Bridge floor system prefabricated component construction method and system

Abstract

This application relates to a construction method and system for precast bridge deck components, belonging to the field of bridge construction technology. The method includes: measuring the absolute coordinates of pre-set anchor points using a measuring instrument at a known location; solving for coordinate transformation parameters by combining these with design coordinates; determining the design route and target installation position in the absolute coordinate system based on the parameters and design coordinates of component feature points; lifting the component using a bridge deck hoisting device and adjusting its spatial posture to match the design route; controlling the instrument to automatically search for and measure the pre-installation target of the component, calculating the offset between the measured position and the target installation position, and using closed-loop control to adjust the component position until the offset falls within the design range. This application achieves automated closed-loop operation, replacing repeated manual measurements and adjustments, reducing workload and human error, improving paving accuracy and intelligence, ensuring project quality meets high-speed railway standards, reducing overall costs, and enhancing construction safety.

Description

Technical Field

[0001] This application relates to the field of bridge construction technology, and in particular to a method and system for constructing precast bridge deck components. Background Technology

[0002] Bridge deck ancillary facilities mainly include ballast retaining walls, cable troughs, cover plates, shields, railings, and sound barriers, and are an important component of high-speed railway and bridge engineering. Currently, the paving of precast bridge deck components mainly adopts a method of hoisting with truck cranes and manual fine-tuning. This construction method is widely used in current bridge construction, but its technical limitations are becoming increasingly apparent, making it difficult to fully meet the demands of modern, efficient construction.

[0003] In related technologies, when installing precast bridge deck components, a truck crane is typically used to lift the components to their approximate location on the bridge deck. Surveyors then use total stations and other measuring instruments to manually measure the points on the components, obtaining the current position data. After comparing the measured data with the design data, the surveyors use walkie-talkies or hand gestures to direct the crane operator and assistant workers to make fine adjustments to the components. This process requires multiple cycles of "measurement-feedback-adjustment-remeasurement" until the component position meets the accuracy requirements. This method of operation is highly dependent on manual operation and on-site coordination.

[0004] However, the existing technologies mentioned above suffer from drawbacks such as low operational efficiency, high safety risks, limited paving accuracy, and low levels of intelligence. Reliance on repeated manual measurements and adjustments leads to high communication costs and lengthy installation times for individual components, making it difficult to meet the pace of large-scale standardized construction. The complex working environment at the bridge deck edges necessitates close contact between workers and suspended components for manual fine-tuning, posing safety risks. Manual measurement and aiming are subject to human error and are significantly affected by ambient light and the skill level of the surveyors, making it difficult to guarantee the high-precision quality requirements of bridge deck engineering. Furthermore, the traditional method relies heavily on manual labor, making it impossible to achieve digital closed-loop control of the construction process. Therefore, it is necessary to research and improve upon these structures, providing a construction method and system for prefabricated bridge deck components to achieve greater practical value. Summary of the Invention

[0005] In view of the shortcomings or deficiencies mentioned in the background art, the present application provides a construction method and system for prefabricated bridge deck components to solve the problems of low work efficiency and poor paving accuracy caused by the reliance on repeated manual adjustments in the installation of prefabricated bridge deck components.

[0006] In a first aspect, embodiments of this application provide a method for constructing precast bridge deck components, including: The absolute coordinates of the preset anchor points are measured using a surveying instrument with known station locations, and the coordinate transformation parameters are solved by combining the design coordinates of the preset anchor points. Based on coordinate transformation parameters and design coordinates of feature points of prefabricated components, the design path of prefabricated components in the absolute coordinate system and the target installation position on the design path are obtained. The precast components were lifted using a bridge deck hoisting device, and their spatial orientation was measured and adjusted to match the design route. The control measuring instrument automatically searches for and measures the measuring targets pre-installed on the precast components, calculates the offset between the measured position and the target installation position, and adjusts the position of the precast components through closed-loop control of the bridge deck hoisting device until the offset falls within the design range.

