Large-span arch bridge arch foot box type embedded section three-dimensional posture batch identification and adjustment method

Abstract

The invention discloses a large-span arch bridge arch foot box type embedded section three-dimensional posture batch recognition and adjustment method, and relates to the technical field of bridge engineering, square targets and cube targets are arranged on the periphery of an arch support, meanwhile, the cube targets are arranged at the center position, and control identification points are arranged on an embedded section; building a main observation station and a registration observation station based on the positions of the square target and the cube target, and generating complete three-dimensional attitude point cloud data of the embedded section; fitting point clouds of the outer walls of the four sides of each embedded section in the three-dimensional attitude point cloud data of the embedded section to obtain actually measured central axes of each embedded section; and the displacement deviation value of each control identification point is calculated based on the design central axis and the actually measured central axis, then the adjustment amount of the three-way jack is calculated according to the displacement deviation values, and the arch foot embedded section is accurately adjusted in place at a time. According to the method, the three-dimensional posture and the adjustment amount of the box-shaped embedded section of the arch foot of the large-span arch bridge during positioning and mounting can be quickly and accurately obtained, and millimeter-level positioning precision is achieved.

Description

Technical Field

[0001] This invention relates to the field of bridge engineering technology, and more specifically to a method for batch identification and adjustment of the three-dimensional posture of the pre-embedded box girder at the arch foot of a long-span arch bridge. Background Technology

[0002] The pre-embedded sections at the arch foot of long-span arch bridges are divided into three categories: upper chord, lower chord, and web members. Due to the significant weight of the box-type pre-embedded sections, assembling them before installation would result in substantial overloading of the cable-stayed crane, posing a construction safety hazard. Therefore, the box-type pre-embedded sections must be positioned and hoisted sequentially. Furthermore, excessive installation errors in the upper and lower chords and web member pre-embedded sections after assembly would prevent them from connecting to the first segment of the arch rib. Moreover, since each segment of the arch rib is hoisted tangentially based on the previous segment, errors in the inclination angle of the pre-embedded sections will cause an order-of-magnitude increase in the error of the mid-span closure section.

[0003] Traditional methods typically involve setting control points on the pre-embedded section and ensuring these points reach the target position during installation. However, this method has several drawbacks: (1) Control points are usually obtained by marking the theoretical characteristic positions of the pre-embedded section, leading to centering errors. Furthermore, the characteristic positions may differ significantly from the theoretical positions, resulting in large errors in the control points relative to the design reference, thus compromising the accuracy of the pre-embedded section's three-dimensional orientation during installation. (2) During installation, adjustments are made solely based on the measurement data of a few control points, making it impossible to accurately obtain the precise three-dimensional orientation of the entire pre-embedded section during installation. Ultimately, this results in the pre-embedded section's positioning accuracy failing to reach the millimeter level.

[0004] Therefore, how to provide a method for batch identification and adjustment of the three-dimensional posture of the pre-embedded box girder section of the arch foot of a long-span arch bridge, and quickly and accurately obtain the three-dimensional posture and adjustment amount during the positioning and installation of the pre-embedded box girder section of the arch foot of a long-span arch bridge, so as to achieve millimeter-level positioning accuracy, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a method for batch identification and adjustment of the three-dimensional attitude of the pre-embedded box girder section of the arch foot of a long-span arch bridge, which can quickly and accurately obtain the three-dimensional attitude and adjustment amount of the pre-embedded box girder section of the arch foot of a long-span arch bridge during positioning and installation, and achieve millimeter-level positioning accuracy.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a method for batch identification and adjustment of the three-dimensional attitude of the pre-embedded box girder section at the arch foot of a long-span arch bridge, comprising: Square targets and cube targets are arranged around the arch base, and a cube target is arranged in the center. Control markers are set on the pre-embedded section. Construct a bridge coordinate system and obtain the coordinates of the center of each square target and control marker point; based on the positions of the square and cube targets, build the main measuring station and registration measuring station to generate complete three-dimensional attitude point cloud data of the pre-embedded section. Fit the point cloud of the four outer walls of the pre-embedded section in the three-dimensional attitude point cloud data of the pre-embedded section to obtain the equations of each plane and the intersection line between the two planes. Based on the design drawings, the design centerline and the first and last end plane equations of various embedded sections are obtained. The measured centerline is obtained by combining the first and last end plane equations of the embedded sections with the intersection line. The differences in plane inclination angles of xoz and xoy are obtained based on the design centerline and the measured centerline, respectively, and the displacement deviation of each control marker point is calculated. Three-way jacks are placed below the control marker point. The adjustment amount of the three-way jacks is calculated based on the displacement deviation, and the pre-embedded section of the arch foot is adjusted and positioned.

