt hole group of the top chord and the bottom chord of each truss segment is not easy to find, but it will be accumulated through bolting. After the splicing of multiple truss segments is completed, the error is not easy to eliminate.

[0050] In the construction of large bridges and other fabricated steel structures, each truss segment is often composed of dozens of welded or bolted members, and the overall size is fixed. The core task of the on-site construction is to sequentially splice several truss segments into a main girder. In this process, the end face connection error of the top chord and the bottom chord will form linear drift through intersegment superposition. If it cannot be identified and actively corrected at an early stage, it will eventually lead to closure difficulties, and even cause segment disassembly and rework.

[0051] In a first aspect, an embodiment of the present application provides a multi-truss segment splicing method based on a steel truss girder, which refers to Figure 1 , Figure 1 Provided by the embodiment of the present application. As shown in Figure 1 A multi-truss segment splicing method based on a steel truss girder, comprising:

[0052] S100, acquiring the feature information of the bolt hole group of each end of the truss segment and the three-dimensional coordinates of the weight hole in each bolt hole group, and fusing the feature information and the three-dimensional coordinates to generate the initial coordinate information of all bolt holes of the bolt hole group;

[0053] S200, establishing a finite element analysis model according to the actual parameters of the truss segment to obtain the truss segment deformation amount; based on the truss segment deformation amount, correcting the initial coordinate information to obtain a truss segment model;

[0054] S300, in the process of assembling multiple truss segments, after adjacent truss segment models are assembled, an error amount is obtained through projection, and the relative hole distance of the corresponding bolt holes of the adjacent truss segments is adjusted based on the error amount.

[0055] By setting such a method, the bolt hole group feature information and the three-dimensional coordinates of the weight holes are obtained, the initial coordinate information is generated through data fusion, that is, only the precise coordinates of the weight holes are calculated, and the three-dimensional coordinate information of the bolt hole group is obtained by combining the feature information of the bolt hole group, the coordinate precision is improved, and the time cost is saved, wherein the weight hole is a bolt hole that can represent the key position of the bolt hole group, and the bolt holes at the corners are generally used as the weight holes. Considering the influence of the actual state of the truss segment, such as temperature, support state and environmental factors on the deformation of the truss segment, the actual deformation amount of the truss segment is obtained, and the three-dimensional coordinate information obtained is corrected based on the deformation amount to obtain the actual coordinate information in the stress state, so as to establish the truss segment model and improve the precision of the truss segment model. The error in the docking process of the truss segment model is also reduced. After each truss segment is spliced, the linear deviation is quantified by projection, and real-time correction is performed on the splicing process of each truss segment, so as to avoid error accumulation. The technical problem that in the related art, the precise bolt hole group coordinate information cannot be used to monitor and adjust the error in the splicing process of adjacent truss segments, resulting in error accumulation after multiple truss segments are spliced and affecting the quality of the steel truss beam is solved.

[0056] Further, in an embodiment, the feature information of the bolt hole group is obtained, which includes the following steps:

[0057] The point cloud information of the bolt hole groups at each end of the truss segment is collected.

[0058] The end faces of each bolt hole in the point cloud information are fitted by the RANSAC algorithm to obtain the sub-feature information between the bolt holes.

[0059] In this embodiment, the traditional point cloud processing directly uses the least squares method, which is easily affected by noise points such as burrs on the edges of the bolt holes and surface stains, resulting in large deviation of the hole center coordinates; therefore, the point cloud data of the bolt hole group is collected by a three-dimensional laser scanner, the bolt hole end face plane and cylinder in the point cloud are fitted by the RANSAC algorithm, and the hole center initial value and hole diameter and other sub-feature information are obtained after removing outliers. The algorithm quickly identifies valid point clouds through random sample consensus. That is, in the scene of welding spatter, uneven paint and the like, the hole center coordinate error is greatly reduced.

[0060] Further, in an embodiment, the three-dimensional coordinates of the weight holes of each bolt hole group are obtained, which includes the following steps:

[0061] Eight bolt holes at the corners in the bolt hole groups at each end of the truss segment are selected as the weight holes;

[0062] The target ball abuts against the inner wall of the weight hole, and the center coordinates of the target ball are measured;

[0063] At least four non-collinear points are selected on the side of the weight hole ring, and a local plane is fitted. The center coordinates of the weight hole are obtained by projecting the center coordinates of the target ball to the plane, and are taken as the three-dimensional coordinates of the weight hole.

