Short line matching segmental beam automatic measurement and control system, device, equipment and medium

Abstract

The invention discloses an automatic measurement and control system, device, equipment and medium for a short-line matching segmental beam, and relates to the technical field of automatic measurement and control, the system comprises a data acquisition module, a data processing module, a control module and a display module, the data acquisition module comprises a plurality of sensors and is used for acquiring original data of the segmental beam in real time; the data processing module is used for processing the data acquired in the data acquisition module; the control module processes the obtained information data based on the data processing module; the display module is used for displaying a data acquisition result, a processing process and a control state in real time and supporting parameter setting and historical data query; according to the automatic measurement and control system, device and equipment for the short-line matching segmental beam and the medium, automation of the whole process from data acquisition, preprocessing and calculation to deviation analysis is achieved, manual intervention is not needed, the construction waiting time is greatly shortened, and the prefabrication and assembly progress of the segmental beam is accelerated.

Description

Technical Field

[0001] This application relates to the field of automated measurement and control technology, and more specifically, to an automated measurement and control system, device, equipment, and medium for short-line matching segmental beams. Background Technology

[0002] In the field of bridge construction, the short-line matching segmental beam construction method is widely used due to its advantages such as high construction efficiency and the ability to achieve factory prefabrication. However, existing automated measurement and control systems for short-line matching segmental beams still have many shortcomings in practical applications. For example, traditional measurement methods mostly rely on manual single-point measurements using measuring instruments, which is not only slow but also easily affected by human factors, leading to unstable measurement accuracy. In terms of control, a relatively simple open-loop control method is often used, which cannot dynamically adjust the construction process based on real-time measurement data, making it difficult to guarantee the matching accuracy of the segmental beams. In addition, the information exchange between the modules of the existing system is not smooth enough, and the data processing efficiency is low, which seriously affects the overall construction progress.

[0003] Therefore, in response to the aforementioned technical problems, an automated measurement and control system, device, equipment, and medium for short-line matching segmental beams are proposed. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, this application provides an automated measurement and control system, device, equipment and medium for short-line matching segmental beams to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this application provides the following technical solution: an automated measurement and control system for short-line matching segmental beams, comprising a data acquisition module, a data processing module, a control module, and a display module. The output of the data acquisition module is electrically connected to the input of the data processing module, and the data acquisition module includes multiple sensors for real-time acquisition of raw data of the segmental beam, including position information, attitude information, and stress information. The data processing module is used to process the data collected in the data acquisition module, and the data processing module includes a data preprocessing unit, a data calculation unit, and a data analysis unit. The output of the data processing module is electrically connected to the input of the control module. Based on the information data processed by the data processing module, the control module uses a closed-loop PID control algorithm to calculate the deviation and generate control commands. According to the control commands, the control module drives the construction equipment actuator to adjust the position and attitude of the segment beam. The input terminal of the display module is electrically connected to the output terminals of the data acquisition module, the data processing module, and the control module, respectively. The display module is used to display the data acquisition results, processing process, and control status in real time, and supports parameter setting and historical data query.

[0006] Furthermore, the location information acquisition device in the data acquisition module uses a total station, and the station coordinates are determined by the resection method. The formula for measuring the three-dimensional coordinates of the segmental beam using the total station is: ,in, Given the coordinates of a point, Slope distance It is a vertical angle. It is a horizontal angle; In the data acquisition module, attitude information is measured and collected by tilt sensors. The attitude information includes the pitch angle of the segmental beam. Yaw angle and roll angle The relationship between the attitude parameters and the output voltage of the tilt sensor is expressed as follows: ,in, , , This is the output voltage of the tilt sensor. , , This is the sensitivity coefficient. , , This is the offset.

[0007] Furthermore, the data acquisition module monitors the stress information of key parts of the segmental beam using stress sensors, and the stress information includes stress... With stress sensor strain The relationship satisfies Hooke's Law: ,in, This is the elastic modulus of the material.

