A bridge girder erection machine assisted construction system and method

Abstract

The application discloses a bridge girder erection machine auxiliary construction system and method, wherein the auxiliary construction system comprises: a plurality of prisms, which are fixedly arranged on a main beam of the bridge girder erection machine respectively; a total station, which is fixedly arranged behind a moving direction of the bridge girder erection machine, and is used for measuring coordinates of the prisms; a plurality of targets, which are fixedly arranged on side walls of the same side of each pier column respectively; a laser projector, which is fixedly arranged at a front end of the bridge girder erection machine corresponding to positions of the targets, and vertically projects a laser beam downward; a camera, which is fixed on the main beam close to the laser projector, and is used for shooting the targets; and a data processing module, which receives data measured by the total station, calculates and outputs a real-time pose of the bridge girder erection machine and a deviation between the real-time pose and a target pose. The application can perform real-time closed-loop correction on the data measured by the total station, eliminates cumulative errors, and realizes accurate positioning of the bridge girder erection machine, so as to assist in guiding movement of the bridge girder erection machine.

Description

Technical Field

[0001] This invention relates to the field of bridge erecting machine construction technology. More specifically, this invention relates to an auxiliary construction system and method for bridge erecting machines. Background Technology

[0002] In modern bridge construction, bridge erecting machines, as crucial construction equipment, are widely used in the construction of long-span bridges. The primary task of a bridge erecting machine is to precisely erect bridge beams onto predetermined piers, a process requiring extremely high precision, especially in ensuring the relative alignment between the machine and the piers. Accurate positioning not only affects construction quality but also directly impacts construction efficiency and safety. However, in traditional bridge erecting machine construction, positioning and alignment often rely on manual calibration, simple laser levels, or individual total stations. These methods have limitations and cannot fully meet the demands of high-precision construction. Manual positioning is often affected by factors such as lighting, environment, and personnel experience, easily leading to significant errors, especially in complex construction environments where positioning accuracy cannot be effectively guaranteed. While laser levels provide simple calibration lines, they only guarantee horizontal alignment and cannot provide comprehensive spatial position data. Furthermore, in dynamic environments, the stability and reliability of laser lines are poor, making it difficult to meet the precision and stability requirements of bridge erecting machines during construction. Although total stations can provide relatively accurate position measurements, they are easily affected by environmental factors during the dynamic movement of bridge erecting machines, especially during long-term construction periods. Furthermore, their operation is complex and often requires real-time manual adjustments. Therefore, traditional methods are often insufficient for high-precision construction tasks, particularly in complex environments or construction scenarios with extremely high accuracy requirements, where errors can be further amplified, impacting construction progress and quality. With the continuous development of bridge construction technology, the need for precise positioning of bridge erecting machines is becoming increasingly urgent, and single positioning methods can no longer meet the demands of modern construction. Summary of the Invention

[0003] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0004] To achieve these objectives and other advantages according to the present invention, a bridge erecting machine-assisted construction system is provided, comprising: Multiple prisms are fixedly mounted on the main beam of the bridge erecting machine; The total station is fixedly installed behind the bridge erecting machine in the direction of movement and is used to measure the coordinates of each prism. Multiple targets are horizontally fixed on the sidewall of the same side of each pier. A laser projector is fixedly installed at the front end of the bridge erecting machine at a position corresponding to the target, and projects a laser beam vertically downward. A camera, which is fixed to the main beam near the laser projector, is used to photograph the target; The data processing module receives the data measured by the total station, calculates and outputs the real-time pose of the bridge erecting machine and the deviation between the real-time pose and the target pose.

[0005] Preferably, the centers of the plurality of prisms are not collinear on the main beam.

[0006] Preferably, the plurality of targets are respectively arranged on the projection line of the axis of the pier on the side wall, and the targets are arranged at the same height.

