Bridge swivel construction process monitoring method

Abstract

The invention discloses a bridge swivel construction process monitoring method, and belongs to the field of bridge swivel construction. The method comprises the following steps: arranging a corner end measuring point and a target mechanism at each of four corners of the surface of a main beam of a bridge swivel; a center measuring point is arranged at the center of the surface of the main beam, a lifting mechanism is arranged at the center measuring point, a target lamp is arranged on the lifting mechanism, and the target lamp can emit infrared rays to the target mechanism; establishing a first three-dimensional coordinate system; monocular cameras are installed on the surfaces of approach bridges on the two sides of the main beam respectively, so that the monocular cameras can obtain infrared rays reflected by the target mechanisms at preset time intervals to obtain real-time images of the four target mechanisms; in the process that the main beam rotates in place from the initial position, the real-time three-dimensional coordinates of the four corner end measuring points in the first three-dimensional coordinate system are obtained through the real-time images, and therefore the real-time rotating posture of the main beam is obtained. According to the invention, monitoring continuity, comprehensiveness, real-time performance, convenience and rapidness can be considered at the same time, the construction efficiency is high, and the practicability is wide.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge rotation construction, and particularly relates to a bridge rotation construction process monitoring method. BACKGROUND

[0002] Bridge rotation construction is a special method for realizing bridge in-place by rotating a prefabricated structure, that is, a bridge body structure such as an approach bridge, a beam body and an arch rib is pre-cast on both sides or a single side of an axis line of an obstacle such as a railway, a river and an expressway, a rotation system such as a spherical hinge, a support angle and a traction cable is used to rotate the prefabricated structure to a design axis line position, and finally, closure is completed.

[0003] In order to complete accurate closure of the prefabricated structure (rotation) and the pre-cast bridge body structure, it is necessary to monitor the bridge rotation construction process. At present, the bridge rotation construction is monitored mainly by an automatic tracking monitoring method of a total station, a laser ranging method and a multi-dimensional fusion monitoring method, but all of them have significant shortcomings.

[0004] The automatic tracking monitoring method of the total station realizes real-time positioning through prism reflection, but other machinery, operating personnel or temporary obstacles on a construction site are easy to cause prism shielding, leading to interruption of tracking signals, and frequent manual intervention is needed to re-adjust and lock a target, which seriously affects monitoring continuity and construction efficiency. The laser ranging method is based on a single-point distance measurement principle, and can only obtain single-dimensional displacement data, and cannot synchronously monitor multi-dimensional parameters such as an attitude angle and a deflection rate of the bridge rotation, and it is difficult to comprehensively evaluate a construction safety state. The multi-dimensional fusion monitoring method realizes attitude full-parameter analysis by integrating sensor data such as an inclinometer, an accelerometer and a GPS, but synchronous calibration of multi-source heterogeneous data, a filtering calculation fusion algorithm is complex, and needs a special computing platform for post-processing, leading to long processing time, poor real-time performance and limited engineering practicability.

[0005] Therefore, the existing bridge rotation construction monitoring method cannot simultaneously consider monitoring continuity, comprehensiveness, real-time performance and convenient rapidity, leading to low construction efficiency and limited practicability. SUMMARY

[0006] The bridge rotation construction process monitoring method provided by the present application embodiment can solve the problem that the existing bridge rotation construction monitoring method cannot simultaneously consider monitoring continuity, comprehensiveness, real-time performance and convenient rapidity, leading to low construction efficiency and limited practicability.

[0007] In order to achieve the above-mentioned purpose, the technical scheme of the present application embodiment is as follows:

[0008] In a first aspect, the present application embodiment provides a bridge rotation construction process monitoring method, comprising:

[0009] An angle end measuring point is arranged at each corner of the surface of the main beam of the bridge swivel, a target mechanism is arranged at each of the four angle end measuring points, and the four angle end measuring points are numbered;

[0010] A center measuring point is arranged at the center of the surface of the main beam, a lifting mechanism is arranged at the center measuring point, and a target lamp is arranged on the lifting mechanism, the target lamp being capable of emitting infrared rays to the target mechanism;

[0011] A first three-dimensional coordinate system is established with the center measuring point as the center, the length direction of the main beam as the X axis, the width direction of the main beam as the Y axis, and the surface of the main beam as the Z axis;

[0012] Monocular cameras are respectively arranged on the surfaces of the approach bridges on both sides of the main beam, and the focal points of the two monocular cameras and the first center point of the target lamp are on the same straight line, so that the monocular cameras can obtain real-time images of the four target mechanisms by reflecting infrared rays of the target mechanisms at preset time intervals;

[0013] During the process in which the main beam rotates from the initial position to the target position, real-time three-dimensional coordinates of the four angle end measuring points in the first three-dimensional coordinate system are obtained through the real-time images, so that the real-time rotating posture of the main beam of the bridge swivel is obtained.

