A prefabricated pier installation control method based on measurement image recognition

Abstract

The application relates to the technical field of pier installation, in particular to a prefabricated pier installation control method based on measurement image recognition. The method collects and processes a plurality of different types of data information of each region of a prefabricated pier installation site, constructs a space-time three-dimensional model based on the data information, and obtains space-time three-dimensional optical flow data. Position accuracy analysis is carried out based on the space-time three-dimensional optical flow data to determine an end position deviation value, and whether the installation process of the prefabricated pier conforms to the standard is determined based on the comparison result of the end position deviation value and an end position deviation range. When qualified, multi-stage leveling is adopted to complete installation. When there is an anomaly, the anomaly reason is determined again in combination with a perpendicularity deviation value, or the installation is stopped. The position accuracy analysis through the space-time three-dimensional optical flow data can monitor the spatial pose change of the prefabricated pier in real time, and then dynamic feedback can be provided for the installation process, so that the installation quality risk is reduced, and the installation efficiency is improved.

Description

A Precast Bridge Pier Installation Control Method Based on Measurement Image Recognition Technical Field

[0001] This invention relates to the field of bridge pier installation technology, and in particular to a method for controlling the installation of prefabricated bridge piers based on measurement image recognition. Background Technology

[0002] With rapid urban development and transportation network upgrades, prefabricated bridges have become the mainstream construction method due to their advantages such as high construction efficiency, controllable quality, and minimal environmental impact. Especially in the prefabricated pier installation stage, the traditional cast-in-place method requires temporary road occupancy for 6 months (16 meters wide), while fully prefabricated construction only requires 3 months (14 meters wide), significantly reducing both the construction period and the road occupancy area. In building engineering, "measurement image recognition" is an intelligent technology that transforms on-site image / video data into quantifiable and analyzable spatial information; it can drive bridge construction from "experience-driven" to "data-driven," improving bridge construction efficiency and accuracy.

[0003] Chinese Patent Publication No. CN116774614A discloses an intelligent assembly system and method for precast bridge piers. In this technical solution, a prefabrication yard measurement unit sends the status of precast components to a central control unit. The central control unit compares the status data of the precast components and the on-site structure with pre-stored theoretical data to determine the error between them and performs an evaluation. If the error is too large, a non-compliance instruction and the reason for non-compliance are sent to the prefabrication yard unit; if the error is normal, a compliance instruction is sent to both the prefabrication yard unit and the on-site unit. When the prefabrication yard unit receives a non-compliance instruction, a reason for non-compliance, or a mismatch instruction and reason for mismatch, it adjusts the precast components, thereby improving the prefabrication quality and installation efficiency of the precast bridge piers. The relevant technical solution is to adjust the prefabrication process of precast bridge piers according to the current installation situation to improve installation efficiency. However, due to the lack of precise identification, monitoring and control during the installation process, this technical solution will lead to an increase in the manufacturing cost of precast bridge piers under different installation scenarios, which is not conducive to the mass production of precast bridge piers. Furthermore, it ignores the fact that the hoisting process is a continuous dynamic process, and even if the precast components are modified, there is still a risk of hoisting loss of control during the hoisting process. Summary of the Invention

[0004] To address this issue, the present invention provides a precast bridge pier installation control method based on measurement image recognition, which solves the problem that the existing technology relies on static features for the analysis of the hoisting process, while neglecting the fact that the hoisting process is a continuous dynamic process and lacks dynamic feedback adjustment of the hoisting process.

[0005] To achieve the above objectives, the present invention provides a method for controlling the installation of precast bridge piers based on measurement image recognition, comprising:

[0006] By arranging several data acquisition terminals at the top of the hoisting area, the side of the precast bridge pier, and the corresponding positions of the ground control points at the precast bridge pier installation site, several different types of data information are obtained.

[0007] The collected data of different types are processed;

[0008] A spatiotemporal three-dimensional model is constructed based on the processed data of several different types, and calculations are performed based on the spatiotemporal three-dimensional model to obtain spatiotemporal three-dimensional optical flow data during the installation process.

[0009] Determining the motion trajectory of the precast bridge pier based on the spatiotemporal three-dimensional optical flow data includes performing position accuracy analysis based on the spatiotemporal three-dimensional optical flow data to determine the end position deviation value of the precast bridge pier, and determining whether the installation process of the precast bridge pier meets the standard based on the comparison result between the end position deviation value and the end position deviation range.

[0010] If an abnormality is found in the installation process of the precast bridge pier, the cause of the abnormality should be re-determined and the movement trajectory of the precast bridge pier should be corrected by combining the verticality deviation value, or the installation should be stopped.

[0011] When determining that the installation process of precast bridge piers meets the standards, multi-stage leveling is used for placement.

[0012] Furthermore, the process of performing positional accuracy analysis based on the spatiotemporal three-dimensional optical flow data to determine the end position deviation value of the precast bridge pier includes:

[0013] During the positional accuracy analysis, the three-dimensional positional deviation, torsion angle deviation, and external dimensional parameters of the precast bridge pier were determined.

[0014] The end position deviation value is calculated based on the three-dimensional position deviation value, the torsion angle deviation value, and the external dimension parameters.

[0015] Furthermore, the process of determining whether the installation process of the precast bridge pier meets the standard based on the comparison result of the end position deviation value and the end position deviation range includes:

[0016] If the comparison result meets the first judgment condition, then the installation process of the precast bridge pier is determined to meet the standard;

[0017] If the comparison result does not meet the first judgment condition but meets the second judgment condition, then the reason for the abnormality in the installation process of the precast bridge pier is re-determined based on the verticality deviation value and the movement trajectory of the precast bridge pier is corrected. The verticality deviation value is determined based on the position accuracy analysis.

[0018] If the comparison results do not meet both the first and second judgment conditions, the installation will stop.

[0019] The end position deviation range includes a first end position deviation range and a second end position deviation range. The first determination condition is that the end position deviation value belongs to the first end position deviation range, and the second determination condition is that the end position deviation value belongs to the second end position deviation range.