[0007] Firstly, in some embodiments, before measuring the absolute coordinates of a preset anchor point using a measuring instrument at a known station location and combining this with the design coordinates of the preset anchor point to solve for the coordinate transformation parameters, the method further includes: A three-dimensional model of the beam and precast components is constructed based on the design parameters, and a relative coordinate system is established on the model to obtain the design coordinates of the preset anchor points and feature points of the precast components in the relative coordinate system. Measuring instruments are set up around the precast components to be laid, and the orientation is determined using control points with known absolute coordinates. The position of the measuring instruments in the absolute coordinate system is then calculated and determined.

[0008] Firstly, in some embodiments, the method of measuring the absolute coordinates of a preset anchor point using a measuring instrument at a known station location, and then solving for the coordinate transformation parameters by combining the design coordinates of the preset anchor point, specifically includes: Using a surveying instrument with a known station location, measure the absolute coordinates of at least three preset anchor points, preset the design coordinates corresponding to the anchor points, and calculate the initial coordinate transformation parameters; Using a measuring instrument at a known station location, measure the absolute coordinates of at least one verification anchor point; then, using the initial coordinate transformation parameters, convert the design coordinates of the verification anchor point into theoretical absolute coordinates. If the difference between the theoretical absolute coordinates and the measured absolute coordinates of the verification anchor point is within a preset threshold, the initial coordinate transformation parameter is determined to be valid and used as the final coordinate transformation parameter; if the difference exceeds the limit, the above steps are repeated.

[0009] Firstly, in some embodiments, the method of obtaining the design path of the prefabricated component in the absolute coordinate system and the target installation position on the design path based on coordinate transformation parameters and the design coordinates of feature points of the prefabricated component specifically includes: Based on the design coordinates and coordinate transformation parameters of the feature points of the precast components in the relative coordinate system, the absolute coordinates of the feature points of the precast components in the absolute coordinate system are calculated. Based on the absolute coordinates of the feature points of the prefabricated components in the absolute coordinate system, the design path of the prefabricated components is fitted or connected. The design path includes the spatial trajectory of the center line and the edge line. Select key positioning points on the designed route as the target installation locations for prefabricated components; Output the absolute coordinates of the target installation location as the reference data for subsequent layout and guided installation.

[0010] In a first aspect, in some embodiments, the use of a bridge deck hoisting device to lift prefabricated components and measure their spatial orientation, adjusting the orientation to match the designed route, specifically includes: The prefabricated components were lifted to the target installation position using a bridge deck hoisting device. The current spatial attitude of the precast components is obtained by the measuring device built into the bridge deck hoisting device, and compared with the design route to calculate the attitude deviation. Based on the attitude deviation, the bridge deck hoisting device is moved to adjust the spatial attitude of the precast components to be parallel to the designed route.

[0011] In a first aspect, in some embodiments, the control and measuring instrument automatically searches for and measures the measuring target pre-installed on the prefabricated component, calculates the offset value between the measured position and the target installation position, and adjusts the position of the prefabricated component through closed-loop control of the bridge deck hoisting device until the offset value falls within the design range, specifically including: The control measuring instrument automatically searches for and measures the measuring targets pre-installed on the prefabricated components to obtain their measured coordinates; Based on the measured coordinates and the target installation position, calculate the offset values ​​of the current precast component in the longitudinal, transverse, and vertical directions; Adjustment amounts are generated based on the current offset values ​​of the precast components in the longitudinal, transverse, and vertical directions; The drive bridge deck hoisting device adjusts the position of the current precast component according to the adjustment amount, and updates the offset value after re-measurement until the offset value falls within the design range.