[0014] In combination with the first aspect, in a possible implementation manner, the target mechanism comprises a fixed seat, a clamping seat, a substrate, and a target;

[0015] Two clamping seats are respectively arranged on both sides of one end of the fixed seat, each clamping seat comprises two clamping cards, and the two clamping cards are arranged in parallel to form a clamping groove;

[0016] The fixed seat is fixed to the surface of the main beam at the angle end measuring point;

[0017] The target is rectangular and is attached to the surface of the substrate;

[0018] The bottom end of the substrate is clamped in the clamping groove, one side of the substrate to which the target is attached faces the center measuring point, and the surface of the substrate is parallel to the width direction of the bridge;

[0019] In combination with the first aspect, in a possible implementation manner, the real-time three-dimensional coordinates of the four angle end measuring points in the first three-dimensional coordinate system obtained through the real-time images comprise:

[0020] When the main beam is in the initial position, the pixel height value or the pixel width value of the target in the real-time image of the target is obtained, a conversion coefficient P is calculated according to the ratio of the actual height value of the target to the pixel height value of the target or the ratio of the actual width value of the target to the pixel width value of the target.

[0021] A second three-dimensional coordinate system is established with the first center point of the target lamp as the center, the length direction of the main beam as the X-axis, the width direction of the main beam as the Y-axis, and the surface perpendicular to the main beam as the Z-axis;

[0022] The real-time actual Z-axis coordinate of the second center point of the target is calculated according to a first formula, the first formula being: In the formula, i=1, 2, 3, or 4, which is the number of the four corner end measuring points, k is a positive integer, which is the current measurement time point, is the actual Z-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the current measurement time point, is the actual Z-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the previous time point, △Z is the height difference between the height value of the second center point of the target corresponding to the i-th corner end measuring point at the current measurement time point and the previous time point in the real-time image, and P is the conversion coefficient;

[0023] The real-time actual X-axis coordinate of the second center point of the target is calculated according to a second formula, the second formula being: In the formula, i=1, 2, 3, or 4, which is the number of the four corner end measuring points, k is a positive integer, which is the current measurement time point, is the X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the current measurement time point, is the X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the previous measurement time point, △X is the X-axis direction distance difference between the current measurement time point and the previous measurement time point of the second center point of the target corresponding to the i-th corner end measuring point, and P is the conversion coefficient, which is “-” when the initial position of the corner end measuring point is on the positive half of the X-axis, and “+” when the initial position of the corner end measuring point is on the negative half of the X-axis;

[0024] The real-time actual Y-axis coordinate of each second center point of the target is calculated according to a first formula group, the first formula group being:

[0025]

[0026] In the formula, i=1, 2, 3, or 4, which is the number of the four corner end measuring points, k is a positive integer, is the horizontal rotation angle of the i-th corner end measuring point at the current measurement time point relative to the initial position around the center point of the second three-dimensional coordinate system, is the angle between the plane perpendicular to the surface of the target 34 and the line connecting the focal points of the two monocular cameras when the initial position of the i-th corner end measuring point, an angle between a line connecting a focal point of the two monocular cameras and a plane perpendicular to a surface of the target 34 at a current measurement time point of the i-th corner-end measuring point, an angle at an initial position of the i-th corner-end measuring point, an actual X-axis coordinate of an initial position of a second center point of the target 34 corresponding to the i-th corner-end measuring point, an actual Y-axis coordinate of an initial position of a second center point of the target 34 corresponding to the i-th corner-end measuring point, an actual Y-axis coordinate of a current measurement time point of a second center point of the target 34 corresponding to the i-th corner-end measuring point, an actual X-axis coordinate of a current measurement time point of a second center point of the target 34 corresponding to the i-th corner-end measuring point.

[0027] obtaining a first height value of the first center point of the target lamp to a surface of the main beam and a second height value of the second center point of the target to the surface of the main beam, and subtracting the first height value and the second height value from the actual X-axis coordinate, the actual Y-axis coordinate and the actual Z-axis coordinate of each target to obtain real-time three-dimensional coordinates of the corner-end measuring point corresponding to each target in the first three-dimensional coordinate system.

[0028] In combination with the first aspect, in a possible implementation manner, the actual X-axis coordinate of the initial position of the second center point of the target corresponding to the i-th corner-end measuring point is calculated by a third formula

[0029] The third formula is: In the formula, M is the length of the main beam, m i a distance of the i-th corner-end measuring point to the nearest wide side;

[0030] The actual Y-axis coordinate of the initial position of the second center point of the target corresponding to the i-th corner-end measuring point is calculated by a fourth formula

[0031] The fourth formula is: In the formula, N is the length of the main beam, n i a distance of the i-th corner-end measuring point to the nearest long side.

[0032] In combination with the first aspect, in a possible implementation manner, the real-time three-dimensional coordinates of the four corner-end measuring points in the first three-dimensional coordinate system obtained from the real-time image further include:

[0033] The real-time rotation speed of the bridge is calculated according to the variation amount of the X-axis coordinate and the Y-axis coordinate of each corner-end measuring point within a preset time interval.

[0034] In a possible implementation manner of the first aspect, the straight-line distance is used to approximate the rotation curve distance of the main girder, and the real-time rotation speed of the main girder is calculated by using a second formula group, the second formula group being:

[0035]

[0036] wherein, is an actual X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at a current measuring time point, is an actual X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at a previous measuring time point, is an actual Y-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the current measuring time point, is an actual Y-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the previous measuring time point, V is the real-time rotation speed, and T is a time interval between the current measuring time point and the previous measuring time point.