[0007] Preferably, a main measuring station and a registration measuring station are built based on the positions of the square target and the cube target to obtain partial point cloud data of various pre-embedded sections; Among them, a location with a clear view of all square and cube targets was selected as the main measuring station, and point cloud data P of various pre-embedded sections with bridge coordinate system was obtained by scanning. E ; Several locations capable of observing two or more cube targets were selected as registration stations, and partial point cloud data of various pre-embedded sections with local coordinate systems were obtained by scanning. P Fj j represents the serial number of all registered stations; The transformation matrix between each registration station and the main station's point cloud is obtained, and the transformation matrix and the point cloud data of each type of pre-embedded segment are fused to generate complete three-dimensional attitude point cloud data of the pre-embedded segment.

[0008] Preferably, based on the point cloud data of various pre-embedded sections obtained from each registration station. Point cloud data in the same coordinate system as the main station were obtained based on the transformation matrix. And compared with the point clouds of various pre-embedded sections obtained by the main measuring station. By fusing the data, we obtain complete 3D attitude point cloud data of the embedded section with a bridge coordinate system. .

[0009] Preferably, the transformation matrix between each registered station and the main station's station cloud is obtained, including: fitting the centroids of the cube targets in the main station and each registered station and obtaining the centroid coordinates; Calculate the center coordinates of the centroids of the cube targets in the main station and each registered station; The centroid coordinates of the cube targets in the main station and each registered station are decentered, and singular value decomposition is performed between each registered station and the main station to obtain orthogonal matrices. The rotation and translation matrices between each registration station and the main station are obtained from the orthogonal matrix and assembled into a transformation matrix.

[0010] Preferably, the point clouds of the four outer walls of the pre-embedded section in the three-dimensional attitude point cloud data of the pre-embedded section are fitted to obtain the equations of each plane and the intersection lines between the two planes, including: Plane fitting was performed on the point clouds of the four outer walls of various embedded sections, which were compiled from the complete 3D attitude point cloud data of the embedded sections. Four planes ∑1, ∑2, ∑3, and ∑4 were obtained for each embedded section, and their normal vectors were respectively , , ; The equation of the plane is: ∑ m ; Where m is the plane number; Solving the equations of any two planes together yields the line of intersection between them, which is respectively... ， ， ， .

[0011] Preferably, based on the design drawings, the design centerline and the first and last end plane equations of various embedded sections are obtained. The measured centerline is then obtained by combining the first and last end plane equations of the embedded sections with their intersection lines, including: The pre-embedded section is designed with an inclination angle according to the design drawings. α Obtain the centerline vector in the design and the coordinates O1 of any point on the first and last end faces O2 ; Establish the equations of the first and last planes; ∑ 首 : ; ∑ 尾 : ; Combine the plane equations of the first and last ends of the pre-embedded section with the four intersection lines. , , , The coordinates of the 8 intersection points P are obtained. S1 P S2 P S3 P S4 P W1 P W2 P W3 P W4The coordinates P of the center point of the intersection of the first and last planes can be obtained using the following formula. ZS P ZW ; ; ; Then the measured centerline vector of the pre-embedded section for: .

[0012] Preferably, the plane inclination angle difference of xoz is calculated based on the design centerline and the measured centerline, including: The measured centerline vector Vector of the design centerline Projecting onto the xoz plane, the projection vectors are as follows: ; ; Calculate the difference in tilt angle of the xoz plane using the dot product formula. : ; The difference in plane inclination angle xoy is calculated based on the design centerline and the measured centerline, including: The measured centerline vector With design tilt vector Projecting onto the xoy plane, the projection vectors are as follows: ; ; Calculate the difference in tilt angle of the xoy plane using the dot product formula. : .

[0013] Preferably, the displacement deviation of each control marker point is calculated, including: Calculate the distances between the center of the intersection line between each control marker point and the end face of the pre-embedded section in the xoz and xoy planes, respectively. , and included angle β i γ i ; Adjust the control marker points based on the plane tilt angle difference, and calculate the angle β between the adjusted control marker points and the center of the intersection line of the tail end face on the xoz plane. i 'Angle γ with the xoy plane i ': ; ; Then adjust the coordinates of the control marker points. for: ; Displacement deviation of each control marker point (Δx) Δy Δz )for: Δ x = ; Δ y ; Δ z ; in, , , This represents the original coordinate data of the control marker points; , , This represents the coordinates of the center point of the intersection of the pre-embedded section's end face.