[0012] In a first aspect, in some embodiments, the calculation of the longitudinal offset value includes: For the first precast component, after alignment, the coordinates of its front and rear ends are recorded by the measurement system software, and the longitudinal reference of subsequent precast components is calculated in polar coordinates. For subsequent precast components, the difference between the measured position and the theoretical longitudinal position of the current precast component is calculated based on the longitudinal benchmark and used as the longitudinal offset value. The calculation of the lateral offset value includes: Using the centerline of the line as a reference, the measured points of the measuring targets on the prefabricated components are projected onto the centerline of the line to obtain the perpendicular foot points; Calculate the perpendicular distance from the measured point to the center line of the line, and compare it with the theoretical perpendicular distance from the designed line to the center line of the line. The difference is the lateral offset value. The calculation of the vertical offset value includes: Using the elevation of the perpendicular point on the center line of the line as the height reference, obtain the vertical distance between the measured point of the measuring target on the precast component and the perpendicular point; Calculate the difference between this vertical distance and the design elevation of the line, and use it as the vertical offset value.

[0013] Secondly, embodiments of this application provide a bridge deck prefabricated component construction system, comprising: The measuring target is pre-installed on the prefabricated component; Measuring instruments used to measure the absolute coordinates of preset anchor points and measuring targets; The computer is used to solve the coordinate transformation parameters based on the absolute coordinates and design coordinates of the preset anchor points, generate the design route and target installation position based on the transformation parameters and the design coordinates of the feature points of the prefabricated components, and calculate the offset value based on the measured coordinates of the target and the target installation position. A bridge deck hoisting device is used to lift precast components and adjust the position of the precast components according to the offset value; The measuring instruments, computer, and bridge deck hoisting device constitute a closed-loop control system, which continuously measures, calculates, and adjusts until the offset value falls within the design range.

[0014] Secondly, in some embodiments, the computer includes: The data receiving module is used to receive coordinate data measured by the measuring instrument; The transformation parameter calculation module is used to solve the coordinate transformation parameters based on the absolute coordinates of the preset anchor points and the design coordinates. The design location generation module is used to generate the design route and target installation position of the prefabricated component in the absolute coordinate system based on the coordinate transformation parameters and the design coordinates of the feature points of the prefabricated component. The offset calculation module is used to calculate the offset values ​​in the longitudinal, lateral, and vertical directions based on the measured coordinates of the target and the target installation position.

[0015] Secondly, in some embodiments, the bridge deck hoisting device includes: The bridge deck walking frame can move along the bridge deck; A lifting device, mounted on the bridge deck traveling frame, is used to lift prefabricated components; A three-axis displacement device is installed on the bridge deck traveling frame to drive the lifting device to move in three-dimensional space; A sensor, mounted on the bridge deck traveling frame, is used to detect the spatial attitude of the lifting device.

[0016] The beneficial effects of the technical solution provided in this application include: This application provides a construction method and system for precast bridge deck components. The method includes: measuring the absolute coordinates of preset anchor points using a measuring instrument at a known location, and solving for coordinate transformation parameters by combining the design coordinates of the preset anchor points; obtaining the design path of the precast component in the absolute coordinate system and the target installation position on the design path based on the coordinate transformation parameters and the design coordinates of the feature points of the precast component; lifting the precast component using a bridge deck hoisting device and measuring the spatial attitude of the precast component, adjusting the spatial attitude of the precast component to match the design path; controlling the measuring instrument to automatically search for and measure the measuring target pre-installed on the precast component, calculating the offset value between the measured position and the target installation position, and adjusting the position of the precast component through closed-loop control of the bridge deck hoisting device until the offset value falls within the design range.