[0008] Furthermore, the data preprocessing unit is used to filter and denoise the original data, employing the Kalman filter algorithm, whose state update equation is: ,in, For the updated state estimate, For the predicted state estimation, For Kalman gain, For predicted values, For the measurement matrix, The updated error covariance, The error covariance of the prediction; The data calculation unit calculates the actual position, attitude, and stress state of the segmental beam based on a preset mathematical model and algorithm. For the spatial attitude transformation of the segmental beam, a rotation matrix is ​​used. The rotation matrix from the body coordinate system to the geographic coordinate system is: Where c represents cosine and s represents sine. , , These are the basic rotation matrices representing rotations around the x-axis, y-axis, and z-axis by corresponding angles. These matrices are combined through matrix multiplication to form the complete rotation matrix from the body coordinate system to the geographic coordinate system. ; The data analysis unit is used to compare actual information with design parameters to determine the deviation. Let the design coordinates be... The actual measured coordinates are The three-dimensional position deviations are as follows: , , The attitude deviation is the difference between the actual attitude parameters and the designed attitude parameters. , , ,in, , , These represent the positional deviations along the horizontal, vertical, and height axes, respectively. , , These represent the attitude deviations in the roll, pitch, and yaw directions, respectively.

[0009] Furthermore, the control module employs a closed-loop PID control algorithm to calculate the control quantity, and the formula for calculating the control quantity is: ,in, To control the quantity, , , These are the proportional, integral, and differential coefficients, respectively. The deviation is the value of the segment beam position deviation. , , At the same time, control the position of the hydraulic jack. The relationship with deviation is: ,in, This is the proportionality coefficient.

[0010] Furthermore, the control module generates control commands based on the calculated control quantities, and controls the corresponding adjustment mechanisms to correct the posture of the segmental beam according to the control commands. While the control module issues control commands, the data acquisition module continues to collect the construction data of the segmental beam in real time, and feeds the data back to the data processing module and the control module to form a closed-loop control until the construction deviation of the segmental beam meets the design requirements.

[0011] Furthermore, the display module uses a touch screen interactive interface to display in real time the data collected by the data acquisition module, the results processed by the data processing module, and the working status information of the control module. The display module is also used to adjust system parameters, and the set system parameters are transmitted to the data processing module and the control module.

[0012] Furthermore, an automated measurement and control device for short-line matching segmental beams includes: The data acquisition unit includes a total station, GPS, tilt sensor, gyroscope and stress sensor, and is used to collect the position information, attitude information and stress information of the segmental beam in real time; The data processing unit is used to filter and denoise the acquired data, calculate the actual position, attitude and stress state, and compare it with the design parameters to generate the deviation. The control unit is used to generate control commands based on the deviation using a closed-loop PID control algorithm, and drive the construction equipment actuator to adjust the position and attitude of the segment beam; The display unit is used to display data acquisition results, processing procedures and control status in real time, and supports parameter settings and historical data queries.

[0013] Furthermore, the aforementioned automated measurement and control device for short-line matching segmental beams includes a processor and a memory. The memory stores a computer program, and the processor executes the computer program to implement the steps of the automated measurement and control system for short-line matching segmental beams.

[0014] Furthermore, the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of an automated measurement and control system for short-line matching segmental beams.

[0015] The technical effects and advantages of this application are as follows: Compared with existing technologies, this automated measurement and control system, device, equipment, and medium for short-line matching segmental beams significantly improves measurement accuracy by achieving comprehensive real-time acquisition of the position, attitude, and stress of the segmental beams through multi-sensor fusion measurement. Furthermore, the use of a Kalman filter algorithm to dynamically optimize the original measurement data effectively eliminates measurement noise caused by environmental interference and equipment errors. Iterative correction of the measurement data through a state update equation reduces measurement errors in key parameters such as position and attitude, ensuring data reliability and stability. This invention relates to an automated measurement and control system, device, equipment, and medium for short-line matching segmental beams. It utilizes a rotation matrix to achieve precise transformation of segmental beams from the body coordinate system to the geographic coordinate system, taking into account the mutual influence of pitch angle, yaw angle, and roll angle, thus avoiding matching deviations caused by coordinate transformation errors in traditional attitude measurement. This automated measurement and control system, device, equipment and medium for short-line matching segmental beams realizes full-process automation from data acquisition, preprocessing, calculation to deviation analysis, without the need for manual intervention, greatly reducing construction waiting time and accelerating the prefabrication and assembly of segmental beams; Based on the PID control algorithm, control commands can be quickly generated according to the real-time measured deviation, driving actuators such as hydraulic jacks to dynamically adjust the segmental beam. This closed-loop control method realizes real-time feedback and correction during the construction process, avoiding the problem of repeated measurement and adjustment required in traditional open-loop control. Based on the three-dimensional position and attitude deviations calculated by the data analysis unit, combined with the PID control algorithm, the required control quantities can be accurately calculated. By controlling the displacement of the hydraulic jacks to be proportional to the square root of the position deviation, precise adjustment of the position and attitude of the segmental beam is achieved. The proportional, integral, and derivative coefficients in the PID control algorithm can be adaptively adjusted according to different construction conditions and segmental beam characteristics, ensuring optimal control performance under various complex conditions. This adaptive capability enables the system to adapt to the construction requirements of different bridge projects, improving the system's versatility and reliability. The data processing module adopts a modular design, with data preprocessing, calculation, and analysis units each performing their respective functions, achieving efficient data processing. The application of mathematical models such as the Kalman filter algorithm and rotation matrices improves the speed and accuracy of data processing, enabling the system to process large amounts of measurement data in real time, providing timely and accurate decision-making support for construction control. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the system flow of this application; Figure 2 This is a structural schematic diagram of an automated measurement and control device for short-line matching segmental beams according to this application.