[0020] Furthermore, if the comparison result does not meet the first judgment condition but meets the second judgment condition, the installation process of the precast pier is re-judged based on the comparison results of the verticality deviation value with the critical verticality deviation value and the precast pier height ratio value.

[0021] If the verticality deviation value is less than or equal to the critical verticality deviation value and less than or equal to the precast pier height ratio value, the installation process of the precast pier is deemed to meet the standard.

[0022] If the verticality deviation value is greater than the critical verticality deviation value or greater than the precast pier height ratio value, it is determined that the installation process of the precast pier is abnormal, and the cause of the abnormality is determined and the movement trajectory of the precast pier is corrected based on the type of deviation that causes the positional deviation to be different from the expected.

[0023] The precast pier height ratio is calculated by multiplying the precast pier height by a ratio coefficient, and the ratio coefficient ranges from greater than 0 to less than 1; the deviation types include horizontal deviation, elevation deviation and torsional angle deviation.

[0024] Furthermore, when the horizontal deviation value is greater than or equal to the critical horizontal deviation value, the deviation type that causes the abnormality in the installation process of the precast bridge pier is determined to be the horizontal deviation, and the power of the horizontal drive actuator in the corresponding installation equipment is adjusted based on the amount of horizontal deviation.

[0025] The power of the horizontal drive actuator is increased based on the comparison result between the horizontal deviation and the preset horizontal deviation, and the increase in power is positively correlated with the horizontal deviation.

[0026] The horizontal deviation value is one of the three-dimensional position deviation values ​​determined by position accuracy analysis based on the spatiotemporal three-dimensional optical flow data, and the horizontal deviation amount is the difference between the horizontal deviation value and the critical horizontal deviation value.

[0027] Furthermore, when the elevation deviation value is greater than or equal to the critical elevation deviation value, the type of deviation that causes the abnormality in the installation process of the precast bridge pier is determined to be the elevation direction deviation, and the tension of the slings in the corresponding installation equipment is adjusted based on the elevation deviation amount.

[0028] The elevation deviation value is one of the three-dimensional position deviation values ​​determined by position accuracy analysis based on the spatiotemporal three-dimensional optical flow data, and the elevation deviation amount is the difference between the elevation deviation value and the critical elevation deviation value.

[0029] Furthermore, the process of determining and adjusting the tension of the slings in the corresponding installation equipment based on the elevation deviation includes:

[0030] The tension of the sling is increased based on the comparison between the elevation deviation and the preset elevation deviation, and the increase in tension is positively correlated with the elevation deviation.

[0031] Furthermore, when the torsional angle deviation value is greater than or equal to the critical torsional angle deviation value, the deviation type that causes the abnormality in the installation process of the precast bridge pier is determined to be the torsional angle deviation, and the rotational torque in the corresponding installation equipment is adjusted based on the torsional angle deviation amount.

[0032] The torsion angle deviation value is determined by positional accuracy analysis based on the spatiotemporal three-dimensional optical flow data, and the torsion angle deviation amount is the difference between the torsion angle deviation value and the critical torsion angle deviation value.

[0033] Furthermore, the process of determining the rotational torque in the corresponding installation equipment based on the deviation of the torsion angle includes:

[0034] The rotational torque is increased based on the comparison between the deviation of the torsion angle and the preset deviation of the torsion angle, and the increase in torsion is positively correlated with the deviation of the torsion angle.

[0035] Furthermore, after determining the cause of the anomaly based on the deviation type and making corresponding adjustments, the verticality deviation value is obtained again and compared with the critical verticality deviation value and the precast pier height ratio value respectively.

[0036] If the verticality deviation value is still greater than the critical verticality deviation value or greater than the precast pier height ratio value, the installation shall be stopped.

[0037] Compared with existing technologies, the beneficial effects of the precast bridge pier installation control method based on measurement image recognition of the present invention are as follows: This method collects and processes various types of data information from the top of the hoisting area, the side of the precast bridge pier, and ground control points at the precast bridge pier installation site. Based on the processed data information, a spatiotemporal three-dimensional model is constructed to obtain spatiotemporal three-dimensional optical flow data during the installation process. Then, based on the spatiotemporal three-dimensional optical flow data, positional accuracy analysis is performed to determine the end position deviation value of the precast bridge pier. Based on the comparison result of the end position deviation value and the end position deviation range, it is determined whether the installation process of the precast bridge pier meets the standard. When the installation process is determined to be qualified, multi-level leveling is used to position the pier to complete the installation. When an abnormality is determined to exist in the installation process, the cause of the abnormality is re-determined and the movement trajectory of the precast bridge pier is corrected by combining the verticality deviation value, or the installation is stopped. The present invention obtains spatiotemporal three-dimensional optical flow data through measurement image recognition and analysis. The positional accuracy analysis based on the spatiotemporal three-dimensional optical flow data can monitor the spatial pose changes of the precast bridge pier in real time, thereby providing dynamic feedback for the continuous installation process of the precast bridge pier, thereby reducing the installation quality risk and improving the installation efficiency.

[0038] Furthermore, the present invention compares the verticality deviation value with the critical verticality deviation value and the precast pier height ratio value to further determine whether there is an abnormality in the current installation process that does not meet the first judgment condition but meets the second judgment condition, thereby reducing the probability of misjudgment and improving the accuracy of the judgment process; when it is determined that there is an abnormality in the current installation process, the cause of the abnormality can be determined according to the deviation type, and then the movement trajectory of the precast pier can be corrected according to the cause, thereby improving the success rate of the hoisting of precast piers.

[0039] Furthermore, when the present invention determines that the deviation type is a horizontal deviation based on the comparison result of the horizontal deviation value and the critical horizontal deviation value, it can determine the increase in the power of the horizontal drive actuator based on the comparison result of the horizontal deviation amount and the preset horizontal deviation amount, so as to achieve precise dynamic control of the horizontal thrust, realize horizontal deviation compensation, and then correct the horizontal deviation value to eliminate installation deviation, thereby improving the success rate of the hoisting of precast bridge piers.