[0064] In this embodiment, the conventional weight hole measurement directly takes the center of the target ball as the hole center, which will introduce errors when the target ball is not completely perpendicular to the hole axis. However, the posture error of the target ball is eliminated by local plane fitting and projection. That is, eight corner holes of the end bolt hole group are selected as the weight holes, the center coordinates of the target ball are measured by abutting against the weight hole wall, and the final hole center coordinates are obtained by projecting the target ball coordinates to the local plane fitted by four non-collinear points on the side of the weight hole ring. This method eliminates the tilt error when the target ball contacts the hole wall through plane projection, thereby improving the accuracy of data acquisition.

[0065] Further, in an embodiment, a finite element analysis model is established according to the actual parameters of the truss segment, and the truss segment deformation is obtained, which includes the following steps:

[0066] A static model of the truss segment in a stress-free state is established;

[0067] Based on the temperature parameters, support point positions and numbers, and internal stress of the truss segment, and combined with the boundary conditions of the truss segment, the static model is corrected to obtain a finite element analysis model. Data acquisition is performed on the finite element analysis model to obtain the truss segment deformation.

[0068] In this embodiment, the traditional assembly does not consider the influence of the temperature field on the truss segment. For example, the temperature difference between the upper and lower chords of a steel truss under sunlight is large, which causes the truss segment to be warped. If the assembly is performed according to the normal temperature model, a large stress will be generated during the closure. In addition, uneven settlement of the support points will also cause the truss segment to deform, and the traditional method cannot quantify this influence. Therefore, a static model of the truss segment in a stress-free state is constructed, and the temperature parameters, support point positions, and internal stress are input as boundary conditions to correct the static model to a finite element analysis model. The truss segment deformation such as temperature deformation and self-weight deformation is obtained through model calculation. The truss segment deformation under different temperatures and different support states can be calculated in real time, so that the coordinate information of the bolt hole group is corrected, and the assembly accuracy is improved.

[0069] Further, in an embodiment, the initial coordinate information is corrected based on the truss segment deformation to obtain a truss segment model, which includes the following steps:

[0070] Based on the truss segment deformation, the deformation components of each bolt hole of the truss segment are calculated;

[0071] Subtracting the initial coordinate information of each bolt hole from the corresponding deformation component, actual coordinate information of each bolt hole is obtained; using Umeyama rigid registration algorithm, the actual coordinate information of each bolt hole is unified to the same coordinate system, and a truss segment model containing each truss segment of the steel truss is generated.

[0072] In this embodiment, in the conventional method, the local hole group coordinates and the overall coordinates of the truss segment may have reference inconsistency problems. For example, the weight hole coordinates measured by the laser tracker and the hole group point cloud scanned by the three-dimensional scanner are based on different coordinate systems respectively, and direct fusion will produce a slight deviation. In addition, the deformation amount is not decomposed to a single bolt hole, resulting in systematic errors in the corrected coordinates. Therefore, the truss segment deformation is decomposed into the deformation component of each bolt hole; the actual coordinates are obtained by subtracting the deformation component from the initial coordinates; and the Umeyama rigid registration algorithm is used to unify the actual coordinates of each bolt hole to the global coordinate system, and a multi-scale truss segment model is generated. This algorithm realizes the coordinate unification of the local hole group and the overall truss segment.

[0073] Further, in an embodiment, after the adjacent truss segment models are assembled, the error amount is obtained by projection, which includes the following steps:

[0074] A two-dimensional coordinate system is established with the lower chord of the installed truss segment as the reference, the Umeyama algorithm is used to register the to-be-hung truss segment model with the installed truss segment model, and a to-be-adjusted model is obtained; the to-be-adjusted model is vertically projected to obtain the bending deviation; and the to-be-adjusted model is horizontally projected to obtain the upward or downward deviation.

[0075] In this embodiment, the traditional three-dimensional deviation analysis needs to be interpreted by professional software, and the construction personnel on site cannot quickly understand the deflection direction and value of the truss segment. When the truss segment has both horizontal bending and vertical warping, the traditional method needs to output multiple degrees of freedom deviations, and the operator is easy to confuse the adjustment direction. Therefore, a two-dimensional coordinate system is established with the lower chord as the reference, and the Umeyama algorithm is used to register the to-be-hung truss segment with the installed truss segment model; the registered model is vertically projected onto the XZ plane to obtain the bending deviation, and horizontally projected onto the XY plane to obtain the upward deviation. This projection method decomposes the three-dimensional deviation into two-dimensional components, which is convenient for engineers to understand and adjust, and also avoids the proportioning error when converting three-dimensional space data.