[0017] Therefore, this application accurately calculates the target installation position through coordinate transformation parameters, uses a bridge deck hoisting device to initially adjust the spatial posture of the components to match the designed route, and facilitates the automatic search of the target and calculation of the offset value by measuring instruments. Then, based on a closed-loop control strategy, the hoisting device is driven for fine-tuning until the offset meets the design requirements. This achieves automated closed-loop operation, effectively replacing repeated manual measurement and adjustment, significantly reducing workload and human error; at the same time, it improves paving accuracy and intelligence level, ensures the project quality meets the stringent standards of high-speed railways, and significantly enhances construction safety while effectively reducing overall project costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating an embodiment of this application; Figure 2 This is a schematic diagram illustrating the process of determining the position of the measuring instrument in an embodiment of this application; Figure 3 This is a schematic diagram of the process for solving the coordinate transformation parameters according to an embodiment of this application; Figure 4 A flowchart illustrating the target installation location in an embodiment of this application; Figure 5 This is a schematic diagram illustrating the process of adjusting the posture of prefabricated components according to an embodiment of this application; Figure 6 This is a schematic diagram illustrating the process of calculating the offset value of prefabricated components according to an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] In view of the shortcomings or deficiencies mentioned in the background art, the present application provides a construction method and system for prefabricated bridge deck components to solve the problems of low work efficiency and poor paving accuracy caused by the reliance on repeated manual adjustments in the installation of prefabricated bridge deck components.

[0022] See Figures 1 to 6 As shown, the first aspect of this application provides a construction method for precast bridge deck components, including: S1. Measure the absolute coordinates of the preset anchor points using a surveying instrument with known station locations, and solve for the coordinate transformation parameters by combining the design coordinates of the preset anchor points. S2. Based on the coordinate transformation parameters and the design coordinates of the feature points of the prefabricated components, the design path of the prefabricated components in the absolute coordinate system and the target installation position on the design path are obtained. S3. Use bridge deck hoisting equipment to lift precast components and measure the spatial orientation of the precast components, and adjust the spatial orientation of the precast components to match the design route; S4. Control the measuring instrument to automatically search for and measure the measuring target pre-installed on the precast component, calculate the offset value between the measured position and the target installation position, and adjust the position of the precast component through closed-loop control of the bridge deck hoisting device until the offset value falls within the design range.

[0023] The bridge deck prefabricated component construction method of this application accurately calculates the target installation position through coordinate transformation parameters, uses a bridge deck hoisting device to initially adjust the spatial posture of the component to match the design route, and facilitates the automatic search of the target by the measuring instrument and calculation of the offset value; then, based on the closed-loop control strategy, the hoisting device is driven to perform fine adjustment until the offset meets the design requirements.

[0024] It achieves automated closed-loop operation, effectively replacing repeated manual measurement and adjustment, significantly reducing work intensity and human error; at the same time, it improves paving accuracy and intelligence level, ensures that the project quality meets the stringent standards of high-speed railway, and significantly enhances construction safety while effectively reducing the overall project cost.

[0025] In practice, the absolute coordinate system adopts the geodetic coordinate system or the engineering independent coordinate system used uniformly throughout the entire project, while the design coordinates of the preset anchor points and feature points of prefabricated components can be obtained by using the relative coordinates with the center of the top surface of the beam as the origin, after constructing the combined model of the beam and prefabricated components and the relative coordinates of the model.

[0026] The bridge deck hoisting device is a mobile crane that can move on the top surface of the beam. It obtains its absolute coordinates through measuring instruments and uses multiple laser sensors installed on itself to detect the posture of the hoisted precast component. After adjusting it to be consistent with the design line, it enters the measurement range of the measuring instrument.

[0027] The measuring instruments can include total stations, measuring robots, or 3D laser scanners, and the prefabricated components cover a variety of types such as retaining walls, cable troughs, covers, shields, railings, or sound barriers.

[0028] Firstly, in some alternative embodiments: see Figures 1 to 6 As shown, this application embodiment provides a construction method for precast bridge deck components. Before step S1 of this construction method, which involves measuring the absolute coordinates of a preset anchor point using a measuring instrument at a known location and then calculating the coordinate transformation parameters based on the design coordinates of the preset anchor point, the method further includes: S01. Construct a three-dimensional model of the beam and precast components based on the design parameters, and establish a relative coordinate system on the model to obtain the design coordinates of the preset anchor points and feature points of the precast components in the relative coordinate system. S02. Set up measuring instruments around the precast components to be laid, use control points with known absolute coordinates for orientation, and calculate and determine the position of the measuring instruments in the absolute coordinate system.