[0007] Another object of the present invention is to provide a bridge erecting machine-assisted construction method, which includes the following steps using the bridge erecting machine-assisted construction system: S1. Set up the total station and load the global coordinate system; establish the airborne coordinate system with the center of the main beam of the bridge erecting machine as the origin, and establish the laser coordinate system with the projection port of the laser projector as the origin; S2. Calibrate the position of the laser projector on the bridge erecting machine and solve the transformation matrix of the laser coordinate system relative to the airborne coordinate system; S3. During the movement of the bridge erecting machine, the total station continuously measures the coordinates of each prism, and the data processing module calculates the real-time pose of the bridge erecting machine and the deviation between the real-time pose and the design pose to guide the movement of the bridge erecting machine. S4. When the laser beam projected by the laser projector illuminates the target, the data processing module calculates the predicted theoretical target center coordinates and the deviation between the theoretical target center coordinates and the actual target center coordinates to guide the bridge erecting machine to move. S5. When the laser beam is observed to be aligned with the center of the target, the bridge erecting machine remains stationary; the data processing module calculates the deviation between the theoretical target center coordinates and the actual target center coordinates at this time, and then uses the extended Kalman filter method to correct the cumulative measurement error of the total station to obtain the corrected bridge erecting machine posture; S6. During the movement of the bridge erecting machine, repeat steps S2 to S5 to continuously correct the cumulative measurement error of the total station.

[0008] Preferably, in step S2, a section of completed, flat bridge surface is selected as the calibration field, and at least 6 non-collinear target points are accurately laid out and marked on the calibration field using the total station. Accurately determine its coordinates in the global coordinate system for each target point. For j=1~6, perform the following operations to calibrate the laser projector: S21. Move the bridge erecting machine to the calibration field and precisely pass the laser beam of the laser projector through the target point. At the center, the coordinates of each prism in the global coordinate system are measured and recorded using a total station; S22. Move the bridge erecting machine to align with the next target point. Repeat step S21; S23. Based on the coordinates of each prism in each set of data, calculate the transformation matrix of the bridge erecting machine's onboard coordinate system relative to the global coordinate system in this attitude; S24. Using a nonlinear optimization algorithm, solve for the transformation matrix of the laser coordinate system relative to the airborne coordinate system.

[0009] Preferably, step S3 specifically includes: S31. Establish the state vector of the bridge erecting machine. The data processing module receives the coordinates of each prism in the global coordinate system at time k, and calculates the transformation matrix of the airborne coordinate system relative to the global coordinate system at time k by combining the coordinates of each prism in the airborne coordinate system. The result is the observed state vector of the bridge erecting machine and the observation noise covariance at time k. S32. Establish a state vector prediction model for the bridge erecting machine. Based on the optimal predicted state vector and covariance of the bridge erecting machine at time k-1, obtain the state vector and covariance of the bridge erecting machine at time k based on the model prediction. S33. Based on the bridge erecting machine state vector and covariance predicted by the model at time k, and the observation noise covariance of the observed bridge erecting machine state vector, the optimal predicted bridge erecting machine state vector and covariance at time k are obtained. S34. Extract the real-time pose of the bridge erecting machine from the optimal predicted state vector of the bridge erecting machine at time k, calculate the deviation between the real-time pose and the design pose, and transform the deviation to the airborne coordinate system through the transformation matrix of the airborne coordinate system relative to the global coordinate system at time k to obtain the adjustment amount of the bridge erecting machine.

[0010] Preferably, the calculated and predicted theoretical target center coordinates specifically include: S41. Extract the real-time pose of the bridge erecting machine from the optimal predicted state vector of the bridge erecting machine at the current moment, and calculate the transformation matrix of the airborne coordinate system relative to the global coordinate system at the current moment. S42. Calculate the coordinates of the origin of the laser coordinate system in the global coordinate system at the current moment, and the unit vector of the laser beam direction in the global coordinate system. S43. Given the design elevation of the target, calculate the coordinates of the intersection point between the laser beam and the plane where the target is located at the current moment, which is the theoretical target center coordinates.