[0037] In a possible implementation manner of the first aspect, the real-time three-dimensional coordinates of the four corner end measuring points in the first three-dimensional coordinate system are obtained from the real-time image, and the method further includes:

[0038] The bridge longitudinal torsion angle and the bridge transverse torsion angle are obtained according to the real-time three-dimensional coordinates of each corner end measuring point.

[0039] In a possible implementation manner of the first aspect, the bridge longitudinal torsion angle and the bridge transverse torsion angle are obtained according to a third formula group, the third formula group being:

[0040]

[0041] wherein, is the bridge longitudinal torsion angle of the i-th corner end measuring point at the current measuring time point, is an actual Z-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the current measuring time point, is an actual X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the current measuring time point, is the bridge transverse torsion angle of the i-th corner end measuring point at the current measuring time point, is an actual Y-axis coordinate of the i-th corner end measuring point at the current measuring time point.

[0042] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0043] The embodiment of the present application provides a bridge rotation construction process monitoring method, first, an angle end measuring point is arranged at each corner of the surface of the main beam of the bridge rotation, a target mechanism is arranged at each of the four angle end measuring points and numbered. Then, a center measuring point is arranged at the center of the surface of the main beam, a lifting mechanism is arranged at the center measuring point, a target lamp is arranged on the lifting mechanism, and the target lamp can emit infrared rays to the target mechanism. Subsequently, a first three-dimensional coordinate system is established with the center measuring point as the center, the length direction of the main beam as the X axis, the width direction of the main beam as the Y axis, and the surface of the main beam as the Z axis. Then, monocular cameras are respectively installed on the surfaces of the approach bridges on the two sides of the main beam, and the focal points of the two monocular cameras and the first center point of the target lamp are on the same straight line, so that the monocular cameras can obtain real-time images of the four target mechanisms by reflecting the infrared rays at a preset time interval. Finally, during the process that the main beam rotates from the initial position to the target position, the real-time three-dimensional coordinates of the four angle end measuring points in the first three-dimensional coordinate system are obtained through the real-time images, so that the real-time rotation posture of the main beam of the bridge rotation is obtained. The embodiment of the present application can obtain the real-time rotation posture of the bridge in the bridge rotation construction process through the monocular vision technology of the monocular camera, and can obtain key parameter information meeting the accuracy requirement. Since the data is obtained in real time at a preset time interval, even if other machines, workers or temporary obstacles on the construction site cause shielding, the data acquisition will not be interrupted, and it is not necessary to re-adjust and lock the target, thereby improving the monitoring continuity and construction efficiency. Moreover, the method of the embodiment of the present application can obtain the three-dimensional coordinates of the angle end measuring points, the real-time rotation speed and the torsion angle, can obtain multi-dimensional data, and can comprehensively evaluate the construction safety state. The method of the embodiment of the present application has simple calculation method, and the data transmission, optimization and conversion are more convenient and fast, and the processing time is short, thereby being real-time and having wide engineering practicability. The method of the embodiment of the present application is a novel method with anti-shielding capability, multi-dimensional synchronous perception and light-weight data processing. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application or the prior art. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0045] Figure 1 The flow chart of the bridge rotation construction process monitoring method provided by the embodiment of the present application is shown in the figure.

[0046] Figure 2 The bridge rotation construction structure schematic diagram provided by the embodiment of the present application is shown in the figure.

[0047] Figure 3Bridge rotation construction process schematic diagram provided by the embodiment of the application

[0048] Figure 4 Structure schematic diagram of the target mechanism provided by the embodiment of the application Figure 1 ;

[0049] Figure 5 Structure schematic diagram of the target mechanism provided by the embodiment of the application Figure 2 ;

[0050] Figure 6 Bridge transverse torsion angle calculation schematic diagram provided by the embodiment of the application

[0051] Figure 7 Bridge transverse torsion angle calculation schematic diagram provided by the embodiment of the application

[0052] Icon: 1-main beam; 2-approach bridge; 3-target mechanism; 31-fixed seat; 32-clamping seat; 321-clamping card; 33-base plate; 34-target; 35-reinforcing rod; 4-lifting mechanism; 5-target lamp; 6-monocular camera. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0054] In the description of the embodiments of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application. The terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In addition, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the application can be understood according to the specific circumstances.

[0055] Please refer to Figure 1As shown, the embodiment of the present application provides a bridge rotation construction process monitoring method, which comprises steps 1-5, and the numbers after the steps do not represent the order of execution.

[0056] Step 1: as shown in Figure 2 and Figure 3 , an angle end measuring point is arranged at each corner of the surface of the main girder 1 of the bridge rotation, a target mechanism 3 is arranged at each of the four angle end measuring points and numbered i=1, 2, 3 or 4 is the number of the four angle end measuring points, and k is a natural number, which is the current measurement time point.

[0057] As shown in Figure 2 and Figure 3 , when the main girder 1 is in the initial position, the measurement time point is 0, and the target 34 at each of the four angle end measuring points is numbered and and In the same width direction, and In the same width direction, and In the same length direction, and In the same length direction.