[0029] In this embodiment, a three-dimensional model of the beam and precast components is first constructed based on the design parameters, and a relative coordinate system with the center of the box girder as the origin is established on the model to obtain the design coordinates of the preset anchor points and feature points of the precast components in the relative coordinate system.

[0030] Given that precast components include various specifications and there are multiple combinations of box girders and precast components, the model construction has a dual function: first, to present all the combinations in three-dimensional form on the measurement system software, which facilitates on-site operation visualization; second, to import the position coordinates of the anchor points of each combination in the relative coordinate system with the center of the box girder as the origin into the measurement system software in the form of a configuration file, so as to provide basic data for the subsequent calibration of the preset anchor points.

[0031] Subsequently, measuring instruments are set up around the precast components to be laid, and the orientation is determined by using control points with known absolute coordinates (permanent observation marks set on the beam or the ground or temporary measuring marks set up in the previous high-level control network), and the position of the measuring instruments in the absolute coordinate system is calculated and determined.

[0032] In practice, a total station is set up near the component to be laid, and the total station is positioned in the absolute coordinate system using resection or polar coordinate method to obtain the absolute coordinates of the instrument center and the orientation of the instrument, thus providing an accurate coordinate reference for the subsequent measurement of the absolute coordinates of the anchor points.

[0033] Firstly, in some alternative embodiments: see Figures 1 to 6 As shown in the embodiment of this application, a construction method for precast bridge deck components is provided. The method includes step S1, which involves measuring the absolute coordinates of preset anchor points using a measuring instrument at a known location, and then calculating the coordinate transformation parameters based on the design coordinates of the preset anchor points. Specifically, this includes: S11. Using a surveying instrument with a known station location, measure the absolute coordinates of at least three preset anchor points, preset the design coordinates corresponding to the anchor points, and calculate the initial coordinate transformation parameters. S12. Using a surveying instrument at a known station location, measure the absolute coordinates of at least one verification anchor point; convert the design coordinates of the verification anchor point into theoretical absolute coordinates using initial coordinate transformation parameters; S13. If the difference between the theoretical absolute coordinates and the measured absolute coordinates of the verification anchor point is within the preset threshold, the initial coordinate transformation parameter is deemed valid and used as the final coordinate transformation parameter; if the difference exceeds the limit, the above steps are repeated.

[0034] In this embodiment, through the coordinate transformation parameter calculation and verification steps described above, this method constructs a closed-loop calibration quality verification system. Introducing independent verification anchor points can effectively identify and eliminate erroneous transformation parameters caused by accidental errors or gross errors, improving the reliability of coordinate transformation and fundamentally ensuring the accuracy of the benchmark for subsequent measurement and layout work.

[0035] Meanwhile, this method can quickly establish and verify the coordinate system during the construction preparation stage, avoiding component installation deviations or even rework caused by incorrect benchmarks, thereby saving construction costs and ensuring project progress. Furthermore, by setting reasonable thresholds, this method can flexibly adapt to the accuracy requirements of different engineering parts, combining practicality and adaptability, and achieving an effective balance between accuracy and efficiency.

[0036] In specific implementation, in step S11, using a measuring instrument that has been set up and whose coordinates are known, the absolute coordinates of at least three non-collinear preset anchor points pre-laid in the construction area are measured, and the spatial fitting calculation is performed in combination with their design coordinates to solve the initial transformation parameters from the component local coordinate system to the site absolute coordinate system.

[0037] In step S12, to ensure the accuracy of the initial transformation parameters, the absolute coordinates of at least one independent verification anchor point are measured using a measuring instrument at the same known station, and the design coordinates of the verification anchor point are converted into theoretical absolute coordinates using the initial transformation parameters.

[0038] In step S13, the three-dimensional spatial difference between the theoretical absolute coordinates and the measured absolute coordinates of the verification anchor point is calculated. If the difference is within the preset error tolerance threshold, the initial transformation parameter is established as the final coordinate transformation parameter. If the deviation exceeds the limit, steps S11 and S12 are repeated to re-measure the anchor point and calculate the parameters until the verification is passed.