[0014] Preferably, three-way jacks are arranged below the control marker point. The adjustment amount of the three-way jacks is calculated based on the displacement deviation, and the pre-embedded section of the arch foot is adjusted and positioned in one go, including: Three-axis jacks are placed below the control markers to obtain the influence matrix of the unit change on the three-axis displacement of each control marker, and the adjustment amount of the three-axis jacks in each direction is obtained. The adjustment values ​​of the three-way jacks in each direction are input into the control system to adjust and position the pre-embedded section of the arch foot.

[0015] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a method for batch identification and adjustment of the three-dimensional attitude of the pre-embedded section of the arch foot of a long-span arch bridge. The beneficial effects of the present invention are as follows: (1) There is no need to mark the feature points of the arch bridge, thus avoiding the error in the production of the marking points.

[0016] (2) The three-dimensional attitude of the entire pre-embedded section can be obtained without a complicated transfer process, and the measurement data obtained is more complete and comprehensive, avoiding the impact of excessive errors at a few points on the reliability of the results.

[0017] (3) Only one calculation is needed to obtain the adjustment amount of the three-way jack, avoiding blind adjustment and improving positioning accuracy and efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a target provided in an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the target arrangement provided in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the arrangement of control marker points on the left side of the upper chord, provided in an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the scanning site layout provided in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of planar fitting provided for an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the four intersection lines of the fitting plane provided in an embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram of the pre-embedded section design inclination angle and arbitrary points on the first and last end faces provided in an embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram showing the intersection of four straight lines with the first and last end faces, provided in an embodiment of the present invention.

[0027] Figure 9 This is a schematic diagram of the xoz plane spacing and included angle provided for an embodiment of the present invention.

[0028] Figure 10 This is a schematic diagram of the xoy plane spacing and included angle provided in an embodiment of the present invention.

[0029] Figure 11 This is a schematic diagram of the pre-embedded section of the arch foot box girder of a large-span arch bridge provided in an embodiment of the present invention.

[0030] Figure 12 This is a schematic diagram illustrating a method for batch identification and adjustment of the three-dimensional posture of the pre-embedded box girder section at the arch foot of a long-span arch bridge, provided in an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] This invention discloses a method for batch identification and adjustment of the three-dimensional attitude of the pre-embedded box girder section at the arch foot of a long-span arch bridge, such as... Figure 12 As shown, it includes: Square targets and cube targets are arranged around the arch base, and a cube target is arranged in the center. Control markers are set on the pre-embedded section. Construct a bridge coordinate system and obtain the coordinates of the center of each square target and control marker point; based on the positions of the square and cube targets, build the main measuring station and registration measuring station to generate complete three-dimensional attitude point cloud data of the pre-embedded section. Fit the point cloud of the four outer walls of the pre-embedded section in the three-dimensional attitude point cloud data of the pre-embedded section to obtain the equations of each plane and the intersection line between the two planes. Based on the design drawings, the design centerline and the first and last end plane equations of various embedded sections are obtained. The measured centerline is obtained by combining the first and last end plane equations of the embedded sections with the intersection line. The differences in plane inclination angles of xoz and xoy are obtained based on the design centerline and the measured centerline, respectively, and the displacement deviation of each control marker point is calculated. Three-way jacks are placed below the control marker point. The adjustment amount of the three-way jacks is calculated based on the displacement deviation, and the pre-embedded section of the arch foot is adjusted and positioned.

[0033] Specifically, based on the positions of the square and cube targets, a main measuring station and a registration measuring station are built to obtain partial point cloud data of various pre-embedded sections; Among them, a location with a clear view of all square and cube targets was selected as the main measuring station, and point cloud data P of various pre-embedded sections with bridge coordinate system was obtained by scanning. E ; Several locations capable of observing two or more cube targets were selected as registration stations, and partial point cloud data P of various pre-embedded sections with local coordinate systems were obtained by scanning. Fj j represents the serial number of all registered stations; The transformation matrix between each registration station and the main station's point cloud is obtained, and the transformation matrix and the point cloud data of each type of pre-embedded segment are fused to generate complete three-dimensional attitude point cloud data of the pre-embedded segment.

[0034] Specifically, based on the point cloud data of various pre-embedded sections obtained from each registration station... Point cloud data in the same coordinate system as the main station were obtained based on the transformation matrix. And compared with the point clouds of various pre-embedded sections obtained by the main measuring station. By fusing the data, we obtain complete 3D attitude point cloud data of the embedded section with a bridge coordinate system. .

[0035] Specifically, the transformation matrix between each registered station and the main station's station cloud is obtained, including: fitting the centroid of the cube target in the main station and each registered station and obtaining the centroid coordinates; Calculate the center coordinates of the centroids of the cube targets in the main station and each registered station; The centroid coordinates of the cube targets in the main station and each registered station are decentered, and singular value decomposition is performed between each registered station and the main station to obtain orthogonal matrices. The rotation and translation matrices between each registration station and the main station are obtained from the orthogonal matrix and assembled into a transformation matrix.