[0040] Furthermore, when the present invention determines that the deviation type is an elevation direction deviation based on the comparison result of the elevation deviation value and the critical elevation deviation value, it can determine the increase in the sling tension based on the comparison result of the elevation deviation amount and the preset elevation deviation amount, so as to achieve precise dynamic control of elevation direction displacement, compensate for elevation deviation, and then correct the elevation deviation value to eliminate installation deviation. Through precise differential control of sling tension, the pier elevation can be adjusted more conveniently, thereby improving the success rate of precast pier hoisting.

[0041] Furthermore, when the present invention determines that the deviation type is a torsion angle deviation based on the comparison result of the torsion angle deviation value and the critical torsion angle deviation value, it can determine the increase of the rotation torque based on the comparison result of the torsion angle deviation amount and the preset torsion angle deviation amount, so as to achieve precise dynamic control of torsion offset. This can effectively adjust the rotation angle offset of the pier, compensate for the torsion angle deviation, and then correct the torsion angle deviation value to eliminate installation deviation, thereby improving the success rate of hoisting precast piers. Attached Figure Description

[0042] Figure 1 is a schematic diagram of the prefabricated bridge pier installation control system based on measurement image recognition in this invention;

[0043] Figure 2 is a flowchart illustrating the prefabricated bridge pier installation control method based on measurement image recognition in this invention.

[0044] Figure 3 is a logic diagram for determining whether the installation process of precast bridge piers meets the standards and the corresponding processing based on the end position deviation value in this invention.

[0045] Figure 4 is a logic diagram of the prefabricated bridge pier installation process re-determining based on verticality deviation in this invention;

[0046] Figure 5 is a logic diagram for determining the cause of anomalies and correcting the movement trajectory of precast bridge piers based on the type of deviation in this invention. Detailed Implementation

[0047] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0048] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0049] It should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Please refer to Figure 1, which is a schematic diagram of the precast bridge pier installation control system based on measurement image recognition in this embodiment. The system mentioned in the embodiment includes a data acquisition layer, a data processing layer, a spatiotemporal model construction layer, an installation process analysis layer, and an installation process control layer. The data acquisition layer includes several data acquisition terminals for acquiring data from the top of the hoisting area, the side of the precast bridge pier, and ground control points at the precast bridge pier installation site. The several data acquisition terminals acquire several different types of data information. The data processing layer is connected to the data acquisition layer and is used to process the several different types of data information. The spatiotemporal model construction layer is connected to the data processing layer and is used to construct a spatiotemporal three-dimensional model based on the processed several different types of data information, and to calculate and obtain spatiotemporal three-dimensional optical flow data during the installation process based on the spatiotemporal three-dimensional model. The installation process analysis layer is connected to the spatiotemporal model construction layer and is used to calculate and obtain spatiotemporal three-dimensional optical flow data during the installation process based on the spatiotemporal three-dimensional model. The motion trajectory of the precast bridge pier is determined using three-dimensional optical flow data, including: performing positional accuracy analysis based on spatiotemporal three-dimensional optical flow data to determine the end position deviation value of the precast bridge pier; and determining whether the installation process of the precast bridge pier meets the standard based on the comparison result between the end position deviation value and the end position deviation range. An installation process control layer, connected to the installation process analysis layer, is used to re-determine the cause of the abnormality and correct the motion trajectory of the precast bridge pier, or stop installation, in the event that an abnormality is determined in the installation process of the precast bridge pier, by combining the verticality deviation value. The installation process control layer is also used to perform multi-level leveling for placement when the installation process of the precast bridge pier meets the standard.

[0051] Specifically, in this embodiment, the top of the hoisting area refers to the uppermost core area of ​​the precast pier hoisting operation space, including the sling convergence area, the area below the crane main hook, and the pier top lifting lug anchorage area; the side of the precast pier refers to the vertical surface facing the crane operator or ground observer during the hoisting process, which changes as the pier rotates; the ground control point refers to a physical marker point with precisely known three-dimensional coordinates set on the ground or stable object at the construction site, used to provide an absolute spatial reference for the entire measurement system, and serves as a bridge connecting image / point cloud data with the real-world coordinate system.

[0052] The data acquisition terminal includes optical imaging devices such as multispectral cameras, wide-angle cameras, and zoom cameras, used to output two-dimensional image data information such as spectral images, panoramic photos, and video streams. These devices achieve global coverage of the top of the hoisting area and the sides of the precast piers during installation, and track key feature points. The distance between any two optical imaging devices should be at least three times their baseline distance to reduce blind spots and control costs. The data acquisition terminal also includes active ranging devices such as laser scanners and structured light projectors, used to output three-dimensional point cloud data information including spatial coordinates (x, y, z) and reflection intensity / color. These devices establish an absolute coordinate system based on ground control points. Finally, the data acquisition terminal includes a synchronous multi-camera system and an IMU (Inertial Measurement Unit) for outputting four-dimensional spatiotemporal data information including three-dimensional coordinates and timestamp motion trajectories. All these devices serve as front-end sensing units during the precast pier installation process, providing raw data input for obtaining spatiotemporal three-dimensional optical flow.

[0053] Processing methods for 2D image data include denoising, smoothing, geometric correction, and local feature extraction; processing methods for 3D point cloud data include data cleaning, spatial registration, and point cloud segmentation; processing methods for 4D spatiotemporal data include spatiotemporal data cleaning, spatiotemporal registration and fusion, and dynamic feature extraction. 4D spatiotemporal data is composed of 3D spatial data and temporal data. By processing several different types of data, substandard and potentially problematic data is eliminated to ensure the reliability of the data used for subsequent spatiotemporal 3D model construction.

[0054] The data acquisition layer acquires dynamic sequence image information, point cloud data information, and four-dimensional spatiotemporal data information in real time during the installation of precast bridge piers. Based on this, a spatiotemporal three-dimensional model is initially constructed. Then, artificial intelligence technologies such as deep learning algorithms are combined with the model to train the model. Finally, calculations are performed based on the model to output spatiotemporal three-dimensional optical flow data. The spatiotemporal three-dimensional optical flow data can be analyzed to output the motion trajectory of the precast bridge piers during the installation process.