[0011] Preferably, step S5 specifically includes: S51. Calculate the deviation between the actual target center coordinates and the theoretical target center coordinates at the current moment; S52. Calculate the Kalman gain based on the extended Kalman filter method; S53. The deviation between the actual target center coordinates and the theoretical target center coordinates, and the Kalman gain are used to correct the state vector and covariance of the bridge erecting machine at the current moment, which are the best predictions.

[0012] The present invention has at least the following beneficial effects: 1. The bridge erecting machine auxiliary construction system and method provided by the present invention, through the high-precision physical reference provided by the laser projector, periodically corrects the cumulative error of the total station, realizes the precise positioning of the bridge erecting machine, assists in guiding the movement of the bridge erecting machine, and ensures the accuracy and stability of long-term construction.

[0013] 2. The bridge erecting machine auxiliary construction system and method provided by the present invention provides visual guidance through laser beams, reducing the difficulty of operation; and uses the extended Kalman filter method to provide continuous and accurate positioning, reducing the number of times the bridge erecting machine needs to be adjusted repeatedly, thus effectively improving construction efficiency.

[0014] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the bridge erecting machine auxiliary construction system described in this invention; Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0017] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified. In the description of this invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0018] like Figure 1 As shown, the present invention provides a bridge erecting machine auxiliary construction system, comprising: Multiple prisms 2 are respectively fixedly installed on the main beam 3 of the bridge erecting machine 1; A total station is fixedly installed behind the bridge erecting machine 1 in the direction of movement to measure the coordinates of each of the prisms 2; Multiple targets 5 are horizontally fixed on the side wall of the same side of each pier; The laser projector 4 is fixedly installed at the front end of the bridge erecting machine 1 at the position corresponding to the target 5, and projects a laser beam vertically downward. A camera, which is fixed to the main beam 3 near the laser projector 4, is used to photograph the target 5; The data processing module receives the data measured by the total station, calculates and outputs the deviation between the real-time pose of the bridge erecting machine and the target pose.

[0019] In this technical solution, the total station is a high-precision automatic tracking total station, such as the Leica TS60, requiring an angle measurement accuracy of ≤1″ and a distance measurement accuracy of not less than ±(1mm + 1″). The total station (1ppm) is equipped with ATR (Automatic Target Recognition) function and a wireless data communication module to facilitate data transmission by the data processing module. The total station is installed on a stable, well-viewed completed bridge surface behind the bridge erecting machine. At least three prisms 2 are installed on the rigid parts of the main beam 3 to form a spatial measurement reference. The mounting bases of the prisms 3 must be firmly welded to ensure no relative displacement during construction. The laser projector 4 uses an industrial-grade line laser with high beam stability and a linewidth ≤1mm; green light is preferred to improve daytime visibility. The laser projector 4 is fixedly installed at the front end of the bridge erecting machine to ensure the beam is projected vertically downwards. The camera is used to photograph the target 5 to assist the operator in determining the position of the laser beam illuminating the target 5. The target 5 is fixed to the side of the pier by a bracket or clamp. Preferably, the relative position of the laser projector 4 and the target 5 is set when the bridge erecting machine 1 moves to the beam lowering position. When the design position is reached, the laser beam projected by the laser projector 4 is precisely aligned with the center of the target 5. At this point, the bridge erecting machine 1 stops moving to perform the beam lowering operation. The data processing module, based on the extended Kalman filter method, corrects the cumulative error of the total station by combining the coordinate values ​​of each prism at the current moment. The data processing module can be an industrial control computer equipped with a wireless communication module to receive data from the total station. The laser projector 4 projects a visible laser beam onto the target 5 on the pier as a calibration line, serving as an intuitive physical alignment reference. The total station tracks the coordinates of each prism 2 in real time to obtain the pose of the bridge erecting machine 1. Then, the data processing module uses the extended Kalman filter method to fuse the two types of data. While using the high-precision laser reference to correct the cumulative error of the total station, it provides real-time and accurate pose deviation data to correct the pose of the bridge erecting machine, ensuring it remains consistent with the design position, thereby ensuring the accuracy of the beam lowering construction.