[0058] As shown in Figure 4 and Figure 5 , the target mechanism 3 comprises a fixed seat 31, a clamping seat 32, a base plate 33 and a target 34. As shown in Figure 4 , the fixed seat 31 comprises a U-shaped body and a crossbar, and the crossbar is clamped to the rear of the U-shaped body. Two clamping seats 32 are arranged on both sides of one end of the fixed seat 31, and each clamping seat 32 comprises two clamping sheets 321, which are arranged in parallel to form a clamping groove. As shown in Figure 4 , two clamping seats 32 are arranged at the front of the supporting rod of the U-shaped body.

[0059] The fixed seat 31 is fixed to the surface of the main girder 1 at the angle end measuring point. Specifically, a fixing hole is arranged at each corner of the fixed seat 31, and the fixed seat 31 is fixed to the surface of the main girder 1 by passing an expansion bolt through the fixing hole. The target 34 is rectangular and is attached to the surface of the base plate 33. As shown in Figure 4 , the target 34 is square and adopts an Apriltag label (a two-dimensional code type label specially designed for machine vision systems).

[0060] The bottom end of the base plate 33 is clamped in the clamping groove, and the side with the attached target 34 faces the center measuring point, and the surface of the base plate 33 is parallel to the width direction of the bridge.

[0061] The fixing base 31 also includes a reinforcing rod 35, one end of which is fixed to the middle of the crossbar, and the upper part of the other end is provided with a retaining seat 32. The middle part of the bottom end of the substrate 33 is also fixed to the retaining seat 32, thereby further securing the substrate 33. The fixing base 31 has a hollow structure and is lightweight, making it easy to handle and move in practical applications.

[0062] The target mechanism 3 provided in this embodiment has a simple structure, is easy to transport and fix, and can effectively fix the substrate 33.

[0063] Step 2: As Figure 3 As shown, a central measuring point ZJ is set at the center of the surface of the main beam 1. A lifting mechanism 4 is set at the central measuring point ZJ, and a target lamp 5 is set on the lifting mechanism 4. The target lamp 5 can emit infrared rays to the target mechanism 3. The lifting mechanism 4 can be a scissor lift platform or a ball screw jack, etc. The height of the target lamp 5 can be adjusted by setting it on the lifting mechanism 4.

[0064] Step 3: As Figure 2 and Figure 3 As shown, a first three-dimensional coordinate system is established with the central measuring point as the center, the length direction parallel to the main beam 1 as the X-axis, the width direction parallel to the main beam 1 as the Y-axis, and the surface of the main beam 1 perpendicular to the Z-axis, as follows. Figure 2 The OXYZ coordinate axes are shown in the figure.

[0065] Step 4: Install monocular cameras 6 on the surfaces of the approach bridges 2 on both sides of the main beam 1, and ensure that the focal points of the two monocular cameras 6 and the first center point of the target lamp 5 are on the same straight line (adjust the height of the target lamp 5 through the lifting mechanism 4 so that the focal points of the two monocular cameras 6 and the first center point of the target lamp 5 are on the same straight line, so that the monocular cameras 6 can identify the infrared light emitted by the target lamp 5). The installation position of the monocular cameras 6 should ensure that they can monitor the entire rotation process of the main beam 1, and at the same time be directly facing the first center point of the target lamp 5, so that the monocular cameras 6 can acquire the infrared light reflected by the target mechanism 3 at a preset time interval (e.g., the sampling frequency is 5Hz, that is, the preset time interval is 0.2s) to obtain real-time images of the four target mechanisms 3.

[0066] Step 5: As Figure 3As shown, during the process of the main girder 1 from the initial position to the rotating position, the real-time three-dimensional coordinates of the four corner end measuring points in the first three-dimensional coordinate system are obtained through the real-time image (when the main girder 1 starts to rotate, the camera captures the real-time image of the target 34, uploads the real-time image to the processing platform, and the processing platform decodes the code of the target 34), the real-time rotating speed of the bridge is calculated according to the variation of the X-axis coordinate and the Y-axis coordinate of each corner end measuring point within a preset time interval, the bridge longitudinal torsion angle and the bridge transverse torsion angle are obtained according to the real-time three-dimensional coordinates of each corner end measuring point, so as to obtain the real-time rotating posture of the main girder 1 of the bridge rotating body.

[0067] In step 5, the real-time three-dimensional coordinates of the four corner end measuring points are obtained through the real-time image, including:

[0068] When the main girder 1 is located at the initial position, the pixel height value a or the pixel width value b of the target 34 in the real-time image of the target 34 is obtained, and the conversion coefficient P is obtained by calculating the ratio of the actual height value A (as shown in Figure 5 ) of the target 34 to the pixel height value a of the target 34 or the ratio of the actual width value B (as shown in Figure 5 ) of the target 34 to the pixel width value b of the target 34. That is, P = A / a = B / b.

[0069] A second three-dimensional coordinate system is established with the first center point of the target lamp 5 as the center, parallel to the length direction of the main girder 1 as the X-axis, parallel to the width direction of the main girder 1 as the Y-axis, and perpendicular to the surface of the main girder 1 as the Z-axis, as shown in the O'X'Y'Z' coordinate system. Figure 2 At this time, the initial coordinates of the first center point of the target lamp 5 are (0, 0, 0).