[0017] The attached diagram is labeled as follows: 1. Data acquisition module; 2. Data processing module; 201. Data preprocessing unit; 202. Data calculation unit; 203. Data analysis unit; 3. Control module; 4. Display module. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] Example 1 As attached Figure 1 The illustrated automated measurement and control system for short-line matching segmental beams includes a data acquisition module 1, a data processing module 2, a control module 3, and a display module 4. The output of the data acquisition module 1 is electrically connected to the input of the data processing module 2. The data acquisition module 1 includes multiple sensors for real-time acquisition of raw data of the segmental beam. The raw data includes position information, attitude information, and stress information. The location information acquisition device in data acquisition module 1 uses a total station. The station coordinates are determined by the resection method, and the formula for measuring the three-dimensional coordinates of the segmental beam using the total station is: ,in, Given the coordinates of a point, Slope distance It is a vertical angle. It is a horizontal angle; In data acquisition module 1, attitude information is measured and collected by tilt sensors. The attitude information includes the pitch angle of the segmental beam. Yaw angle and roll angle The relationship between the attitude parameters and the output voltage of the tilt sensor is expressed as follows: ,in, , , This is the output voltage of the tilt sensor. , , This is the sensitivity coefficient. , , This is the offset; In data acquisition module 1, stress sensors monitor stress information at key locations of the segmental beam, and the stress information includes stress... With stress sensor strain The relationship satisfies Hooke's Law: ,in, This is the elastic modulus of the material.

[0020] The data processing module 2 is used to process the data collected in the data acquisition module 1, and the data processing module 2 includes a data preprocessing unit 201, a data calculation unit 202, and a data analysis unit 203; Data preprocessing unit 201 is used to filter and denoise the raw data, employing the Kalman filter algorithm, and its state update equation is: ,in, For the updated state estimate, For the predicted state estimation, For Kalman gain, For predicted values, For the measurement matrix, The updated error covariance, The error covariance of the prediction; Data calculation unit 202 calculates the actual position, attitude, and stress state of the segmental beam based on a preset mathematical model and algorithm. For the spatial attitude transformation of the segmental beam, a rotation matrix is ​​used. The rotation matrix from the body coordinate system to the geographic coordinate system is: Where c represents cosine and s represents sine. , , These are the basic rotation matrices representing rotations around the x-axis, y-axis, and z-axis by corresponding angles. These matrices are combined through matrix multiplication to form the complete rotation matrix from the body coordinate system to the geographic coordinate system. ; Data analysis unit 203 is used to compare actual information with design parameters to determine the deviation. Let the design coordinates be... The actual measured coordinates are The three-dimensional position deviations are as follows: , , The attitude deviation is the difference between the actual attitude parameters and the designed attitude parameters. , , ,in, , , These represent the positional deviations along the horizontal, vertical, and height axes, respectively. , , These represent the attitude deviations in the roll, pitch, and yaw directions, respectively.

[0021] The output of the data processing module 2 is electrically connected to the input of the control module 3. Based on the information data processed by the data processing module 2, the control module 3 uses a closed-loop PID control algorithm to calculate the deviation and generate control commands. According to the control commands, the control module 3 drives the construction equipment actuator to adjust the position and attitude of the segment beam. Control module 3 uses a closed-loop PID control algorithm to calculate the control quantity, and the formula for calculating the control quantity is: ,in, To control the quantity, , , These are the proportional, integral, and differential coefficients, respectively. The deviation is the value of the segment beam position deviation. , , At the same time, control the position of the hydraulic jack. The relationship with deviation is: ,in, This is the proportionality coefficient.