[0039] Firstly, in some alternative embodiments: see Figures 1 to 6 As shown, this application embodiment provides a construction method for precast bridge deck components. In step S2 of this construction method, based on coordinate transformation parameters and the design coordinates of feature points of the precast components, the design path of the precast components in the absolute coordinate system and the target installation position on the design path are obtained. Specifically, this includes: S21. Based on the design coordinates and coordinate transformation parameters of the feature points of the precast components in the relative coordinate system, calculate the absolute coordinates of the feature points of the precast components in the absolute coordinate system. S22. Based on the absolute coordinates of the feature points of the prefabricated components in the absolute coordinate system, fit or connect the design path of the prefabricated components. The design path includes the spatial trajectory of the center line and the edge line. S23. Select key positioning points on the designed route as the target installation locations for prefabricated components; S24. Output the absolute coordinates of the target installation location as the reference data for subsequent layout and guided installation.

[0040] In this embodiment of the application, by implementing the above steps, the method achieves seamless integration between design data and on-site construction, transforms abstract drawing information into absolute coordinate data that can be directly used for on-site measurement, eliminates the information gap between design intent and construction execution, and supports automatic aiming of measuring instruments and precise guidance of hoisting devices by outputting standardized target installation position coordinates, reducing the uncertainty caused by manual intervention, and providing reliable technical support for achieving high-precision and high-efficiency installation of precast bridge deck components.

[0041] In specific implementation, in step S21, based on the final coordinate transformation parameters that have been verified, the design coordinates of the feature points of the prefabricated components in the relative coordinate system are input into the spatial coordinate transformation model, and the theoretical absolute coordinates of each feature point in the absolute coordinate system of the construction site are calculated.

[0042] In step S22, based on the calculated absolute coordinates of a series of feature points, spatial geometric fitting and connection are performed to generate a complete design path of the prefabricated component in the absolute coordinate system, covering the spatial trajectory of the component's center line and edge line.

[0043] In step S23, based on the generated design route, key positioning points that can determine the installation position of the component (such as the geometric center of the component, the hoisting center of gravity, the first and last control points, and the bolt hole center connecting with adjacent components or beams) are selected as the target installation position of the prefabricated component.

[0044] In step S24, the determined target installation position is formatted and output in the form of absolute coordinates as the reference data for subsequent construction stages. It can be directly transmitted to the on-site measuring instrument for automatic layout or input into the control system of the bridge deck hoisting device to guide the high-precision positioning of precast components.

[0045] Firstly, in some alternative embodiments: see Figures 1 to 6 As shown in the embodiment of this application, a method for constructing precast bridge deck components is provided. Step S3 of this method involves using a bridge deck hoisting device to lift the precast components and measuring their spatial orientation to adjust them to match the designed route. Specifically, this includes: S31. Use a bridge deck hoisting device to lift the precast components above the target installation position; S32. Obtain the current spatial attitude of the precast components through the measuring device built into the bridge deck hoisting device, compare it with the design route, and calculate the attitude deviation. S33. Based on the attitude deviation, control the movement of the bridge deck hoisting device to adjust the spatial attitude of the precast components to be parallel to the designed route.

[0046] In this embodiment of the application, by implementing the above steps, the method achieves active attitude control during the hoisting process, which changes the traditional extensive mode that relies on manual traction or visual adjustment, and improves the accuracy and efficiency of the initial positioning of the components.

[0047] Meanwhile, this creates favorable conditions for subsequent fine-tuning processes, ensuring that the measuring targets on the components can smoothly enter the effective field of view of the precision measuring instruments, avoiding measurement blind spots. Furthermore, by completing attitude adjustment and coarse position adjustment simultaneously during hoisting, the workload of the subsequent fine-tuning stage is reduced, achieving efficient integration of hoisting and measurement, and shortening the overall installation time.