[0070] The real-time actual Z-axis coordinate of the second center point of the target 34 is calculated according to the first formula, and the first formula is: In the formula, i = 1, 2, 3 or 4, which is the number of the four corner end measuring points, k is a positive integer, which is the current measurement time point, is the actual Z-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point at the current measurement time point, is the actual Z-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point at the last time point, △Z is the height difference between the current measurement time point and the last time point of the real-time image of the second center point of the target 34 corresponding to the i-th corner end measuring point, and P is the conversion coefficient.

[0071] For example, the pixel height value a of the target 34 in the real-time image of the target 34 is 10, the actual height value A of the target 34 is 100, and P = 100 / 10 = 10. The actual Z-axis coordinate of the second center point of the target 34 corresponding to the third corner end measuring point at the initial position is 30, and then The height difference ΔZ between the height value of the second center point of the target 34 corresponding to the third corner end measurement point on the real-time image at the first time point and the initial position is 1, then The height difference ΔZ between the height value of the second center point of the target 34 corresponding to the third corner end measurement point on the real-time image at the second time point and the first time point is -1, then The method for calculating the real-time actual Z-axis coordinate of the second center point of the target 34 according to the first formula only needs to measure the actual Z-axis coordinate of the second center point of the target 34 corresponding to the corner end measurement point at the initial position, and then the actual Z-axis coordinate of the second center point of the target 34 corresponding to each measurement time point can be quickly calculated according to the obtained real-time image and the cumulative calculation method. For example, if the third measurement time point and the fourth measurement time point are blocked, the height difference ΔZ between the height value of the second center point of the target 34 corresponding to the third corner end measurement point on the real-time image at the second time point and the fifth time point is -2, then

[0072] The real-time actual X-axis coordinate of the second center point of the target 34 is calculated according to the second formula, and the second formula is: In the formula, i=1, 2, 3 or 4 is the number of the four corner end measurement points, k is a positive integer, and t is the current measurement time point, is the X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measurement point at the current measurement time point, is the X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measurement point at the previous measurement time point, ΔX is the X-axis direction distance difference between the current measurement time point and the previous measurement time point of the second center point of the target 34 corresponding to the i-th corner end measurement point, and P is a conversion coefficient. When the initial position of the corner end measurement point is on the positive half of the X-axis, the "-" sign is taken, and when the initial position of the corner end measurement point is on the negative half of the X-axis, the "+" sign is taken.

[0073] The actual X-axis coordinate of the initial position of the second center point of the target 34 corresponding to the third corner end measurement point (the initial position is on the positive half of the X-axis) is 80, then The X-axis direction distance difference ΔX between the first time point and the initial position of the real-time image of the second center point of the target 34 corresponding to the third corner end measurement point is 1, then The X-axis direction distance difference ΔX between the second time point and the first time point of the real-time image of the second center point of the target 34 corresponding to the third corner end measurement point is -2, then

[0074] The actual X-axis coordinate of the initial position of the second center point of the target 34 corresponding to the second corner end measurement point (the initial position is on the negative half of the X-axis) is -80, then The X-axis direction distance difference AX of the second center point of the target 34 corresponding to the third corner end measuring point on the real-time image at the first time point and the initial position is -1, and then The X-axis direction distance difference AX of the second center point of the target 34 corresponding to the third corner end measuring point on the real-time image at the second time point and the first time point is 2, and then

[0075] The method for calculating the real-time actual X-axis coordinate of the second center point of the target 34 according to the first formula only needs to measure the actual X-axis coordinate of the second center point of the target 34 corresponding to the corner end measuring point at the initial position, and then the actual X-axis coordinate of the second center point of the target 34 corresponding to each measuring time point can be quickly calculated according to the obtained real-time image and the cumulative calculation method. For example, if the third and fourth measuring time points are blocked, the height difference AX between the height value of the second center point of the target 34 corresponding to the third corner end measuring point on the real-time image at the second time point and the height value at the fifth time point is 2, and then

[0076] The real-time actual Y-axis coordinate of the second center point of each target 34 is calculated according to the first formula group, and the first formula group is:

[0077]