[0036] Specifically, the point clouds of the four outer walls of the pre-embedded sections in the three-dimensional attitude point cloud data of the pre-embedded sections are fitted to obtain the equations of each plane and the intersection lines between two planes, including: Plane fitting was performed on the point clouds of the four outer walls of various embedded sections, which were compiled from the complete 3D attitude point cloud data of the embedded sections. Four planes ∑1, ∑2, ∑3, and ∑4 were obtained for each embedded section, and their normal vectors were respectively , , ; The equation of the plane is: ∑ m ; Where m is the plane number; Solving the equations of any two planes together yields the line of intersection between them, which is respectively... , , , .

[0037] Specifically, based on the design drawings, the design centerline and the first and last end plane equations of various embedded sections are obtained. The measured centerline is then obtained by combining the first and last end plane equations of the embedded sections with their intersection lines, including: The pre-embedded section is designed with an inclination angle according to the design drawings. α Obtain the centerline vector in the design and the coordinates O1 of any point on the first and last end faces O2 ; Establish the equations of the first and last planes; ∑ 首 : ; ∑ 尾 : ; Combine the plane equations of the first and last ends of the pre-embedded section with the four intersection lines. , , , The coordinates of the 8 intersection points P are obtained. S1 P S2 P S3 P S4 P W1 P W2 P W3 P W4 The coordinates P of the center point of the intersection of the first and last planes can be obtained using the following formula. ZS P ZW ; ; ; Then the measured centerline vector of the pre-embedded section for: .

[0038] Specifically, the difference in plane inclination angle xoz is calculated based on the design centerline and the measured centerline, including: The measured centerline vector Vector of the design centerline Projecting onto the xoz plane, the projection vectors are as follows: ; ; Calculate the difference in tilt angle of the xoz plane using the dot product formula. : ; The difference in plane inclination angle xoy is calculated based on the design centerline and the measured centerline, including: The measured centerline vector With design tilt vector Projecting onto the xoy plane, the projection vectors are as follows: ; ; Calculate the difference in tilt angle of the xoy plane using the dot product formula. : .

[0039] Specifically, calculate the displacement deviation of each control marker point, including: Calculate the distances between the center of the intersection line between each control marker point and the end face of the pre-embedded section in the xoz and xoy planes, respectively. , and included angle β i γ i ; Adjust the control marker points based on the plane tilt angle difference, and calculate the angle β between the adjusted control marker points and the center of the intersection line of the tail end face on the xoz plane. i 'Angle γ with the xoy plane i ': ; ; Then adjust the coordinates of the control marker points. for: ; Displacement deviation of each control marker point (Δx) Δy Δz )for: Δ x = ; Δ y ; Δ z ; in, , , This represents the original coordinate data of the control marker points; , , This represents the coordinates of the center point of the intersection of the pre-embedded section's end face.

[0040] Specifically, three-way jacks are placed below the control marker points. The adjustment amount of the three-way jacks is calculated based on the displacement deviation, and the pre-embedded section of the arch foot is adjusted and positioned, including: Three-axis jacks are placed below the control markers to obtain the influence matrix of the unit change on the three-axis displacement of each control marker, and the adjustment amount of the three-axis jacks in each direction is obtained. The adjustment values ​​of the three-way jacks in each direction are input into the control system to adjust and position the pre-embedded section of the arch foot.

[0041] In a specific embodiment of the present invention, the specific steps of the embodiment are illustrated using the positioning and installation of the pre-embedded box girder section at the arch foot of a large-span arch bridge as an example. The arch seat and the pre-embedded box girder section at the arch foot are as follows: Figure 11 As shown.

[0042] Step 1: Arrange at least three 10cm square checkerboard targets and several 10cm cube targets at the four corners and center of the arch abutment. Name the square checkerboard targets F1, F2, F3, ..., and the cube targets A1, A2, A3, ... Use a total station to obtain the bridge coordinates of the center of the square checkerboard targets as follows: , , …( (In the direction of elevation), the target and its arrangement are as follows: Figure 1 , 2 As shown. Three non-collinear control markers are randomly selected approximately 30cm from both ends of each pre-embedded section. Their bridge coordinate system coordinates are as follows: ,like Figure 3 As shown.

[0043] The center coordinates of the square checkerboard target are as follows: F1:(8295.9381,-12.3171,474.8365); F2:(8289.7411,-13.8971,474.4583); F3:(8285.4980,-13.9264,474.1904); F4:(8274.8835,-16.1714,474.5442); Taking the pre-embedded section on the left side of the upper chord as an example, the coordinates of its control marker points are as follows: B1:(8281.1417,11.3176,491.4091); B2:(8281.1417,11.3176,491.4091); B3: (8281.1417,11.3176,491.4091).