[0076] Further, in an embodiment, based on the bending deviation and the upward or downward deviation, the relative hole distance of the corresponding bolt holes of the adjacent truss segment is adjusted, which includes the following steps:

[0077] Based on the bending deviation, combined with the truss segment height and the truss segment length, the horizontal change amount of the to-be-hung truss segment model is calculated through the similar triangle principle, that is, ; wherein x1 is a horizontal change, H is a girder segment height, L is a girder segment length, and x is a bending deviation. Based on the upward or downward deviation, combined with the girder segment height and the girder segment length, the vertical change of the to-be-lifted girder segment model is calculated through the similar triangle principle, that is, ; wherein y1 is a vertical change, H is a girder segment height, L is a girder segment length, and y is an upward or downward deviation.

[0078] In this embodiment, the conventional assembly adjustment lacks quantitative basis, and the trial-and-error mode of trial adjustment, measurement and re-adjustment is often used, which may cause over-adjustment due to calculation error of the correction amount, and repeated adjustment takes a long time. In addition, it is difficult to directly measure the hole distance when working at a high altitude. Therefore, the projection deviation is converted into the actual hole distance adjustment amount or the jig frame jacking amount through the similar triangle principle. It is necessary to know that when the girder segment linear production generates a deviation, the relative hole distance of the assembly joint plate bolt hole is usually adjusted to adjust the assembly linearity of the girder segment, because the design geometry itself is a rectangular, the real deviation y and x relative to this ideal rectangle are usually in millimeter level, which is much smaller than the design length, so the girder segment can be regarded as a "slightly deformed rectangle", and the assembly joint plate change is derived through the similar triangle.

[0079] Further, in an embodiment, it further includes monitoring of the assembled girder segment, which includes the following steps:

[0080] After each girder segment is assembled, the point cloud data of the assembled girder segment is acquired, and the point cloud data is compared and analyzed with the BIM design model to calculate the assembly deviation; based on the assembly deviation, the deviation trend of the un-assembled girder segment is predicted; and based on the deviation trend, the assembly reference of the un-assembled girder segment is updated.

[0081] In this embodiment, the conventional assembly only performs overall measurement before closing, and if the error is found to be greater than the allowable error, multiple girder segments need to be disassembled for rework, and the direct cost increases; and in this method, not only the error of each assembled girder segment is calculated and adjusted after assembly, but also the point cloud data of all the assembled girder segments is collected after the adjustment is completed, and the assembly deviation is calculated through the difference analysis between the BIM model to judge the overall error. Based on the deviation prediction, the error trend of the subsequent error is updated, and the assembly reference of the un-assembled girder segment is updated to ensure that the error is not accumulated. This method can locate which girder segment produces a deviation, and provides a basis for subsequent adjustment; and the lifting reference is corrected in real time according to the error trend, for example, if the upward first distance of each girder segment is accumulated, the first distance is pre-pressed when the subsequent girder segment is lifted, so as to realize the pre-compensation of the error.

[0082] In a second aspect, the application provides a multi-truss segment assembly system based on a steel truss, comprising: a data acquisition module configured to acquire feature information of bolt hole groups at each end of a truss segment and three-dimensional coordinates of weight holes of each bolt hole group; a data processing module configured to fuse the feature information and the three-dimensional coordinates to generate initial coordinate information of all bolt holes of the bolt hole groups; a finite element analysis module configured to establish a finite element analysis model according to actual parameters of the truss segment and acquire a truss segment deformation amount; based on the truss segment deformation amount, the initial coordinate information is corrected to obtain a truss segment model; and a truss segment regulation module configured to, in a multi-truss segment assembly process, acquire an error amount by projection after adjacent truss segment models are assembled, and adjust relative hole distances of corresponding bolt holes of the adjacent truss segments based on the error amount.

[0083] By designing such a system, the data acquisition module is a three-dimensional laser scanner combined with a laser tracker; the data processing module is RANSAC fitting and Umeyama registration; the finite element analysis module; the truss segment regulation module is deviation calculation and adjustment; the monitoring and calibration module; and each module cooperates to realize full-process automation from measurement to adjustment.