[0055] When determining the motion trajectory of precast bridge piers based on spatiotemporal three-dimensional optical flow data, positional accuracy analysis of the spatiotemporal three-dimensional optical flow data can be performed to determine the end position deviation value of the precast bridge pier. The end position deviation value can reflect all dynamic parameters of the precast bridge pier during the installation process, including velocity, acceleration, and vibration. Controlling the end position deviation value within a reasonable range can achieve precise docking during the bridge pier installation process. Analyzing the comparison results between the end position deviation value and the end position deviation range can determine whether the current installation process meets the standards. When the installation process of the precast bridge pier is determined to meet the standards, multi-level leveling can be used to position the pier along its current motion trajectory. When an anomaly is determined in the installation process of the precast bridge pier, a re-judgment can be made based on the comparison results and the verticality deviation value to improve the judgment accuracy and determine the cause of the anomaly. Furthermore, the type of deviation that causes the position deviation to be different from the expectation can be analyzed, and the cause of the anomaly can be determined based on the deviation type. The motion trajectory of the precast bridge pier can be corrected based on the cause of the anomaly, or the installation can be stopped. By measuring image recognition and analysis to obtain spatiotemporal three-dimensional optical flow data, and performing positional accuracy analysis based on this data, the spatial pose changes of precast bridge piers can be monitored in real time. This provides dynamic feedback for the continuous installation process of precast bridge piers, thereby reducing installation quality risks and improving installation efficiency. In this embodiment, multi-level leveling is achieved using a three-level leveling system. First, coarse leveling is performed by judging the installation process of the precast bridge piers. Then, fine leveling is performed using hydraulic jacks and other methods. Finally, millimeter-level fine adjustments are made using piezoelectric ceramic actuators and other methods. After leveling, precise and collision-free placement installation is achieved.

[0056] Please refer to Figure 2, which is a flowchart illustrating the precast bridge pier installation control method based on measurement image recognition in this embodiment. The process mentioned in the embodiment includes at least the following steps:

[0057] S1: By arranging several data acquisition terminals at the top of the hoisting area, the side of the precast bridge pier, and the corresponding positions of the ground control points at the precast bridge pier installation site, several different types of data information are obtained.

[0058] S2: Process the collected data of several different types;

[0059] S3: Construct a spatiotemporal three-dimensional model based on several different types of processed data information, and perform calculations based on the spatiotemporal three-dimensional model to obtain spatiotemporal three-dimensional optical flow data during the installation process;

[0060] S4: Determine the motion trajectory of the precast bridge pier based on spatiotemporal three-dimensional optical flow data, including performing position accuracy analysis based on spatiotemporal three-dimensional optical flow data to determine the end position deviation value of the precast bridge pier, and judging whether the installation process of the precast bridge pier meets the standard based on the comparison result of the end position deviation value and the end position deviation range.

[0061] S51: When it is determined that there is an abnormality in the installation process of the precast bridge pier, the cause of the abnormality should be re-determined and the movement trajectory of the precast bridge pier should be corrected by combining the verticality deviation value, or the installation should be stopped.

[0062] S52: When determining that the installation process of precast bridge piers meets the standards, multi-level leveling shall be used for placement.

[0063] Furthermore, the process of determining the end position deviation value of the precast bridge pier by performing position accuracy analysis based on the spatiotemporal three-dimensional optical flow data includes: determining the three-dimensional position deviation value, torsion angle deviation value, and external dimension parameters of the precast bridge pier during position accuracy analysis; and calculating the end position deviation value based on the three-dimensional position deviation value, the torsion angle deviation value, and the external dimension parameters.

[0064] Specifically, in this embodiment, preliminary positional accuracy analysis is performed based on spatiotemporal three-dimensional optical flow data to obtain corresponding three-dimensional positional deviation values, axial torsional angle deviation values, and external dimensional parameters of the precast pier. The three-dimensional positional deviation values ​​include a first horizontal deviation value Δx, a second horizontal deviation value Δy, and an elevation deviation value Δz. The first deviation value Δx is the offset of the precast pier axis in the east-west direction, the second deviation value Δy is the offset of the precast pier axis in the north-south direction, and the elevation deviation value Δz is the difference between the bottom surface of the precast pier and the installation platform along a path perpendicular to the ground plane. The units of Δx, Δy, and Δz are all mm. The system also includes a torsional angle deviation value Δθ calculated around the vertical axis of the precast pier, in radians, and external dimensional parameters including the radius R of the precast pier, in mm. The three-dimensional coordinates at this time adopt the engineering coordinate system.

[0065] Please refer to Figure 3, which is a logic diagram for determining whether the installation process of the precast bridge pier meets the standard based on the end position deviation value in this embodiment, and the corresponding processing. The process of determining whether the installation process of the precast bridge pier meets the standard based on the comparison result of the end position deviation value and the end position deviation range includes: if the comparison result meets the first determination condition, the installation process of the precast bridge pier is determined to meet the standard; if the comparison result does not meet the first determination condition but meets the second determination condition, the cause of the abnormality in the installation process of the precast bridge pier is re-determined in conjunction with the verticality deviation value, and the movement trajectory of the precast bridge pier is corrected, wherein the verticality deviation value is determined based on the position accuracy analysis; if the comparison result does not meet both the first determination condition and the second determination condition, the installation is stopped; wherein the end position deviation range includes a first end position deviation range and a second end position deviation range, the first determination condition is that the end position deviation value belongs to the first end position deviation range, and the second determination condition is that the end position deviation value belongs to the second end position deviation range.