[0044] Step 2: Select a location with a clear view of all square checkerboard grids and cube targets as the main measuring station, and scan to acquire partial point cloud data of various pre-embedded sections with bridge coordinate system. Select several locations where two or more cube targets can be observed as registration stations, and scan to acquire partial point cloud data of various pre-embedded sections with local coordinate systems (determining elevation direction). (j represents the serial number of all registered stations). The station layout is as follows: Figure 4 As shown.

[0045] Step 3: Obtain the transformation matrix between the registration stations and the main station's geodetic coordinates based on the centroid coordinates of the cube target at different stations. The point clouds of various pre-embedded sections obtained from each registration station will be used to... Based on the transformation matrix Obtain point cloud in the same coordinate system as the main station. And compared with the point clouds of various pre-embedded sections obtained by the main measuring station. After fusion, complete 3D attitude point cloud data of the embedded section with bridge coordinate system is obtained. The formula is: ; .

[0046] The method for obtaining the coordinates is as follows: First, fit the centroids of the cube targets in the main point cloud to the coordinates of each registered point cloud and obtain the centroid coordinates. Name the centroid coordinates of the cube targets in the main point cloud as... (i is the sequence number of all cube targets); the centroid coordinates of the cube targets in the registration point cloud are named as follows: (i is the sequence number of all cube targets, and j is the sequence number of all registration stations).

[0047] Secondly, calculate the center coordinates of the centroids of the cube targets in the main station and each registered station. ( (The number of cube targets in the main station and the registration station are respectively) ; ; Then, the centroid coordinates of the cube targets at each station were decentered, and singular value decomposition was performed between each registered station and the main station to obtain orthogonal matrices. and : ; ; ; Finally, the rotation matrix between each registration station and the main station is obtained. With translation matrix assemble into a transformation matrix : ; ; ; Taking the point cloud fusion between registered station 1 and the main station as an example, the transformation matrix is ​​obtained. : The coordinates of the centroid of the cube target in the bridge coordinate system of the main measuring station are as follows: Z1(8296.4815,-12.0145,474.9456); Z2(8303.1456,-12.4546,475.0159); Z3(8303.1796, -12.7985, 475.0247); P 11 (476.1247, -147.1456, 1456.7412); P 21 (482.7888, -147.5857, 1456.8115); P 31 (489.4869, -148.3697, 1456.8906); but: = (8300.936, -12.4225, 474.9954); = (482.8001, -147.7, 1456.814); Request: = (-4.454, 0.408, -0.050); = (2.210, -0.032, 0.020); = (2.244, -0.376, 0.029); = (-6.675, 0.555, -0.073); = (-0.011, 0.115, -0.003); = (6.687, -0.669, 0.076); Substituting into the formula, we get: = ; = ; = ; Similarly, the transformation matrices between registration stations 2, 3, and 4 and the main station can be obtained. , , After transforming the registered survey point cloud data with the corresponding transformation matrix, the complete three-dimensional attitude point cloud data of the embedded section with the bridge coordinate system can be obtained by fusing them. .

[0048] Step 4: Create a 3D attitude point cloud of the complete embedded section. Plane fitting is performed on the point clouds of the four outer walls of various pre-embedded sections. This yields four planes ∑1, ∑2, ∑3, and ∑4 for each pre-embedded section, as shown below. Figure 5 As shown. Their normal vectors are respectively , , , Its plane equation is as follows (m is the plane number): ∑m ; Solving the equations of any two planes together yields the line of intersection between them, which is respectively... ， ， ， ,like Figure 6 As shown, taking the intersection of planes 1 and 2 as an example, the straight line The equation is: ; ; ; in, , , .

[0049] It is a straight line The coordinates of any point on the [top] It is a straight line Equation parameters.

[0050] After fitting, four plane normal vectors and plane equations ∑1, ∑2, ∑3, and ∑4 are obtained. Only ∑1 and ∑2 are listed here to find the intersection line. For example: , , , .

[0051] ∑1:-0.6535x+0.0004y+0.7569z=-5038.72; ∑2:-0.0006x+-1y+-0.0006z=-18059.3; Solving the simultaneous equations ∑1 and ∑2, we find the coordinates of a point on the intersection line where Z=0. ); Based on the plane normal vectors ∑1 and ∑2 , Find: = = ; =-0.0009; =0.6535; Then the intersection line : x = 7710.3696 + t 0.7569; y=11.9546+t -0.0009; z=0+t 0.6535; Similarly, the intersection line of plane 2 and plane 3 is obtained. The line of intersection of plane 3 and plane 4 The line of intersection between plane 4 and plane 1 There are a total of four intersecting lines.