[0020] In another technical solution, the centers of the plurality of prisms 2 are not collinear on the main beam 3. When the prisms 3 are not collinear, they form a spatial polygon, which can have a definite shape and orientation. This provides a basis for solving the pose of the bridge erecting machine. Each prism 2 must maintain a line of sight with the total station behind it, and on this basis, they should be set as dispersed as possible.

[0021] In another technical solution, multiple targets 5 are respectively set on the projection line of the axis of the pier on the side wall, and each target is set at the same height; unifying the height of each target 5 can simplify the calculation process of the intersection point of the laser beam and the plane where the target 5 is located, and at the same time standardize the installation of each target 5.

[0022] The present invention also provides a bridge erecting machine-assisted construction method, which, using the aforementioned bridge erecting machine-assisted construction system, includes the following steps: S1. Set up the total station and load the global coordinate system; establish the airborne coordinate system with the center of the main beam of the bridge erecting machine as the origin, and establish the laser coordinate system with the projection port of the laser projector as the origin; The total station is assumed to be at point A with known coordinates and centered and leveled. The coordinates of point A in the construction design coordinate system are input into the total station. The prism at another point C with known coordinates is measured using the total station, and the coordinates of point C are input into the total station. This completes the loading of the global coordinate system, ensuring that all subsequent measurements by the total station are in the construction coordinate system. The airborne coordinate system of the bridge erecting machine uses the geometric center of the main beam 3 as its origin, with the X-axis pointing in the direction of the bridge erecting machine's travel, the Y-axis pointing horizontally to the right, and the Z-axis pointing vertically upwards. The laser coordinate system uses the laser projection port as its origin, with the Z-axis along the centerline of the laser beam.

[0023] S2. Calibrate the position of the laser projector 4 on the bridge erecting machine and solve the transformation matrix of the laser coordinate system relative to the airborne coordinate system; Considering that the center and direction of the laser beam projection port in the laser projector 4 do not directly correspond to the physical center or reference plane of the outer shell, and cannot be directly measured externally, the transformation matrix of the laser coordinate system relative to the airborne coordinate system is obtained by calibrating the position of the laser projector 4. This allows the theoretical target center to be predicted using the measurable coordinates of the prism 3. Specifically, a completed, flat bridge surface is selected as the calibration field. At least six non-collinear target points are accurately laid out and marked on the calibration field using the total station. Accurately determine its coordinates in the global coordinate system for each target point. For j=1~6, perform the following operations to calibrate the laser projector: S21. Move the bridge erecting machine to the calibration field and precisely pass the laser beam of the laser projector through the target point. At the center, the coordinates of each prism in the global coordinate system are measured and recorded using a total station; S22. Move the bridge erecting machine to align with the next target point. Repeat step S21; S23. Based on the coordinates of each prism in each set of data, calculate the transformation matrix of the bridge erecting machine's onboard coordinate system relative to the global coordinate system in this attitude; The fixed installation coordinates of each prism 3 in the airborne coordinate system B are known. Where i = 1, 2, ..., N, and N is the number of prisms 3, at the j-th target point, the coordinates of the i-th prism in the global coordinate system G are... The optimization objective is to minimize the sum of squared distances between the transformed theoretical points and the measured points. (1) in Let be a rotation matrix. The translation vector is used as the basis for calculation. Then, the rotation matrix and translation vector are calculated using the SVD method to obtain the transformation matrix of the bridge erecting machine 1 relative to the global coordinate system in this attitude at the j-th target point. .

[0024] S24. Using a nonlinear optimization algorithm, solve for the transformation matrix of the laser coordinate system relative to the airborne coordinate system.