[0078] In the formula, i=1, 2, 3 or 4 is the number of the four corner end measuring points, k is a positive integer, is the horizontal rotation angle of the i-th corner end measuring point at the current measuring time point relative to the initial position around the center point of the second three-dimensional coordinate system (such as Figure 3 indicated, is the horizontal rotation angle of the third corner end measuring point at the first measuring time point relative to the initial position around the center point O' of the second three-dimensional coordinate system), is the angle between the plane perpendicular to the surface of the target 34 and the focal point line of the two monocular cameras 6 at the initial position of the i-th corner end measuring point (such as Figure 3 indicated, is the angle between the plane perpendicular to the surface of the target 34 and the focal point line of the two monocular cameras 6 at the initial position of the first shorter measuring point. Generally, the length direction of the main beam 1 is perpendicular to the length direction of the approach bridge 2 at the initial position, so the present application takes 90°), is the angle between the plane perpendicular to the surface of the target 34 and the focal point line of the two monocular cameras 6 at the current measuring time point of the i-th corner end measuring point (such as Figure 3 indicated, is the angle between the plane perpendicular to the surface of the target 34 and the focal point line of the two monocular cameras 6 at the first measuring time point of the third corner end measuring point, the angle of the plane perpendicular to the surface of the target 34 at the third corner point at the second measurement time point and the line connecting the focal points of the two monocular cameras 6, the difference between the angle of the plane perpendicular to the surface of the target 34 at the third corner point at the first measurement time point and the line connecting the focal points of the two monocular cameras 6 and the angle of the plane perpendicular to the surface of the target 34 at the initial position, i.e. the horizontal rotation angle of the third corner point at the first measurement time point relative to the initial position around the center point O' of the second three-dimensional coordinate system, which can be measured in real time, the angle of the initial position of the i-th corner point, the angle of the initial position of the third corner point, the actual X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner point at the initial position, the actual X-axis coordinate of the second center point of the target 34 corresponding to the third corner point at the initial position, the actual Y-axis coordinate of the second center point of the target 34 corresponding to the i-th corner point at the initial position, the actual Y-axis coordinate of the second center point of the target 34 corresponding to the third corner point at the initial position, the actual Y-axis coordinate of the second center point of the target 34 corresponding to the i-th corner point at the current measurement time point, the actual Y-axis coordinate of the second center point of the target 34 corresponding to the third corner point at the first measurement time point, the actual X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner point at the current measurement time point, the actual X-axis coordinate of the second center point of the target 34 corresponding to the third corner point at the first measurement time point.

[0079] As shown in Figure 3 , in the embodiment of the present application, at the initial position of the bridge, the second center point of the target 34 is opposite to the monocular camera 6, and the angle between the second center point of the target 34 and the Y-axis is recorded as 90°. When the bridge is rotated to the position, the second center point of the target 34 is completely opposite to the monocular camera 6, and the angle between the second center point of the target 34 and the Y-axis is recorded as 0°. As shown in Figure 3 , for the third corner point, at the initial position, k = 0, the third target 34 coordinate corresponding to the position is for the first time measurement point of the third corner point the third target 34 corresponding to the position, for the second time measurement point of the third corner point the third target 34 corresponding to the position,

[0080] In the formula, the actual X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point is calculated by the third formula The third formula is: In the formula, M is the length of the main beam 1, m i is the distance of the i-th corner end measuring point to the nearest wide side.

[0081] The actual Y-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point is calculated by the fourth formula The fourth formula is: In the formula, N is the length of the main beam 1, n i is the distance of the i-th corner end measuring point to the nearest long side.

[0082] The actual coordinate of the initial position of the second center point of each target 34 is

[0083] As shown in Figure 2 , the first height value H of the first center point of the target lamp 5 to the surface of the main beam 1 is obtained J , as shown in Figure 5 , the second height value of the second center point of the target 34 to the surface of the main beam 1 The actual X-axis coordinate, the actual Y-axis coordinate and the actual Z-axis coordinate of each target 34 are all subtracted by the first height value H J and the second height value The real-time three-dimensional coordinates of each target 34 corresponding to the corner end measuring point in the first three-dimensional coordinate system are obtained, that is, the real-time three-dimensional coordinates of each target 34 are translated to the surface of the main beam 1, that is, the real-time three-dimensional coordinates of each corner end measuring point, and the displacement monitoring of X, Y and Z directions during the rotation of the main beam 1 can be completed.

[0084] For example, for the third corner end measuring point first time measuring point , the coordinate is

[0085] Optionally, in step 5, the stroke of the actual main beam 1 rotation process is a curve, and since the sampling time interval is short during monitoring, the linear distance is approximated instead of the main beam 1 rotation curve distance, and the second formula group is used to calculate the real-time rotation speed of the main beam 1, and the second formula group is:

[0086]

[0087] In the formula, is the actual X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point at the current measurement time point, the actual X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point at a previous measuring time point, the actual Y-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point at a previous measuring time point, the actual Y-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point at a previous measuring time point, V is the real-time rotating speed, and T is the time interval between the current measuring time point and the previous measuring time point.

[0088] The embodiment of the present application first calculates the rotating distance between two points in the rotating process of the main beam 1, and then calculates the real-time rotating speed of the bridge according to the rotating distance, which is simple, convenient and easy to realize. The real-time rotating speed of the main beam 1 is not greater than 0.015 rad / min.

[0089] Further, the bridge longitudinal torsion angle and the bridge transverse torsion angle are obtained according to the third formula group in step 5, and the third formula group is:

[0090]

[0091] In the formula, the bridge longitudinal torsion angle of the i-th corner end measuring point at a current measuring time point (the longitudinal direction is the X-axis direction), the actual Z-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point at a current measuring time point, the actual X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end measuring point at a current measuring time point, the bridge transverse torsion angle of the i-th corner end measuring point at a current measuring time point (the transverse direction is the Y-axis direction), the actual Y-axis coordinate of the i-th corner end measuring point at a current measuring time point.

[0092] As shown in the examples, Figure 6 and Figure 7 the bridge longitudinal torsion angle of the third corner end measuring point at a first measuring time point is Generally, the bridge longitudinal torsion angle and the bridge transverse torsion angle should not exceed 0.5°

[0093] Since the surface of the target 34 is parallel to the wide side of the main beam 1 when the target 34 is installed, the bridge longitudinal torsion angle of the target 34 is the bridge longitudinal torsion angle of the main beam 1, and the bridge transverse torsion angle of the target 34 is the bridge transverse torsion angle of the main beam 1.