[0022] Based on the calculated control quantity, control module 3 generates control commands and controls the corresponding adjustment mechanism to correct the posture of the segment beam according to the control commands. While control module 3 issues control commands, data acquisition module 1 continues to collect the construction data of the segment beam in real time and feeds the data back to data processing module 2 and control module 3 to form a closed-loop control until the construction deviation of the segment beam meets the design requirements.

[0023] The input terminal of the display module 4 is electrically connected to the output terminals of the data acquisition module 1, the data processing module 2 and the control module 3 respectively. The display module 4 is used to display the data acquisition results, processing process and control status in real time, and supports parameter setting and historical data query. The display module 4 uses a touch screen interface to display in real time the data collected by the data acquisition module 1, the results processed by the data processing module 2, and the working status information of the control module 3. The display module 4 is also used to adjust system parameters, and the set system parameters are transmitted to the data processing module 2 and the control module 3.

[0024] Example 2 An automated measurement and control device for short-line matching segmental beams includes: The data acquisition unit includes a total station, GPS, tilt sensor, gyroscope and stress sensor, and is used to collect the position information, attitude information and stress information of the segmental beam in real time; The data processing unit is used to filter and denoise the acquired data, calculate the actual position, attitude and stress state, and compare it with the design parameters to generate the deviation. The control unit is used to generate control commands based on the deviation using a closed-loop PID control algorithm, which drives the actuator of the construction equipment to adjust the position and attitude of the segment beam. The display unit is used to display data acquisition results, processing procedures and control status in real time, and supports parameter settings and historical data queries.

[0025] Example 3 An automated measurement and control device for short-line matching segmental beams includes a processor and a memory. The memory stores a computer program, and the processor executes the computer program to implement the steps of the automated measurement and control system for short-line matching segmental beams.

[0026] Example 4 A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of an automated measurement and control system for short-line matching segmental beams.

[0027] In the above embodiments, The central processing unit / microprocessor / main control chip, etc., may include, but are not limited to, one or more processors or microprocessors.

[0028] Storage media may include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, and computer storage media (such as hard disks, floppy disks, solid-state drives, removable disks, CD-ROMs, DVD-ROMs, Blu-ray discs, etc.).

[0029] The central processing unit / microprocessor / main control chip, etc., can communicate with external devices via I / O bus through wired or wireless networks (not shown).

[0030] The storage medium may also store at least one computer-executable instruction for performing the steps of various functions and / or methods in the embodiments described herein when run by a central processing unit / microprocessor / main control chip, etc.

[0031] In one embodiment, the at least one computer-executable instruction may also be compiled into or comprise a software product, wherein one or more computer-executable instructions are executed by a processor to perform the steps of the various functions and / or methods in the embodiments described herein.

[0032] Instructions, such as computer-readable instructions, are stored on a non-transitory computer-readable storage medium. When the computer-readable instructions are executed by a processor, the various methods described above can be performed. The non-transitory computer-readable storage medium includes, but is not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-transitory non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, the non-transitory computer-readable storage medium can be connected to a computing device such as a computer, and then, when the computing device executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.

[0033] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0034] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0035] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0036] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for executing all or part of the steps of the methods of the various embodiments of this invention through a computer device (which may be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0037] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated measurement and control system for short-line matching segmental beams, comprising a data acquisition module (1), a data processing module (2), a control module (3), and a display module (4), characterized in that, The output end of the data acquisition module (1) is electrically connected to the input end of the data processing module (2), and the data acquisition module (1) includes multiple sensors for real-time acquisition of raw data of the segmental beam, and the raw data includes position information, attitude information and stress information. The data processing module (2) is used to process the data collected in the data acquisition module (1), and the data processing module (2) includes a data preprocessing unit (201), a data calculation unit (202), and a data analysis unit (203). The output of the data processing module (2) is electrically connected to the input of the control module (3), and the control module (3) calculates the deviation and generates control commands based on the information data processed by the data processing module (2). According to the control commands, the control module (3) drives the construction equipment actuator to adjust the position and attitude of the segment beam. The input terminal of the display module (4) is electrically connected to the output terminals of the data acquisition module (1), the data processing module (2) and the control module (3), respectively. The display module (4) is used to display the data acquisition results, processing process and control status in real time, and supports parameter setting and historical data query.