[0052] Step 5: As Figure 7 As shown, the inclination angle of the embedded section is designed according to the drawings. α Obtain the centerline vector in the design and the coordinates of any point on the first and last end faces of the pre-embedded section. O 1 , O 2 Establish the equations of the first and last planes. ∑ 首 、∑ 尾 as follows: ; ; like Figure 8 As shown, obtain the coordinates of the eight intersection points between the four lines in step 4 and the first and last planes. P S1 、P S2 、P S3 、 P S4 、P W1 、P W2 、PW3 、P W4 Then obtain the coordinates of the center point of the intersection of the first and last planes. P ZS 、P ZW .

[0053] ; ; Then the measured centerline vector of the pre-embedded section for: ; The equation of the axis is: ; The design inclination angle is obtained from the drawings. α =40.760°, then the design vector Select any point on the first end face O 1: (8281.9717, 11.3176, 491.3696), any point on the tail end face. O 2: (8280.9209, 11.3184, 490.4203), establish the equations of the first and last planes. ∑ 首 、∑ 尾 as follows: ∑ 首 : x -8281.9717+0.86196( z -491.3696)=0; ∑ 尾 : x -8280.9209+0.86196( z -490.4203)=0; The four intersecting lines ， ， ， Substituting the parametric equations into the plane equations above, we obtain the coordinates of eight intersection points, and then calculate the coordinates of the center point of the intersection of the first and last planes. P ZS 、P ZW .

[0054] P ZS=(8281.7058,10.1019,491.678); P ZW =(8280.6348,10.0999,490.7522); Then the measured centerline vector of the pre-embedded section The result is (1.0710, 0.0019, 0.9258); The equation of the axis is: .

[0055] Step 6: Calculate the difference in inclination angle of the xoz plane based on the design centerline vector and the measured centerline vector. ( Difference in tilt angle between xoy plane and xoy plane ( ), calculate the displacement deviation of the three control markers for each pre-embedded section.

[0056] xoz plane tilt angle difference : The measured centerline vector Vector of the design centerline Projected onto the xoz plane, the projection vectors are as follows: ; ; Calculate the difference in tilt angle of the xoz plane using the dot product formula. : ; xoy plane tilt angle difference : Vector of the central axis With design tilt vector Projected onto the xoy plane, the projection vectors are as follows: ; ; Calculate the difference in tilt angle of the xoy plane using the dot product formula. : ; The displacement deviation of the control marker points is calculated as follows: First, calculate the distance between each control marker point and the center of the intersection line with the tail end face in the xoz plane and the xoy plane, respectively. Dxoz 1. Dxoz 2. Dxoz 3. Dxoy 1. Dxoy 2. Dxoy 3 and the included angles β1, β2, β3, γ1, γ2, γ3, such as Figure 9 , 10 As shown.

[0057] The spacing and angle on the xoz plane are: ( i =1, 2, 3) ; ; The spacing and included angle on the xoy plane are: ( i =1, 2, 3) ; ; The angle between the control marker point after adjusting the tilt angle error and the center of the intersection line of the tail end face on the xoz plane The angle between the xoy plane It should be: ; ; Then adjust the coordinates of the control marker points. It should be: ; Displacement deviation of each marker point (Δx) Δy Δz )for: Δ x = ; Δ y ; Δ z ; Projecting onto the xoz plane yields: =(1.0710,0,0.9258); =(1,0,0.86196); = = 0.081°; Projecting onto the xoy plane yields: =(1.0710,0.0019,0); =(1,0,0); =0.1016°; Taking control marker B1 as an example: The spacing and included angle on the xoz plane are: =0.6748; 1 =76.7736°; The spacing and included angle on the xoy plane are: =1.3211; =67.1850°; =76.8546°; =67.0834°; Then adjust the coordinates of the control marker points. It should be: = (8280.7892,11.3167,490,491.4093); Displacement deviation of marker B1 The value is (-0.353, -0.001, 0.000). Δ x = ; Δ y ; Δ z ; Similarly, calculations yield the following results. The values ​​are (-0.319, -0.002, 0.001). The values ​​are (0.275, 0.003, 0.001).

[0058] Step 7: Arrange three triaxial jacks below the control markers to obtain the influence matrix of the unit change on the triaxial displacement of each marker, and obtain the adjustment amount of the triaxial jacks in each direction. Input the adjustment amount of each triaxial jack into the control system to achieve one-time fine adjustment and positioning of the pre-embedded section of the arch foot of the large-span arch bridge.