[0094] The bridge rotation construction process monitoring method provided by the embodiment of the application first sets an angle end measuring point at each of the four corners of the surface of the main girder 1 of the bridge rotation, sets a target mechanism 3 at each of the four angle end measuring points and numbers them. Then, a center measuring point is set at the center of the surface of the main girder 1, a lifting mechanism 4 is set at the center measuring point, a target lamp 5 is set on the lifting mechanism 4, and the target lamp 5 can emit infrared rays to the target mechanism 3. After that, a first three-dimensional coordinate system is established with the center measuring point as the center, the length direction of the main girder 1 as the X axis, the width direction of the main girder 1 as the Y axis, and the surface of the main girder 1 as the Z axis. Then, monocular cameras 6 are respectively installed on the surfaces of the approach bridges 2 on both sides of the main girder 1, and the focal points of the two monocular cameras 6 and the first center point of the target lamp 5 are on the same straight line, so that the monocular cameras 6 can obtain real-time images of the four target mechanisms 3 by reflecting the infrared rays at a preset time interval. Finally, during the process of the main girder 1 rotating from the initial position to the target position, the real-time three-dimensional coordinates of the four angle end measuring points in the first three-dimensional coordinate system are obtained through the real-time images, so as to obtain the real-time rotation posture of the main girder 1 of the bridge rotation. The monocular vision technology of the monocular cameras 6 can be used to obtain the real-time rotation posture of the bridge in the bridge rotation construction process, and the key parameter information meeting the accuracy requirement can be obtained. Since the data is obtained in real time at a preset time interval, even if other machinery, workers or temporary obstacles on the construction site cause shielding, the data acquisition will not be interrupted, and it is not necessary to re-adjust and lock the target, thereby improving the monitoring continuity and construction efficiency. Moreover, the method of the embodiment of the application can obtain the three-dimensional coordinates of the angle end measuring points, the real-time rotation speed and the torsion angle, and can obtain multi-dimensional data and comprehensively evaluate the construction safety state. The method of the embodiment of the application has simple calculation method, and the data transmission, optimization and conversion are more convenient and fast, and the processing time is short, thereby being real-time and having wide engineering practicability. The method of the embodiment of the application is a new method with anti-shielding capability, multi-dimensional synchronous perception and light-weight data processing.

[0095] The embodiments in the specification are described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment mainly describes the difference from other embodiments.

[0096] The above embodiments are only used to illustrate the technical solutions of the application, and not to limit the application; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the application.

Claims

1. A method of monitoring a bridge swing construction process, characterized by, The application relates to a real-time monitoring method for the rotation of a bridge. An angle end measuring point is arranged at each corner of the surface of the main beam of the bridge rotation body, a target mechanism is arranged at each of the four angle end measuring points, and the target mechanisms are numbered; A center measuring point is arranged at the center of the surface of the main beam, a lifting mechanism is arranged at the center measuring point, a target lamp is arranged on the lifting mechanism, and the target lamp can emit infrared rays to the target mechanism; A first three-dimensional coordinate system is established with the center measuring point as the center, the length direction of the main beam as the X axis, the width direction of the main beam as the Y axis, and the surface of the main beam as the Z axis; Monocular cameras are respectively arranged on the surfaces of the approach bridges on the two sides of the main beam, the focal points of the two monocular cameras and the first center point of the target lamp are arranged on the same straight line, and the monocular cameras can obtain real-time images of the four target mechanisms by reflecting infrared rays at a preset time interval; During the rotation of the main beam from an initial position to a rotating position, real-time three-dimensional coordinates of the four angle end measuring points in the first three-dimensional coordinate system are obtained through the real-time images, so that the real-time rotating posture of the main beam of the bridge rotation body is obtained.

2. The bridge turnkey construction process monitoring method of claim 1, wherein, The target mechanism comprises a fixing seat, a clamping seat, a base plate and a target. Two clamping seats are arranged on the two sides of one end of the fixing seat, each clamping seat comprises two clamping pieces, and the two clamping pieces are arranged in parallel to form a clamping groove. The fixing seat is fixed to the surface of the main beam at the angle end measuring point. The target is rectangular and is attached to the surface of the base plate. The bottom end of the base plate is clamped in the clamping groove, one side of the base plate with the target is directed to the center measuring point, and the surface of the base plate is parallel to the width direction of the bridge.