[0084] Reference Figure 2 is a schematic diagram of a bolt hole group of one truss segment of a steel truss provided by an embodiment of the application, wherein the circled part is the weight hole; reference Figure 3 is a schematic diagram of weight hole coordinate acquisition on a plane using a target ball provided by an embodiment of the application, first four points are taken around the bolt hole to be measured by the target ball, a plane A is fitted through the four points, then the target ball is closely attached to the bolt hole, and the center coordinate of the target ball at this time is measured, and the coordinate is projected to the plane A to obtain the hole center coordinate of the bolt hole; reference Figure 6 is a schematic diagram of calculation of truss segment assembly error change amount provided by an embodiment of the application, the change amount A2C of the splice plate is obtained through the deviation value A3D of the truss segment;

[0085] ,

[0086] ;

[0087] wherein is the height of the truss segment, is the length of the truss segment, is the horizontal change amount or vertical change amount of the truss segment assembly.

[0088] The beneficial effects brought by the application include:

[0089] The application provides a multi-truss segment splicing method and system based on a steel truss, wherein the multi-truss segment splicing method based on the steel truss is arranged, feature information and weight hole three-dimensional coordinates of a bolt hole group are obtained, initial coordinate information is generated through data fusion, that is, only the precise coordinates of the weight hole are calculated, and the three-dimensional coordinate information of the bolt hole group is obtained in combination with the feature information of the bolt hole group, so that the coordinate precision is improved, and the time cost is saved, wherein the weight hole is a bolt hole that can represent the key position of the bolt hole group, and the bolt holes at the corners are generally used as the weight holes. The actual state of the truss segment, i.e., the influence of environmental factors such as temperature and support state on the deformation of the truss segment, is considered to obtain the actual deformation amount of the truss segment, and the three-dimensional coordinate information obtained is corrected based on the deformation amount to obtain actual coordinate information in a stress state, so as to establish a truss segment model and improve the precision of the truss segment model, and the error in the docking process of the truss segment model can be reduced. After each truss segment splicing, the projection quantitative linear deviation is used to correct the splicing process of each truss segment in real time, so that the error accumulation is avoided. The problem that in the related art, the error accumulation caused by multi-segment splicing is difficult to control due to the dependence on manual measurement positioning and the adjacent trial splicing of the physical truss segment is solved.

[0090] It should be noted that the above application embodiment serial numbers are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0091] The terms "comprising" and "having" and any variations thereof in the specification and claims of the application and the above drawings are intended to cover not exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0092] In the description of the embodiments of the application, "exemplary", "for example" or "for instance" is used to mean as an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the words "exemplary", "for example" or "for instance" are intended to present the relevant concept in a specific manner.

[0093] In the description of the embodiments of the present application, unless otherwise specified, " / " means the meaning of or, for example, A / B can mean A or B; the text "and / or" only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0094] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or in parallel without the order in which they appear in the embodiments of the present application, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0095] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0096] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method of assembling a plurality of truss segments based on a steel truss, characterized by, It comprises: Obtain the feature information of the bolt hole groups at each end of the truss segment and the three-dimensional coordinates of the weight holes in each bolt hole group, and fuse the feature information and the three-dimensional coordinates to generate initial coordinate information of all bolt holes of the bolt hole group; wherein obtaining the three-dimensional coordinates of the weight holes of each bolt hole group comprises the following steps: Select the bolt holes at the eight corners of each bolt hole group at each end of the truss segment as the weight holes; abut the inner wall of the weight hole with the target ball, and measure the center coordinate of the target ball; select at least four non-collinear points on the weight hole ring side, and fit a local plane; project the center coordinate of the target ball to the plane to obtain the hole center coordinate of the weight hole, and take it as the three-dimensional coordinate of the weight hole; According to the actual parameters of the truss segment, a finite element analysis model is established to obtain the truss segment deformation; based on the truss segment deformation, the initial coordinate information is corrected to obtain the truss segment model, which comprises the following steps: Based on the truss segment deformation, the deformation component of each bolt hole of the truss segment is calculated; the initial coordinate information of each bolt hole is subtracted by the corresponding deformation component to obtain the actual coordinate information of each bolt hole; the Umeyama rigid registration algorithm is used to unify the actual coordinate information of each bolt hole to the same coordinate system to generate a truss segment model containing each truss segment of the steel truss girder; During the assembly process of multiple truss segments, after the adjacent truss segment models are assembled, the error amount is obtained by projection, and the relative hole distance of the corresponding bolt holes of the adjacent truss segments is adjusted based on the error amount.