[0025] The ray of the laser beam in the laser coordinate system L is Using the transformation matrices of the j-th set of airborne coordinate systems relative to the global coordinate system Based on the coordinates of each target point in the global coordinate system, a nonlinear least squares problem is constructed. With the objective of minimizing the reprojection error, the Levin-Marquardt algorithm is used to solve for the transformation matrix between the laser coordinate system and the airborne coordinate system. Including rotation matrix Translation vector .

[0026] S3. During the movement of the bridge erecting machine 1, the total station continuously measures the coordinates of each prism, and the data processing module calculates the real-time pose of the bridge erecting machine and the deviation between the real-time pose and the designed pose to guide the movement of the bridge erecting machine; specifically including: S31. Establish the state vector of the bridge erecting machine. The data processing module receives the coordinates of each prism in the global coordinate system at time k, and calculates the transformation matrix of the airborne coordinate system relative to the global coordinate system at time k by combining the coordinates of each prism in the airborne coordinate system. The result is the observed state vector of the bridge erecting machine and the observation noise covariance at time k. Construct the state vector of the bridge erecting machine 1 with the center of the main beam 3 as the control point: (2) Where (x, y, z) are the coordinates of the center of the main beam 3 in the global coordinate system. For roll angle, pitch angle, and yaw angle, and These are the corresponding linear velocity and angular velocity, respectively.

[0027] After the total station detects the coordinates of each prism 3 in the global coordinate system, and combines the coordinates of each prism 3 in the airborne coordinate system, the SVD algorithm is used to solve for the transformation matrix of the airborne coordinate system relative to the global coordinate system at time k, following the process in step S23. Including rotation matrix Translation vector Extracting Euler angles We obtain the state vector of the bridge erecting machine observed at time k: (3) Covariance of observation noise: (4) in , , , , , They are respectively , , , , , The variance value can be used to estimate the observation noise using the residuals calculated by SVD.

[0028] S32. Establish a state vector prediction model for the bridge erecting machine, and obtain the optimal predicted state vector of the bridge erecting machine based on time k-1. Covariance The state vector of the bridge erecting machine at time k based on model prediction is obtained. Covariance ; Based on the assumption of uniform motion, a state vector prediction model for the bridge erecting machine is proposed: (5) Among them, F k The state transition matrix is ​​composed of: (6) is the filtering period, and I is the identity matrix.

[0029] Predicted state covariance matrix Calculated using the following formula: (7) in, This is the corrected state estimate covariance matrix from the previous time step, reflecting the uncertainty of the state estimate. The process noise covariance matrix Q... k Preset according to the motion characteristics of the bridge erecting machine.

[0030] S33. Bridge erecting machine state vector based on time k and model prediction Covariance and the observed state vector of the bridge erecting machine Observation noise covariance The optimal predicted state vector of the bridge erecting machine at time k is obtained. Covariance ; Calculate the state vector of the bridge erecting machine based on model prediction and the observed state vector of the bridge erecting machine deviation and bias covariance : (8) (9) Where H is the observation matrix , where I is the identity matrix and 0 is the zero matrix.

[0031] Then calculate the Kalman gain: (10) The optimal predicted state vector of the bridge erecting machine at time k is calculated using Kalman gain. Covariance : (11) (12) S34. The optimal predicted state vector of the bridge erecting machine at time k. Extract the real-time pose (x, y, z) of the bridge erecting machine, calculate the deviation between the real-time pose and the designed pose, and use the transformation matrix of the airborne coordinate system relative to the global coordinate system at time k. The deviation is converted to the airborne coordinate system to obtain the adjustment amount of the bridge erecting machine. In step S3, based on... The deviation from the target design posture is calculated and quantitative instructions for adjusting the posture of the bridge erecting machine are output, providing operators with real-time, continuous, and smooth construction guidance.