[0066] Specifically, in this embodiment, according to relevant construction specifications for bridge piers, there is another important parameter during the pier installation process: the verticality deviation value A. Based on the comparison between the end position deviation value δ and the end position deviation range δ0, a re-evaluation can be made using the verticality deviation value A to improve the accuracy of the evaluation and ensure construction safety. The verticality deviation value A can also be determined through positional accuracy analysis using spatiotemporal three-dimensional optical flow data. In the process of evaluating the installation of precast bridge piers, multiple different types of parameters are often used, but ultimately, they all serve to achieve precise alignment of the bridge pier with the installation location. Therefore, by focusing on the most crucial parameter, the end position deviation value δ, and ensuring that δ remains within the standard requirements, the minimum installation requirements can be met. At this point, δ can be positive, negative, or zero. Even if other parameters exceed the standards, corrections can be made based on this, without requiring rework. A threshold value δ0 corresponding to the end position deviation value δ can be set as a comparison threshold to evaluate δ. To more accurately judge the installation process, the end position deviation range δ0 can be divided into a first end position deviation range δ1 and a second end position deviation range δ2. Based on the parameters that meet the standards statistically obtained during historical installations and combined with statistical analysis methods, and by pre-determining the values ​​of the corresponding preset or critical parameters, δ1=[-1.5, 1.5]mm and δ2=[-3, 3]mm can be set. δ1 is used as the acceptable limit range value, and δ2 is used as the warning trigger range value. The process of comparing δ with δ1 and δ2 is as follows:

[0067] If δ belongs to δ1, i.e., -1.5 ≤ δ ≤ 1.5, then the comparison result meets the first judgment condition, indicating that the movement trajectory of the precast pier during installation is within the ideal limit range. Therefore, the current installation process is directly judged to be in compliance with the standard. At this time, it is only necessary to use multi-level leveling for placement according to the current hoisting. If δ exceeds δ1 but belongs to δ2, i.e., the calculated δ value range is -3 ≤ δ < -1.5 or 1.5 < δ ≤ 3, then the comparison result does not meet the first judgment condition but meets the second judgment condition. This indicates that although the movement trajectory of the precast pier during installation exceeds the ideal limit range, it is still within the warning trigger range. This means that the deviation of the current precast pier movement is relatively small. The deviation may be caused by interference from other low-abnormal factors. A new parameter A can be introduced, and further judgment can be made based on A to determine the cause of the abnormality and the correction method for the movement trajectory of the precast pier based on the cause. The collaborative judgment with the new parameter can reduce the probability of misjudgment when relying on a single indicator, thereby improving the accuracy of the judgment process. If δ exceeds δ2, i.e. δ < -3 or δ > 3, then the comparison result does not meet either the first or the second judgment condition, indicating that the movement trajectory of the precast pier during installation has exceeded the warning range. It is determined that there is a major abnormality in the current installation process. For safety reasons, the installation needs to be stopped directly. Then, manual auxiliary inspections are carried out on each piece of equipment or system involved in the installation process and the precast pier itself to determine the reason why δ exceeds δ2.

[0068] Please refer to Figures 4 and 5. Figure 4 is a logic diagram for re-determining the installation process of precast bridge piers based on verticality deviation in this embodiment. Figure 5 is a logic diagram for determining the cause of abnormality and correcting the movement trajectory of precast bridge piers based on deviation type in this embodiment. If the comparison result does not meet the first judgment condition but meets the second judgment condition, the installation process of the precast pier is re-judged based on the comparison results of the verticality deviation value with the critical verticality deviation value and the precast pier height ratio value, respectively. If the verticality deviation value is less than or equal to the critical verticality deviation value and less than or equal to the precast pier height ratio value, the installation process of the precast pier is judged to be compliant with the standard. If the verticality deviation value is greater than the critical verticality deviation value or greater than the precast pier height ratio value, the installation process of the precast pier is judged to be abnormal, and the cause of the abnormality is determined and the movement trajectory of the precast pier is corrected based on the type of deviation that causes the positional deviation to be inconsistent with expectations. The precast pier height ratio value is calculated by multiplying the precast pier height by a ratio coefficient, and the ratio coefficient ranges from greater than 0 to less than 1. The deviation types include horizontal deviation, elevation deviation, and torsional angle deviation.

[0069] Specifically, in this embodiment, when the deviation in the judgment result is caused by interference from other low-abnormal factors, the verticality deviation value A can be obtained and compared with the critical verticality deviation value A0 and the precast pier height ratio value B0. This allows for a re-determination of whether the installation process, which does not meet the first judgment condition but meets the second judgment condition, is abnormal. At this point, the judgment is performed using dual-parameter coupling to improve structural safety and adjustability while controlling risk levels. A provides dynamic compensation space for δ, and A0 can be set to 5mm, B0 to 0.15%H, where H is the precast pier height and 0.15% is the proportional coefficient. The proportional coefficient can also be set to other suitable values ​​according to actual conditions. The process of comparing A with A0 and B0 is as follows:

[0070] If A is less than or equal to A0 and less than or equal to B0, it indicates that the precast pier meets both global stability and local adjustability constraints. This ensures both structural lifespan safety and repairability during construction. Therefore, even if δ exceeds δ1 but falls within δ2, the installation process of the precast pier is considered compliant, and multi-level leveling is employed for placement. If A is greater than A0 and less than or equal to B0, or A is less than or equal to A0 and greater than B0, or A is greater than A0 or greater than B0 (i.e., A is greater than A0 or greater than B0), it indicates that the precast pier only meets one of the global stability and local adjustability constraints. This means that the precast pier cannot simultaneously guarantee both structural lifespan safety and repairability during construction. Therefore, even if δ exceeds δ1 but falls within δ2, the installation process of the precast pier is considered abnormal, and spatiotemporal adjustments can be made. Three-dimensional optical flow data is used to analyze the motion trajectory of precast bridge piers to identify the types of deviations that cause positional deviations that do not meet expectations. These include horizontal deviations, elevation deviations, and torsional angle deviations. A positional deviation that does not meet expectations means that the motion trajectory of the precast bridge pier only exceeds the ideal limit range but does not exceed the warning trigger range. In this case, it is also judged as not meeting expectations. After identifying the type of deviation, the corresponding problematic equipment or components in the entire hoisting process are identified according to the type. Then, adjustments or optimizations are made to reduce the risk of hoisting loss of control and improve the hoisting success rate.