2. The method of claim 1, wherein the steel truss based multi-truss segment assembly method is characterized by, Obtain the feature information of the bolt hole group, which comprises the following steps: Collect the point cloud information of the bolt hole group at each end of the truss segment; Fit each bolt hole end face in the point cloud information by RANSAC algorithm to obtain the sub-feature information between each bolt hole.

3. The method of claim 1, wherein the steel truss based multi-truss segment assembly method is characterized by, According to the actual parameters of the truss segment, a finite element analysis model is established to obtain the truss segment deformation, which comprises the following steps: Establish a static model of the truss segment in a stress-free state; Based on the temperature parameters, support point position and quantity, and internal stress of the truss segment, and combined with the boundary conditions of the truss segment, the static model is corrected to obtain the finite element analysis model; Data collection is performed on the finite element analysis model to obtain the truss segment deformation.

4. The method of claim 1, wherein the steel truss based multi-truss segment assembly method is characterized by, After the adjacent truss segment models are assembled, the error amount is obtained by projection, which comprises the following steps: A two-dimensional coordinate system is established with the lower chord of the installed truss segment as the reference, and the Umeyama algorithm is used to register the to-be-hung truss segment model with the installed truss segment model to obtain the to-be-adjusted model; The to-be-adjusted model is vertically projected to obtain the bending deviation; the to-be-adjusted model is horizontally projected to obtain the upward or downward deviation.

5. The method of claim 4, wherein the steel truss based multi-truss segment assembly method is characterized by, Based on the bending deviation, the relative hole distance of the corresponding bolt holes of the adjacent truss segments is adjusted, which comprises the following steps: Based on the bending deviation, combining the truss segment height and the truss segment length, the horizontal change of the to-be-lifted truss segment model is calculated through the similar triangle principle, that is, ; wherein, x1 is the horizontal change, H is the truss segment height, L is the truss segment length, and x is the bending deviation.

6. The method of claim 4, wherein the steel truss based multi-truss segment assembly method is characterized by, Based on the upward or downward deviation, the relative hole distance of the corresponding bolt holes of the adjacent truss segments is adjusted, which comprises the following steps: Based on the upward or downward deviation, combined with the truss segment height and the truss segment length, the vertical change of the to-be-lifted truss segment model is calculated through the similar triangle principle, that is ; wherein y1 is the vertical change, H is the truss segment height, L is the truss segment length, and y is the upward or downward deviation.

7. The method of claim 1, wherein the steel truss based multi-truss segment assembly method is characterized by, It also includes monitoring of the assembled truss segment, which comprises the following steps: After each truss segment is assembled, the point cloud data of the installed truss segment is obtained, and the point cloud data is compared and analyzed with the BIM design model to calculate the assembly deviation; Based on the assembly deviation, the deviation trend of the un-assembled truss segment is predicted; based on the deviation trend, the assembly reference of the un-assembled truss segment is updated.

8. A multi-truss segment assembly system based on steel trusses, characterized by It comprises: The data acquisition module is used for acquiring characteristic information of bolt hole groups at each end of the truss segment and acquiring three-dimensional coordinates of weight holes of each bolt hole group, wherein acquiring the three-dimensional coordinates of the weight holes of each bolt hole group comprises the following steps: selecting eight bolt holes at corners of the bolt hole groups at each end of the truss segment as the weight holes; abutting a target ball against an inner wall of the weight hole and measuring a center coordinate of the target ball; selecting at least four non-collinear points on a side of the weight hole ring, fitting a local plane; projecting the center coordinate of the target ball to the plane to obtain a hole center coordinate of the weight hole and take the hole center coordinate as the three-dimensional coordinate of the weight hole; The data processing module is used for fusing the characteristic information and the three-dimensional coordinates to generate initial coordinate information of all bolt holes of the bolt hole group; The finite element analysis module is used for establishing a finite element analysis model according to actual parameters of the truss segment to acquire a truss segment deformation amount; and correcting the initial coordinate information based on the truss segment deformation amount to obtain a truss segment model, which comprises the following steps: calculating deformation components of each bolt hole of the truss segment based on the truss segment deformation amount; subtracting the corresponding deformation components from the initial coordinate information of each bolt hole to obtain actual coordinate information of each bolt hole; and using an Umeyama rigid registration algorithm to unify the actual coordinate information of each bolt hole to the same coordinate system to generate the truss segment model containing each truss segment of the steel truss girder; The truss segment regulation module is used for acquiring an error amount by projection after adjacent truss segment models are spliced in the process of splicing multiple truss segments, and adjusting relative hole distances of corresponding bolt holes of the adjacent truss segments based on the error amount.

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