[0032] S4. When the laser beam projected by the laser projector 4 illuminates the target 5, the data processing module calculates the predicted theoretical target center coordinates and the deviation between the theoretical target center coordinates and the actual target center coordinates to guide the bridge erecting machine to move. The camera determines whether the laser beam has illuminated the target 5. If it has, the operator inputs a trigger command to the data processing module, which then calculates the predicted theoretical target center to provide precise guidance for the bridge erecting machine 1. The calculation of the predicted theoretical target center coordinates specifically includes: S41. Based on the coordinates of each prism in the global coordinate system and its coordinates in the onboard coordinate system, calculate the transformation matrix of the onboard coordinate system relative to the global coordinate system. ; S42. Calculate the coordinates of the origin of the laser coordinate system in the global coordinate system and the unit vector of the laser beam direction in the global coordinate system. The coordinates of the origin of the laser coordinate system in the global coordinate system are: (13) In equation (3), The transformation matrix calculated in step S41 The rotation matrix in The transformation matrix calculated in step S2 The translation vector in the vector, [x, y, z] represents the shift from the current time. The optimal predicted state vector of the bridge erecting machine Extract the real-time pose x, y, z of the bridge erecting machine.

[0033] The unit vector representing the laser beam direction in the global coordinate system is as follows: (14) In equation (4), The transformation matrix calculated in step S41 The rotation matrix in The transformation matrix T calculated in step S2 BL The rotation matrix in the matrix.

[0034] S43. Given the design elevation of the target, calculate the coordinates of the intersection point between the laser beam and the plane where the target is located, which is the predicted theoretical target center coordinates.

[0035] The plane containing the target is represented as follows: , The design elevation of the target is a known value; calculate the laser beam's position relative to the horizontal plane. Intersection parameters: (15) laser beam and surface The intersection point is the predicted coordinate of the theoretical target center: (16) In equations (15) and (16), , , These are the coordinates of the origin of the laser coordinate system in the global coordinate system. , laser beam direction Components on the X and Y axes.

[0036] The actual target center coordinates are known values ​​and are determined during the installation of target 5. By calculating the deviation between the theoretical target center coordinates and the actual target center coordinates, precise guidance is provided for the movement of the bridge erecting machine 1.

[0037] In actual use, the calculation of the predicted theoretical target center coordinates and the deviation between the theoretical target center coordinates and the actual target center coordinates in step S4 is a dynamic process. After the pose of the bridge erecting machine 1 is adjusted, the predicted theoretical target center coordinates and the deviation between the theoretical target center coordinates and the actual target center coordinates are recalculated until the laser beam coincides with the center of the target 5.

[0038] S5. When the laser beam is observed to be aligned with the center of the target 5, the bridge erecting machine 1 remains stationary; the operator inputs a correction trigger command to the data processing module, which calculates the deviation between the theoretical target center coordinates and the actual target center coordinates at this time, and then uses the extended Kalman filter method to correct the cumulative measurement error of the total station to obtain the corrected bridge erecting machine posture; specifically including: S51. Calculate the actual target center coordinates. coordinates of the theoretical target center Deviation y; (17) At this point, k is the moment when the laser beam is aligned with the center of the target 5.

[0039] S52. Calculate the Kalman gain based on the extended Kalman filter method; First, calculate the laser observation matrix. This represents the sensitivity of laser observations to the state vector, obtained by calculating the observation function. The partial derivatives are obtained, and the laser observation function describes the mapping from the state vector to the laser prediction point: (18) (19) (20) Here are the coordinates of the origin of the laser coordinate system in the global coordinate system. This is the unit vector of the laser beam direction in the global coordinate system.

[0040] Then calculate the Kalman gain: (twenty one) in The laser observation noise covariance matrix is ​​set to a value much smaller than the total station observation noise covariance. .