[0071] Furthermore, when the horizontal deviation value is greater than or equal to the critical horizontal deviation value, the deviation type causing the abnormality in the installation process of the precast bridge pier is determined to be the horizontal deviation. Based on the horizontal deviation amount, the power of the horizontal drive actuator in the corresponding installation equipment is adjusted. Based on the comparison result between the horizontal deviation amount and the preset horizontal deviation amount, the power of the horizontal drive actuator is increased, and the increase in power is positively correlated with the horizontal deviation amount. Herein, the horizontal deviation value belongs to one of the three-dimensional position deviation values ​​determined by position accuracy analysis based on the spatiotemporal three-dimensional optical flow data, and the horizontal deviation amount is the difference between the horizontal deviation value and the critical horizontal deviation value.

[0072] Specifically, in this embodiment, when determining the type of deviation, a critical horizontal deviation value K0 corresponding to the horizontal deviation value K is set. Δx and Δy are calculated, and the maximum value is taken as the calculated value of K. By comparing K and K0, it is determined whether the deviation type causing the current installation process abnormality is a horizontal deviation. K0 can be set to 4.2mm. The specific comparison process is as follows: if K is less than K0, it is determined that the deviation type causing the current installation process abnormality is not a horizontal deviation. At this time, other deviation types are determined. If the other deviation types are not the cause of the installation process abnormality, installation is stopped and manual assistance is provided. If K is greater than or equal to K0, it is determined that the deviation type causing the current installation process abnormality is a horizontal deviation. At this time, the difference between K and K0 is calculated and recorded as the horizontal deviation amount P. The power of the horizontal drive actuator is adjusted according to P. The horizontal drive actuator includes a hydraulic side-push fine-tuning device, a piezoelectric ceramic actuator, and an air suspension platform, etc.

[0073] In this embodiment, when the movement trajectory of the precast bridge pier does not conform to expectations, the horizontal thrust can be dynamically controlled by increasing the power of the horizontal drive actuator to achieve horizontal deviation compensation, thereby correcting the horizontal deviation value K to eliminate installation deviation. When determining to increase the power of the horizontal drive actuator according to P, in order to improve the accuracy of the adjustment process and more accurately determine the increase in the power of the horizontal drive actuator, the preset horizontal deviation P0 can be divided into a first preset horizontal deviation P1 and a second preset horizontal deviation P2, with P1=1.5mm and P2=2.5mm. The comparison process between P and P1 and P2 is as follows:

[0074] If P is less than or equal to P1, a first horizontal drive actuator power adjustment command is generated, increasing the power of the horizontal drive actuator that adjusts horizontal displacement during installation by 15%. If P is greater than P1 and less than or equal to P2, a second horizontal drive actuator power adjustment command is generated, increasing the power of the horizontal drive actuator that adjusts horizontal displacement during installation by 20%. If P is greater than P2, a third horizontal drive actuator power adjustment command is generated, increasing the power of the horizontal drive actuator that adjusts horizontal displacement during installation by 30%. It is understood that the increase in horizontal drive actuator power can also be set to other acceptable values, such as increasing the power by 16% when P is less than or equal to P1. It should be noted that the increase in horizontal drive actuator power is limited to a level that will not significantly affect the movement trajectory of the precast bridge piers or negatively impact the installation process. Horizontal adjustment is a repetitive process, involving continuous correction of Δx and Δy to adjust the installation position of the precast bridge piers.

[0075] Furthermore, when the elevation deviation value is greater than or equal to the critical elevation deviation value, the deviation type causing the abnormality in the installation process of the precast bridge pier is determined to be the elevation direction deviation, and the tension of the slings in the corresponding installation equipment is adjusted based on the elevation deviation amount; wherein, the elevation deviation value is one of the three-dimensional position deviation values ​​determined by position accuracy analysis based on the spatiotemporal three-dimensional optical flow data, and the elevation deviation amount is the difference between the elevation deviation value and the critical elevation deviation value.

[0076] Specifically, in this embodiment, when determining the type of deviation, a critical elevation deviation value G0 corresponding to the elevation deviation value G can be set. Here, G(Δz) is an absolute value. By comparing G and G0, it can be determined whether the deviation type causing the abnormality in the current installation process is an elevation direction deviation. G0 can be set to 5mm. The specific comparison process is as follows: if G is less than G0, it is determined that the deviation type causing the abnormality in the current installation process is not an elevation direction deviation. At this time, other deviation types are determined. If the other deviation types are not the cause of the abnormality in the installation process, the installation is stopped and manual assistance is performed. If G is greater than or equal to G0, it is determined that the deviation type causing the abnormality in the current installation process is an elevation direction deviation. At this time, the difference between G and G0 is calculated and recorded as the elevation deviation M. The cable tension is adjusted according to M. The adjustment of the cable tension comprehensively considers the sudden change in single cable tension, cable force imbalance, and tension at multiple suspension points. Through precise differential control of the cable tension, the pier elevation adjustment is converted into the elastic deformation energy of the cable system, thereby making it easier to adjust the pier elevation.

[0077] Furthermore, the process of determining the adjustment of the sling tension in the corresponding installation equipment based on the elevation deviation includes: increasing the sling tension based on the comparison result between the elevation deviation and the preset elevation deviation, wherein the increase in tension is positively correlated with the elevation deviation.