[0048] In specific implementation, in step S31, the bridge deck hoisting device is operated to lift the prefabricated component from the storage position and move it directly above the target installation position, suspending it at a certain safe height from the installation surface.

[0049] In step S32, the six-degree-of-freedom spatial attitude information of the precast component is acquired in real time by the measuring device (such as an inclination sensor, displacement sensor, laser rangefinder, or visual recognition system) installed on the hoisting device itself. This information is then compared spatially with the design trajectory to calculate the angular and positional deviations between the component's current axis and the design trajectory. In step S33, control commands are generated based on the attitude deviations to drive the actuators of the hoisting device to coordinate their movements, adjusting the translation and rotation of the precast component until its spatial attitude is basically consistent with the direction of the design trajectory and its projected position initially coincides with the target installation position, thus completing the coarse matching.

[0050] For example, in one specific embodiment of this application, for prefabricated components of accessories installed on the edge of the beam, the edge of the beam can be used as the geometric reference for the design route to determine the installation position of each component relative to the edge of the beam. Since the bridge deck hoisting device travels longitudinally along the beam, and its central axis of travel direction is preset to be parallel to the edge of the box girder, in actual operation, the central axis of the hoisting device can be directly used as a reference for attitude adjustment.

[0051] This method utilizes the parallel relationship between the hoisting device's own travel trajectory and the edge of the beam to simplify the attitude calculation process. It adjusts the component's attitude to be roughly parallel to the central axis of the hoisting device, thus achieving parallel matching with the edge of the box girder and effectively improving the efficiency and convenience of the coarse adjustment stage.

[0052] In practice, before lifting the precast components, it is confirmed that the travel track or path of the bridge deck hoisting device is parallel to the edge of the box girder, and the central axis of the hoisting device is set as a temporary reference benchmark for attitude adjustment. After the hoisting device lifts the precast components, the system controls the actuator of the hoisting device to adjust the spatial attitude of the precast components to be approximately parallel to the central axis of the hoisting device.

[0053] Subsequently, fine-tuning is performed using the absolute coordinates measured by measuring instruments. This dual control strategy, which uses the device axis as the coarse adjustment reference and the absolute coordinates as the fine adjustment reference, takes advantage of the convenience of the on-site physical structure while ensuring the final installation accuracy. It is particularly suitable for installation scenarios of linearly arranged edge components such as retaining walls and cable troughs.

[0054] Firstly, in some alternative embodiments: see Figures 1 to 6As shown, this application embodiment provides a construction method for precast bridge deck components. In step S4 of this method, a control measuring instrument automatically searches for and measures a pre-installed measuring target on the precast component, calculates the offset between the measured position and the target installation position, and adjusts the position of the precast component using closed-loop control of the bridge deck hoisting device until the offset falls within the design range. Specifically, this includes: S41. Control the measuring instrument to automatically search for and measure the measuring target pre-installed on the prefabricated component, and obtain its measured coordinates; S42. Based on the measured coordinates and the target installation position, calculate the offset values ​​of the current precast component in the longitudinal, transverse, and vertical directions; S43. Generate adjustment amounts based on the current offset values ​​of the precast components in the longitudinal, transverse, and vertical directions; S44. Drive the bridge deck hoisting device to adjust the position of the current precast component according to the adjustment amount, and update the offset value after re-measurement until the offset value falls within the design range.

[0055] In this embodiment, by implementing the above steps, the method achieves automated, high-precision fine-tuning, eliminating human error and improving the accuracy and consistency of component installation. The constructed closed-loop feedback control mechanism can monitor the adjustment effect in real time and continuously correct residual deviations, ensuring that the final installation position strictly meets design requirements and overcoming the overshoot or undershoot problems that may occur in a single adjustment.

[0056] Simultaneously, multi-dimensional synchronous adjustments are achieved, avoiding the inefficiency and cumulative errors caused by step-by-step adjustments in different directions, and significantly shortening the fine-tuning time. In addition, the measured coordinates, offset values, and adjustment amounts during construction are automatically recorded, forming a complete construction process archive, improving the traceability of construction data, and providing reliable data support for quality acceptance and subsequent operation and maintenance.