3. The bridge turnkey construction process monitoring method of claim 2, wherein, The real-time three-dimensional coordinates of the four angle end measuring points in the first three-dimensional coordinate system are obtained through the real-time images, comprising: When the main beam is in the initial position, the pixel height value or the pixel width value of the target in the real-time image of the target is obtained, the conversion coefficient P is calculated according to the ratio of the actual height value of the target to the pixel height value of the target or the ratio of the actual width value of the target to the pixel width value of the target; A second three-dimensional coordinate system is established with the first center point of the target lamp as the center, the length direction of the main beam as the X axis, the width direction of the main beam as the Y axis, and the surface of the main beam as the Z axis; calculating a real-time actual Z-axis coordinate of a second center point of the target according to a first formula, the first formula being: In the formula, i=1, 2, 3 or 4 is the number of the four corner measuring points, k is a positive integer, is the actual Z-axis coordinate of the second center point of the target corresponding to the i-th corner measuring point at the current measuring time point, is the actual Z-axis coordinate of the second center point of the target corresponding to the i-th corner measuring point at the current measuring time point, is the actual Z-axis coordinate of the second center point of the target corresponding to the i-th corner measuring point at the last time point, △Z is the height difference between the height value of the second center point of the target corresponding to the i-th corner measuring point at the current measuring time point and the last time point on the real-time image, and P is a conversion coefficient. calculating a real-time actual X-axis coordinate of a second center point of the target according to a second formula, the second formula being: wherein i=1, 2, 3 or 4 is a number of the four corner end measuring points, k is a positive integer, is a current measuring time point, is an X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the current measuring time point, is an X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at a previous measuring time point, ΔX is an X-axis direction distance difference between the current measuring time point and the previous measuring time point of the second center point of the target corresponding to the i-th corner end measuring point, and P is a conversion coefficient, wherein when the initial position of the corner end measuring point is on the positive half axis of the X-axis, the conversion coefficient is taken as "-"; and when the initial position of the corner end measuring point is on the negative half axis of the X-axis, the conversion coefficient is taken as "+". The real-time actual Y axis coordinate of the second center point of each target is calculated according to a first formula group, and the first formula group is: where i = 1, 2, 3 or 4 is the number of the four corner end points, k is a positive integer, is the horizontal rotation angle of the current measurement time point of the i-th corner end point relative to the initial position around the center point of the second three-dimensional coordinate system, is the angle of the plane perpendicular to the surface of the target 34 at the initial position of the i-th corner end point and the line connecting the focal points of the two monocular cameras, is the angle of the plane perpendicular to the surface of the target 34 at the current measurement time point of the i-th corner end point and the line connecting the focal points of the two monocular cameras, is the angle at the initial position of the i-th corner end point, is the actual X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end point at the initial position, is the actual Y-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end point at the initial position, is the actual Y-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end point at the current measurement time point, is the actual X-axis coordinate of the second center point of the target 34 corresponding to the i-th corner end point at the current measurement time point. The first height value from the first center point of the target lamp to the surface of the main beam and the second height value from the second center point of the target to the surface of the main beam are obtained, and the actual X axis coordinate, the actual Y axis coordinate and the actual Z axis coordinate of each target are all subtracted by the first height value and the second height value, so that the real-time three-dimensional coordinates of the angle end measuring point corresponding to each target in the first three-dimensional coordinate system are obtained.

4. The bridge turnkey construction process monitoring method of claim 3, wherein, calculating an actual X-axis coordinate of the second center point initial position of the target corresponding to the i-th angle end measuring point by a third formula The third formula is: In the formula, M is the length of the main beam, m i is the distance from the i-th angle end measuring point to the nearest wide side. calculating an actual Y-axis coordinate of the second center point initial position of the target corresponding to the i-th angle end measuring point by a fourth formula The fourth formula is: In the formula, N is the length of the main beam, n i is the distance of the i-th angle end measuring point to the nearest long side.

5. The bridge turnkey construction process monitoring method of claim 1, wherein, The real-time three-dimensional coordinates of the four angle end measuring points in the first three-dimensional coordinate system are obtained through the real-time images, further comprising: The real-time rotation speed of the bridge is calculated according to the variation of the X-axis coordinate and the Y-axis coordinate of each of the corner end measuring points within a preset time interval.

6. The bridge turnkey construction process monitoring method of claim 5, wherein, The real-time rotation speed of the main girder is calculated by replacing the rotation curve distance of the main girder with a straight line distance and by using a second formula set, wherein the second formula set is: In the formula, is the actual X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the current measuring time point, is the actual X-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the previous measuring time point, is the actual Y-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the current measuring time point, is the actual Y-axis coordinate of the second center point of the target corresponding to the i-th corner end measuring point at the previous measuring time point, V is the real-time rotating speed, and T is the time interval between the current measuring time point and the previous measuring time point.

7. The method of monitoring the process of bridge swivel construction according to any of claims 1 to 6, characterized in that, The real-time three-dimensional coordinates of the four corner end measuring points in the first three-dimensional coordinate system obtained from the real-time image further include: The longitudinal torsion angle and the transverse torsion angle of the bridge are obtained according to the real-time three-dimensional coordinates of each of the corner end measuring points.

8. The bridge turnkey construction process monitoring method of claim 6, wherein, The longitudinal torsion angle and the transverse torsion angle of the bridge are obtained according to a third formula set, wherein the third formula set is: In the formula, is the actual Z-axis coordinate of the second center point of the target corresponding to the current measurement time point of the i-th angle end measurement point, is the actual Z-axis coordinate of the second center point of the target corresponding to the current measurement time point of the i-th angle end measurement point, is the actual X-axis coordinate of the second center point of the target corresponding to the current measurement time point of the i-th angle end measurement point, is the actual Y-axis coordinate of the i-th angle end measurement point at the current measurement time point, is the actual Y-axis coordinate of the i-th angle end measurement point at the current measurement time point.

Images