[0059] Let the unit changes in the x, y, and z directions of the j-th triaxial jack, obtained from the field, respectively affect the displacements of the i-th marker point in the x, y, and z directions. δxixj, δxiyj, δxizj, δyixj, δyiyj, δyizj, δzixj, δziyj, δzizj The adjustment amount of each of the three jacks. δxi、δyi、δzi for: ; Will (-0.319, -0.002, 0.001) Substituting (0.275, 0.003, 0.001) and the influence matrix obtained on-site, the adjustment amount of each three-dimensional jack can be calculated. δxi、δyi、δzi .

[0060] In this embodiment of the invention, square checkerboard targets and cube targets are arranged at the four corners and center of the arch abutment, and control markers are set up to obtain the bridge coordinate system coordinates of the center of the checkerboard targets and the control markers. Reasonable sites are selected to build the main structure and register the stations, obtaining partial point cloud data of various pre-embedded sections. Based on the transformation matrix between the point clouds of each registered station and the main station, the data is fused to obtain complete three-dimensional attitude point cloud data of the pre-embedded section. Plane fitting is performed on the point clouds of the four outer walls of various pre-embedded sections to obtain plane and intersection equations. The first and last end plane equations are established according to the design drawings and intersected with the intersection lines to obtain the measured centerline of various pre-embedded sections. The xoz and xoy plane inclination differences are obtained by comparing the designed centerline vector with the measured centerline vector, and the displacement deviation of the three control markers for each pre-embedded section is calculated. Three three-dimensional jacks are set up to obtain the influence matrix of the unit change on the three-dimensional displacement of each marker point, and the adjustment amount of the three-dimensional jacks in each direction is calculated and input into the control system to achieve one-time fine-tuning and positioning of the pre-embedded sections at the arch foot of the large-span arch bridge. Compared with the traditional method of using a total station for discrete point measurement, the advantages are as follows: (1) There is no need to mark the characteristic points of the arch bridge, thus avoiding the error in the production of the marking points; (2) The three-dimensional attitude of the entire pre-embedded section can be obtained without a complicated station transfer process, and the obtained measurement data is more complete and comprehensive, thus avoiding the impact of excessive errors of a few points on the reliability of the results; (3) Only one calculation is needed to obtain the adjustment amount of the three-way jack, thus avoiding blind adjustment and improving the positioning accuracy and efficiency.

[0061] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0062] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for batch identification and adjustment of the three-dimensional attitude of the pre-embedded box girder section at the arch foot of a long-span arch bridge, characterized in that, include: Square targets and cube targets are arranged around the arch base, and a cube target is arranged in the center. Control markers are set on the pre-embedded section. Construct a bridge coordinate system and obtain the coordinates of the center of each square target and control marker point; based on the positions of the square and cube targets, build the main measuring station and registration measuring station to generate complete three-dimensional attitude point cloud data of the pre-embedded section. Fit the point cloud of the four outer walls of the pre-embedded section in the three-dimensional attitude point cloud data of the pre-embedded section to obtain the equations of each plane and the intersection line between any two planes. Based on the design drawings, the design centerline and the first and last end plane equations of various embedded sections are obtained. The measured centerline is obtained by combining the first and last end plane equations of the embedded sections with the intersection line. The differences in plane inclination angles of xoz and xoy are obtained based on the design centerline and the measured centerline, respectively, and the displacement deviation of each control marker point is calculated. Three-way jacks are placed below the control marker point. The adjustment amount of the three-way jacks is calculated based on the displacement deviation, and the pre-embedded section of the arch foot is adjusted and positioned.

2. The method for batch identification and adjustment of three-dimensional attitude of pre-embedded sections of box girder at the arch foot of a long-span arch bridge according to claim 1, characterized in that, Based on the positions of the square and cube targets, the main measuring station and registration measuring station are built to obtain partial point cloud data of various pre-embedded sections; Among them, a location with a clear view of all square and cube targets was selected as the main measuring station, and point cloud data P of various pre-embedded sections with bridge coordinate system was obtained by scanning. E ; Several locations capable of observing two or more cube targets were selected as registration stations, and partial point cloud data P of various pre-embedded sections with local coordinate systems were obtained by scanning. Fj j represents the serial number of all registered stations; The transformation matrix between each registration station and the main station's point cloud is obtained, and the transformation matrix and the point cloud data of each type of pre-embedded segment are fused to generate complete three-dimensional attitude point cloud data of the pre-embedded segment.

3. The method for batch identification and adjustment of three-dimensional posture of pre-embedded sections of box girder at the arch foot of a long-span arch bridge according to claim 2, characterized in that, Based on the point cloud data of various pre-embedded sections obtained from each registration station Point cloud data in the same coordinate system as the main station were obtained based on the transformation matrix. And compared with the point clouds of various pre-embedded sections obtained by the main measuring station. By fusing the data, we obtain complete 3D attitude point cloud data of the embedded section with a bridge coordinate system. .