[0078] Specifically, in this embodiment, when the movement trajectory of the precast bridge pier does not conform to expectations, the elevation deviation can be compensated by increasing the displacement in the effectively adjustable elevation direction, thereby correcting the elevation deviation value G to eliminate the installation deviation. To improve the accuracy of the adjustment process and more accurately determine the increase in cable tension, the preset elevation deviation M0 can be divided into a first preset elevation deviation M1 and a second preset elevation deviation M2, with M1 = 1.7 mm and M2 = 3 mm. The comparison process between M and M1 and M2 is as follows:

[0079] If M is less than or equal to M1, a first cable tension adjustment command is generated, increasing the cable tension for adjusting elevation displacement during installation by 10%. If M is greater than M1 and less than or equal to M2, a second cable tension adjustment command is generated, increasing the cable tension for adjusting elevation displacement during installation by 15%. If M is greater than M2, a third cable tension adjustment command is generated, increasing the cable tension for adjusting elevation displacement during installation by 25%. It is understood that the increase in cable tension can also be set to other acceptable values, for example, increasing it by 23% when M is greater than M2. It should be noted that the increase in cable tension is limited to a level that will not significantly affect the movement trajectory of the precast piers or negatively impact the installation process.

[0080] Furthermore, when the torsional angle deviation value is greater than or equal to the critical torsional angle deviation value, the deviation type that causes the abnormality in the installation process of the precast bridge pier is determined to be the torsional angle deviation, and the rotational torque in the corresponding installation equipment is adjusted based on the torsional angle deviation amount; wherein, the torsional angle deviation value is determined by positional accuracy analysis based on the spatiotemporal three-dimensional optical flow data, and the torsional angle deviation amount is the difference between the torsional angle deviation value and the critical torsional angle deviation value.

[0081] Specifically, in this embodiment, when determining the type of deviation, a critical torsional angle deviation value T0 corresponding to the torsional angle deviation value T can be set. By comparing T (Δθ) with T0, it can be determined whether the deviation type causing the abnormality in the current installation process is a torsional angle deviation. T0 can be set to 0.55°. The specific comparison process is as follows: if T is less than T0, it is determined that the deviation type causing the abnormality in the current installation process is not a torsional angle deviation. At this time, other deviation types are determined. If the other deviation types are not the cause of the abnormality in the installation process, the installation is stopped and manual assistance is performed. If T is greater than or equal to T0, it is determined that the deviation type causing the abnormality in the current installation process is a torsional angle deviation. At this time, the difference between T and T0 is recorded as the torsional angle deviation Q. The rotational torque around the axial direction is adjusted according to Q. The equipment capable of adjusting the rotational torque includes servo rotating hooks, differential jacks, and eddy current brakes. The adjustment of the rotational torque comprehensively considers factors such as torsional overload, excessive angular velocity, wind-induced torque, and temperature deformation.

[0082] Furthermore, the process of determining the adjustment of the rotational torque in the corresponding installation equipment based on the deviation of the torsion angle includes: increasing the rotational torque based on the comparison result of the deviation of the torsion angle and the preset deviation of the torsion angle, wherein the increase in torsion is positively correlated with the deviation of the torsion angle.

[0083] Specifically, in this embodiment, when the movement trajectory of the precast bridge pier does not conform to expectations, the torsional offset can be dynamically controlled by increasing the rotational torque. This effectively adjusts the rotational angle offset of the bridge pier, compensates for the torsional angle deviation, and corrects the torsional angle deviation value T to eliminate installation deviation. To improve the accuracy of the adjustment process and more accurately determine the increase in rotational torque, the preset torsional angle deviation Q0 can be divided into a first preset torsional angle deviation Q1 and a second preset torsional angle deviation Q2, with Q1 = 0.35° and Q2 = 0.55°. The comparison process between Q and Q1 and Q2 is as follows:

[0084] If Q is less than or equal to Q1, a first rotational torque adjustment command is generated, which controls the rotational torque around the axial direction during installation, increasing it by 8% from the original value. If Q is greater than Q1 and less than or equal to Q2, a second rotational torque adjustment command is generated, which controls the rotational torque around the axial direction during installation, increasing it by 12% from the original value. If Q is greater than Q2, a third rotational torque adjustment command is generated, which controls the rotational torque around the axial direction during installation, increasing it by 15% from the original value. It is understood that the increase in rotational torque can also be set to other acceptable values, for example, increasing it by 16% when Q is greater than Q2. It should be noted that the increase in rotational torque is limited to a level that will not significantly affect the movement trajectory of the precast bridge piers or negatively impact the installation process.

[0085] Furthermore, after determining the cause of the anomaly based on the deviation type and making corresponding adjustments, the verticality deviation value is obtained again and compared with the critical verticality deviation value and the precast pier height ratio value respectively; if the verticality deviation value is still greater than the critical verticality deviation value or greater than the precast pier height ratio value, the installation is stopped.

[0086] Specifically, in this embodiment, after determining the specific type of deviation, the corresponding adjustment method can be known, including increasing the power of the horizontal drive actuator, increasing the tension of the sling, and increasing the rotational torque. After making the corresponding adjustments, the verticality deviation value A is re-detected and compared with the critical verticality deviation value A0 and the precast pier height ratio value B0 respectively. If A is less than or equal to A0 and less than or equal to B0, it means that the current adjustment is effective and the movement trajectory of the precast pier has met expectations, and the installation continues. If A is still greater than A0 or greater than B0, it means that the current adjustment still cannot make the movement trajectory of the precast pier meet expectations. Even if δ meets the second judgment condition, it can be determined that there is a major abnormality in the current installation process. For safety reasons, the installation needs to be stopped directly. Then, manual auxiliary detection is carried out on each piece of equipment or system involved in the installation process and the precast pier itself to determine the cause of the current abnormality, thereby reducing the risk of loss of control during hoisting.

[0087] It is understood that no specific limitation is made to any preset parameter or critical parameter in the embodiments of the present invention, and the above values ​​are not limited thereto. Those skilled in the art can make corresponding adjustments to the preset parameters or critical parameters according to actual needs, analysis of historical data, or equipment usage.