[0041] S53. Using the deviation between the actual target center coordinates and the theoretical target center coordinates, and the Kalman gain, the optimal predicted state vector and covariance of the bridge erecting machine at the current moment are corrected. The correction formula is as follows: (twenty two) Simultaneously update the state estimation covariance matrix: (twenty three).

[0042] After the correction is completed, and The state vector of the bridge erecting machine, calculated based on model prediction, is used as the next time step k+1. Covariance The optimal prediction state vector of the bridge erecting machine at that time Covariance That is, the subsequent instructions guiding the movement of the bridge erecting machine 1 are based on the revised... and This is done to correct the accumulated error of the total station. The corrected optimal prediction of the bridge erecting machine's state vector is then used. Extracting the pose data of the bridge erecting machine This is the corrected real-time pose of the bridge erecting machine.

[0043] S6. During the movement of the bridge erecting machine, repeat steps S2 to S5 to continuously correct the cumulative measurement error of the total station.

[0044] Based on the corrected state, the data processing module continues to receive real-time observation data from the total station and executes the prediction process from steps 2 to 5. In this process, the high-precision absolute reference information provided by laser observation is integrated into the state estimation of the bridge erecting machine, effectively correcting systematic deviations such as cumulative errors, instrument drift, and structural deformation introduced during the total station measurement process. Therefore, during each span crossing movement of the bridge erecting machine 1, the data processing module can provide guidance for the movement of the bridge erecting machine at the next moment based on the corrected state vector, thereby improving the accuracy and efficiency of the bridge erecting machine's movement, and ultimately improving the efficiency and quality of the beam lowering construction.

[0045] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A bridge erecting machine auxiliary construction system, characterized in that, include: Multiple prisms are fixedly mounted on the main beam of the bridge erecting machine; The total station is fixedly installed behind the bridge erecting machine in the direction of movement and is used to measure the coordinates of each prism. Multiple targets are horizontally fixed on the sidewall of the same side of each pier. A laser projector is fixedly installed at the front end of the bridge erecting machine at a position corresponding to the target, and projects a laser beam vertically downward. A camera, which is fixed to the main beam near the laser projector, is used to photograph the target; The data processing module receives data measured by the total station, calculates and outputs the real-time pose of the bridge erecting machine and the deviation between the real-time pose and the target pose. When the laser beam projected by the laser projector illuminates the target, the data processing module calculates the predicted theoretical target center coordinates and the deviation between the theoretical target center coordinates and the actual target center coordinates to guide the movement of the bridge erecting machine. When the laser beam is observed to be aligned with the target center, the bridge erecting machine remains stationary. The data processing module calculates the deviation between the theoretical target center coordinates and the actual target center coordinates at this time, and then uses the extended Kalman filter method to correct the cumulative measurement error of the total station to obtain the corrected bridge erecting machine pose.

2. The bridge erecting machine-assisted construction system as described in claim 1, characterized in that, The centers of the plurality of prisms are not collinear on the main beam.

3. The bridge erecting machine-assisted construction system as described in claim 1, characterized in that, Multiple targets are respectively set on the projection line of the axis of the pier on the side wall, and each target is set at the same height.

4. A bridge erecting machine-assisted construction method, using the bridge erecting machine-assisted construction system as described in claim 1, characterized in that, Includes the following steps: S1. Set up the total station and load the global coordinate system; establish the airborne coordinate system with the center of the main beam of the bridge erecting machine as the origin, and establish the laser coordinate system with the projection port of the laser projector as the origin; S2. Calibrate the position of the laser projector on the bridge erecting machine and solve the transformation matrix of the laser coordinate system relative to the airborne coordinate system; S3. During the movement of the bridge erecting machine, the total station continuously measures the coordinates of each prism, and the data processing module calculates the real-time pose of the bridge erecting machine and the deviation between the real-time pose and the design pose to guide the movement of the bridge erecting machine. S4. When the laser beam projected by the laser projector illuminates the target, the data processing module calculates the predicted theoretical target center coordinates and the deviation between the theoretical target center coordinates and the actual target center coordinates to guide the bridge erecting machine to move. S5. When the laser beam is observed to be aligned with the center of the target, the bridge erecting machine is kept stationary. The data processing module calculates the deviation between the theoretical target center coordinates and the actual target center coordinates at this time, and then uses the extended Kalman filter method to correct the cumulative measurement error of the total station to obtain the corrected real-time pose of the bridge erecting machine. S6. During the movement of the bridge erecting machine, repeat steps S2 to S5 to continuously correct the cumulative measurement error of the total station.