2. The automated measurement and control system for short-line matching segmental beams according to claim 1, characterized in that: The location information acquisition device in the data acquisition module (1) uses a total station. The station coordinates are determined by the resection method, and the formula for measuring the three-dimensional coordinates of the segmental beam by the total station is: ,in, Given the coordinates of a point, Slope distance It is a vertical angle. It is a horizontal angle; In the data acquisition module (1), attitude information is measured and collected by tilt sensors. The pitch angle of the segmental beam is included in the attitude information. Yaw angle and roll angle The relationship between the attitude parameters and the output voltage of the tilt sensor is expressed as follows: ,in, , , This is the output voltage of the tilt sensor. , , This is the sensitivity coefficient. , , This is the offset.

3. The automated measurement and control system for short-line matching segmental beams according to claim 2, characterized in that: The data acquisition module (1) monitors the stress information of key parts of the segmental beam through stress sensors, and the stress information includes stress... With stress sensor strain The relationship satisfies Hooke's Law: ,in, This is the elastic modulus of the material.

4. The automated measurement and control system for short-line matching segmental beams according to claim 1, characterized in that: The data preprocessing unit (201) is used to filter and denoise the original data, employing the Kalman filter algorithm, and its state update equation is: ,in, For the updated state estimate, For the predicted state estimation, For Kalman gain, For predicted values, For the measurement matrix, The updated error covariance, The error covariance of the prediction; The data calculation unit (202) calculates the actual position, attitude, and stress state of the segmental beam based on a preset mathematical model and algorithm. For the spatial attitude transformation of the segmental beam, a rotation matrix is ​​used. The rotation matrix from the body coordinate system to the geographic coordinate system is: Where c represents cosine and s represents sine. , , These are the basic rotation matrices representing rotations around the x-axis, y-axis, and z-axis by corresponding angles. These matrices are combined through matrix multiplication to form the complete rotation matrix from the body coordinate system to the geographic coordinate system. ; The data analysis unit (203) is used to compare the actual information with the design parameters to determine the deviation. Let the design coordinates be... The actual measured coordinates are The three-dimensional position deviations are as follows: , , The attitude deviation is the difference between the actual attitude parameters and the designed attitude parameters. , , ,in, , , These represent the positional deviations along the horizontal, vertical, and height axes, respectively. , , These represent the attitude deviations in the roll, pitch, and yaw directions, respectively.

5. The automated measurement and control system for short-line matching segmental beams according to claim 4, characterized in that: The control module (3) uses a closed-loop PID control algorithm to calculate the control quantity, and the formula for calculating the control quantity is: ,in, To control the quantity, , , These are the proportional, integral, and differential coefficients, respectively. The deviation is the value of the segment beam position deviation. , , At the same time, control the position of the hydraulic jack. The relationship with deviation is: ,in, This is the proportionality coefficient.

6. The automated measurement and control system for short-line matching segmental beams according to claim 5, characterized in that: The control module (3) generates control commands based on the calculated control quantities, and controls the corresponding adjustment mechanism to correct the posture of the segment beam according to the control commands. While the control module (3) issues control commands, the data acquisition module (1) continues to collect the construction data of the segment beam in real time and feeds the data back to the data processing module (2) and the control module (3) to form a closed-loop control until the construction deviation of the segment beam meets the design requirements.

7. The automated measurement and control system for short-line matching segmental beams according to claim 6, characterized in that: The display module (4) uses a touch screen interactive interface to display the data collected by the data acquisition module (1), the results processed by the data processing module (2), and the working status information of the control module (3) in real time. The display module (4) is also used to adjust system parameters, and the set system parameters are transmitted to the data processing module (2) and the control module (3).

8. An automated measurement and control device for short-line matching segmental beams, characterized in that, include: The data acquisition unit includes a total station, GPS, tilt sensor, gyroscope and stress sensor, and is used to collect the position information, attitude information and stress information of the segmental beam in real time; The data processing unit is used to filter and denoise the acquired data, calculate the actual position, attitude and stress state, and compare it with the design parameters to generate the deviation. The control unit is used to generate control commands based on the deviation using a closed-loop PID control algorithm, and drive the construction equipment actuator to adjust the position and attitude of the segment beam; The display unit is used to display data acquisition results, processing procedures and control status in real time, and supports parameter settings and historical data queries.

9. An automated measurement and control device for short-line matching segmental beams, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the automated measurement and control system for short-line matching segmental beams as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the automated measurement and control system for short-line matching segmental beams as described in any one of claims 1 to 7.

Images