4. The method for batch identification and adjustment of three-dimensional attitude of pre-embedded sections of box girder at the arch foot of a long-span arch bridge according to claim 2, characterized in that, Obtain the transformation matrix between each registered station and the main station's station cloud, including: fitting the centroid of the cube target in the main station and each registered station and obtaining the centroid coordinates; Calculate the center coordinates of the centroids of the cube targets in the main station and each registered station; The centroid coordinates of the cube targets in the main station and each registered station are decentered, and singular value decomposition is performed between each registered station and the main station to obtain orthogonal matrices. The rotation and translation matrices between each registration station and the main station are obtained from the orthogonal matrix and assembled into a transformation matrix.

5. The method for batch identification and adjustment of three-dimensional attitude of pre-embedded sections of box girder at the arch foot of a long-span arch bridge according to claim 1, characterized in that, Fitting the point clouds of the four outer walls of the pre-embedded sections in the three-dimensional attitude point cloud data of the pre-embedded sections yields the equations of each plane and the intersection lines between two planes, including: Plane fitting was performed on the point clouds of the four outer walls of various types of pre-embedded sections, which were compiled from the complete three-dimensional attitude point cloud data of the pre-embedded sections. Four planes were obtained for each pre-embedded section. Solving the equations of any two planes together yields the line of intersection between them, which is respectively... , , , .

6. The method for batch identification and adjustment of three-dimensional attitude of pre-embedded sections of box girder at the arch foot of a long-span arch bridge according to claim 5, characterized in that, Based on the design drawings, obtain the design centerline and the first and last end plane equations of various embedded sections. Combine the first and last end plane equations of the embedded sections with their intersection lines to obtain the measured centerline, including: The pre-embedded section is designed with an inclination angle according to the design drawings. α Obtain the centerline vector in the design and the coordinates O1 of any point on the first and last end faces O2 ; Establish the equations of the first and last planes; ∑ 首 : ； ∑ 尾 : ； Combine the plane equations of the first and last ends of the pre-embedded section with the four intersection lines. , , , The coordinates of the 8 intersection points P are obtained. S1 P S2 P S3 P S4 P W1 P W2 P W3 P W4 The coordinates P of the center point of the intersection of the first and last planes can be obtained using the following formula. ZS P ZW ; ； ； Then the measured centerline vector of the pre-embedded section for: 。 7. The method for batch identification and adjustment of three-dimensional attitude of pre-embedded sections of box girder at the arch foot of a long-span arch bridge according to claim 1, characterized in that, The difference in plane dip angle xoz is calculated based on the design centerline and the measured centerline, including: The measured centerline vector Vector of the design centerline Projecting onto the xoz plane, the projection vectors are as follows: ； ； Calculate the difference in tilt angle of the xoz plane using the dot product formula. : ； The difference in plane inclination angle xoy is calculated based on the design centerline and the measured centerline, including: The measured centerline vector With design tilt vector Projecting onto the xoy plane, the projection vectors are as follows: ； ； Calculate the difference in tilt angle of the xoy plane using the dot product formula. : 。 8. The method for batch identification and adjustment of three-dimensional attitude of pre-embedded sections of box girder at the arch foot of a long-span arch bridge according to claim 1, characterized in that, Calculate the displacement deviation of each control marker point, including: Calculate the distances between the center of the intersection line between each control marker point and the end face of the pre-embedded section in the xoz and xoy planes, respectively. , and included angle β i γ i ; Adjust the control marker points based on the plane tilt angle difference, and calculate the angle β between the adjusted control marker points and the center of the intersection line of the tail end face on the xoz plane. i 'Angle γ with the xoy plane i ': ； ； Then adjust the coordinates of the control marker points. for: ； Displacement deviation of each control marker point (Δx) Δy Δz )for: D x = ; D y ; D z ; in, , , This represents the original coordinate data of the control marker points; , , This represents the coordinates of the center point of the intersection of the pre-embedded section's end face.

9. The method for batch identification and adjustment of three-dimensional attitude of pre-embedded sections of box girder at the arch foot of a long-span arch bridge according to claim 1, characterized in that, Three-way jacks are placed below the control marker points. The adjustment amount of the three-way jacks is calculated based on the displacement deviation. The arch foot embedded section is adjusted and positioned in one go, including: Three-axis jacks are placed below the control markers to obtain the influence matrix of the unit change on the three-axis displacement of each control marker, and the adjustment amount of the three-axis jacks in each direction is obtained. The adjustment values ​​of the three-way jacks in each direction are input into the control system to adjust and position the pre-embedded section of the arch foot.

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