5. The bridge erecting machine-assisted construction method as described in claim 4, characterized in that, In step S2, a section of completed, flat bridge surface is selected as the calibration field. On the calibration field, the total station is used to accurately lay out and mark at least 6 non-collinear target points. ~ Accurately determine its coordinates in the global coordinate system for each target point. For j=1~6, perform the following operations to calibrate the laser projector: S21. Move the bridge erecting machine to the calibration field and precisely pass the laser beam of the laser projector through the target point. At the center, the coordinates of each prism in the global coordinate system are measured and recorded using a total station; S22. Move the bridge erecting machine to align with the next target point. Repeat step S21; S23. Based on the coordinates of each prism in each set of data, calculate the transformation matrix of the bridge erecting machine's airborne coordinate system relative to the global coordinate system in the current attitude. S24. Using a nonlinear optimization algorithm, solve for the transformation matrix of the laser coordinate system relative to the airborne coordinate system.

6. The bridge erecting machine-assisted construction method as described in claim 4, characterized in that, Step S3 specifically includes: S31. Establish the state vector of the bridge erecting machine. The data processing module receives the coordinates of each prism in the global coordinate system at time k, and calculates the transformation matrix of the airborne coordinate system relative to the global coordinate system at time k by combining the coordinates of each prism in the airborne coordinate system. The result is the observed state vector of the bridge erecting machine and the observation noise covariance at time k. S32. Establish a state vector prediction model for the bridge erecting machine. Based on the optimal predicted state vector and covariance of the bridge erecting machine at time k-1, obtain the state vector and covariance of the bridge erecting machine at time k based on the model prediction. S33. Based on the bridge erecting machine state vector and covariance predicted by the model at time k, and the observation noise covariance of the observed bridge erecting machine state vector, the optimal predicted bridge erecting machine state vector and covariance at time k are obtained. S34. Extract the real-time pose of the bridge erecting machine from the optimal predicted state vector of the bridge erecting machine at time k, calculate the deviation between the real-time pose and the design pose, and transform the deviation to the airborne coordinate system through the transformation matrix of the airborne coordinate system relative to the global coordinate system at time k to obtain the adjustment amount of the bridge erecting machine.

7. The bridge erecting machine-assisted construction method as described in claim 6, characterized in that, The calculated and predicted theoretical target center coordinates specifically include: S41. Extract the real-time pose of the bridge erecting machine from the optimal predicted state vector of the bridge erecting machine at the current moment, and calculate the transformation matrix of the airborne coordinate system relative to the global coordinate system at the current moment. S42. Calculate the coordinates of the origin of the laser coordinate system in the global coordinate system at the current moment, and the unit vector of the laser beam direction in the global coordinate system. S43. Given the design elevation of the target, calculate the coordinates of the intersection point between the laser beam and the plane where the target is located at the current moment, which is the theoretical target center coordinates.

8. The bridge erecting machine-assisted construction method as described in claim 7, characterized in that, Step S5 specifically includes: S51. Calculate the deviation between the actual target center coordinates and the theoretical target center coordinates at the current moment; S52. Calculate the Kalman gain based on the extended Kalman filter method; S53. The deviation between the actual target center coordinates and the theoretical target center coordinates, and the Kalman gain are used to correct the state vector and covariance of the bridge erecting machine at the current moment, which are the best predictions.

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