[0088] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0089] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling the installation of precast bridge piers based on measurement image recognition, characterized in that, include: Several data acquisition terminals are arranged at the top of the hoisting area, the side of the precast bridge pier, and the corresponding positions of the ground control points at the precast bridge pier installation site to acquire several different types of data information; the acquired data information is processed; a spatiotemporal three-dimensional model is constructed based on the processed data information, and spatiotemporal three-dimensional optical flow data during the installation process is obtained by performing calculations based on the spatiotemporal three-dimensional model. Determining the motion trajectory of the precast bridge pier based on the spatiotemporal three-dimensional optical flow data includes: performing positional accuracy analysis based on the spatiotemporal three-dimensional optical flow data to determine the end position deviation value of the precast bridge pier; and determining whether the installation process of the precast bridge pier meets the standard based on the comparison result of the end position deviation value and the end position deviation range; if it is determined that there is an abnormality in the installation process of the precast bridge pier, the cause of the abnormality is re-determined and the motion trajectory of the precast bridge pier is corrected in combination with the verticality deviation value, or the installation is stopped; if it is determined that the installation process of the precast bridge pier meets the standard, multi-level leveling is used for placement; and determining whether the installation process of the precast bridge pier meets the standard based on the comparison result of the end position deviation value and the end position deviation range. The process includes: if the comparison result meets the first judgment condition, then the installation process of the precast bridge pier is determined to meet the standard; if the comparison result does not meet the first judgment condition but meets the second judgment condition, then the cause of the abnormality in the installation process of the precast bridge pier is re-determined based on the verticality deviation value, and the movement trajectory of the precast bridge pier is corrected, wherein the verticality deviation value is determined based on position accuracy analysis; if the comparison result does not meet both the first and second judgment conditions, then the installation is stopped; wherein, the end position deviation range includes a first end position deviation range and a second end position deviation range, the first judgment condition is that the end position deviation value belongs to the first end position deviation range, and the second end position deviation range is determined to meet the standard. The second determination condition is that the end position deviation value belongs to the second end position deviation range. When the determination comparison result does not meet the first determination condition but meets the second determination condition, the installation process of the precast pier is re-determined based on the comparison results of the verticality deviation value with the critical verticality deviation value and the precast pier height ratio value, respectively. The determination is made through dual-parameter coupling and the verticality deviation value provides dynamic compensation space for the end position deviation value. If the verticality deviation value is less than or equal to the critical verticality deviation value and less than or equal to the precast pier height ratio value, the installation process of the precast pier is determined to be compliant with the standard. If the verticality deviation value is greater than the critical verticality deviation value or greater than the precast pier height ratio value, the installation process of the precast pier is determined to be compliant with the standard. When the precast pier height ratio is determined, it is determined that the installation process of the precast pier is abnormal. The cause of the abnormality is determined based on the type of deviation that causes the positional deviation to be inconsistent with expectations, and the movement trajectory of the precast pier is corrected. The precast pier height ratio is calculated by multiplying the precast pier height by a ratio coefficient, and the ratio coefficient ranges from greater than 0 to less than 1. The deviation types include horizontal deviation, elevation deviation, and torsional angle deviation. When the horizontal deviation value is greater than or equal to the critical horizontal deviation value, the deviation type causing the abnormality in the installation process of the precast pier is determined to be the horizontal deviation. The power of the horizontal drive actuator in the corresponding installation equipment is adjusted based on the horizontal deviation amount.The power of the horizontal drive actuator is increased based on the comparison between the horizontal deviation and the preset horizontal deviation, and the increase in power is positively correlated with the horizontal deviation. The horizontal deviation value is one of the three-dimensional position deviation values ​​determined by position accuracy analysis based on the spatiotemporal three-dimensional optical flow data, and the horizontal deviation is the difference between the horizontal deviation value and the critical horizontal deviation value. When the elevation deviation value is greater than or equal to the critical elevation deviation value, the deviation type causing the abnormality in the precast bridge pier installation process is determined to be the elevation direction deviation. Based on the elevation deviation, the tension of the slings in the corresponding installation equipment is adjusted. The value belongs to one of the three-dimensional position deviation values ​​determined by position accuracy analysis based on the spatiotemporal three-dimensional optical flow data. The elevation deviation is the difference between the elevation deviation value and the critical elevation deviation value. When the torsional angle deviation value is greater than or equal to the critical torsional angle deviation value, the deviation type causing the abnormality in the installation process of the precast bridge pier is determined to be the torsional angle deviation. Based on the torsional angle deviation, the rotation torque in the corresponding installation equipment is adjusted. The torsional angle deviation value is determined by position accuracy analysis based on the spatiotemporal three-dimensional optical flow data, and the torsional angle deviation is the difference between the torsional angle deviation value and the critical torsional angle deviation value.

2. The method for controlling the installation of precast bridge piers based on measurement image recognition according to claim 1, characterized in that, The process of determining the end position deviation value of the precast bridge pier by performing position accuracy analysis based on the spatiotemporal three-dimensional optical flow data includes: determining the three-dimensional position deviation value, torsion angle deviation value, and external dimension parameters of the precast bridge pier during position accuracy analysis; and calculating the end position deviation value based on the three-dimensional position deviation value, the torsion angle deviation value, and the external dimension parameters.

3. The method for controlling the installation of precast bridge piers based on measurement image recognition according to claim 1, characterized in that, The process of determining and adjusting the tension of the sling in the corresponding installation equipment based on the elevation deviation includes: increasing the tension of the sling based on the comparison result between the elevation deviation and the preset elevation deviation, wherein the increase in tension is positively correlated with the elevation deviation.

4. The method for controlling the installation of precast bridge piers based on measurement image recognition according to claim 1, characterized in that, The process of determining the adjustment of the rotational torque in the corresponding installation equipment based on the deviation of the torsion angle includes: increasing the rotational torque based on the comparison result of the deviation of the torsion angle and the preset deviation of the torsion angle, wherein the increase in torsion is positively correlated with the deviation of the torsion angle.

5. The method for controlling the installation of precast bridge piers based on measurement image recognition according to any one of claims 1, 3, or 4, characterized in that, After determining the cause of the abnormality based on the deviation type and making corresponding adjustments, the verticality deviation value is obtained again and compared with the critical verticality deviation value and the precast pier height ratio value respectively; if the verticality deviation value is still greater than the critical verticality deviation value or greater than the precast pier height ratio value, the installation is stopped.

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