[0057] In specific implementation, in step S41, the system sends an automatic search command to the established measuring instrument, so that it automatically aims at the high-precision measuring target pre-installed on the prefabricated component, obtains its three-dimensional measured coordinates in the absolute coordinate system in real time, and transmits them back.

[0058] In step S42, the central control system calculates the offset values ​​of the current prefabricated component in three key directions: longitudinal, lateral, and vertical, based on the target installation position. Specifically, the system compares the real-time measured component coordinates with the target coordinates to obtain a three-dimensional spatial deviation vector.

[0059] In step S43, the system generates an adjustment command based on the offset value and a preset control algorithm. In this embodiment, the preset control algorithm can be a PID control algorithm, a fuzzy control algorithm, or a simple proportional mapping algorithm. For example, when using a proportional mapping algorithm, the displacement of the lifting device in the adjustment command is proportional to the offset value; when using a PID control algorithm, the system performs PID calculations based on the offset value and dynamically adjusts the moving speed and direction of the lifting device based on the calculation results to reduce overshoot and improve positioning accuracy.

[0060] In step S44, the adjustment command is sent to the actuator of the bridge deck hoisting device to drive the lifting device to make precise displacement, and steps S41 to S43 are repeated to form a closed-loop feedback control cycle until the offset values ​​in all directions fall within the allowable error range. Then the hoisting device is locked to confirm that the component fine adjustment is completed.

[0061] Firstly, in some alternative embodiments: see Figures 1 to 6 As shown in the embodiment of this application, a construction method for precast bridge deck components is provided. The calculation of the longitudinal offset value of this construction method for precast bridge deck components includes: For the first precast component, after alignment, the coordinates of its front and rear ends are recorded by the measurement system software, and the longitudinal reference of subsequent precast components is calculated in polar coordinates. For subsequent precast components, the difference between the measured position and the theoretical longitudinal position of the current precast component is calculated based on the longitudinal datum and used as the longitudinal offset value. Calculating the lateral offset value includes: Using the centerline of the line as a reference, the measured points of the measuring targets on the prefabricated components are projected onto the centerline of the line to obtain the perpendicular foot point; Calculate the perpendicular distance from the measured point to the center line of the line, and compare it with the theoretical perpendicular distance from the designed line to the center line of the line. The difference is the lateral offset value. The calculation of the vertical offset value includes: Using the elevation of the perpendicular point on the center line of the line as the height reference, obtain the vertical distance between the measured point of the measuring target on the precast component and the perpendicular point; Calculate the difference between this vertical distance and the design elevation of the line, and use it as the vertical offset value.

[0062] In this embodiment of the application, by implementing the above-mentioned offset calculation method, the method achieves precise decoupling calculation in different dimensions, decomposes the spatial pose deviation into three independent components, which facilitates the generation of targeted adjustment instructions and avoids the adjustment complexity caused by multi-dimensional coupling.

[0063] A unified benchmark system applicable to bridge deck construction was established, utilizing stable on-site structures to ensure calculation reliability and reproducibility. The problem of longitudinal benchmark transfer was solved; subsequent benchmarks were automatically calculated after the first piece was manually aligned, balancing practical construction with automation efficiency.

[0064] Furthermore, the calculation method based on explicit geometric projection relationships improves accuracy and adaptability, and can be widely applied to different types of precast components, demonstrating good versatility.

[0065] In practice, the longitudinal offset value is calculated using a separate strategy: for the first precast component, the bolt holes are aligned manually, the system records the target coordinates and calculates the theoretical longitudinal position of subsequent components as a benchmark; for subsequent components, the measured coordinates are compared with the benchmark to calculate the mileage difference.

[0066] When calculating the lateral offset value, the centerline of the track (the centerline of the track surface) is used as the spatial reference. The actual measured point of the target is vertically projected onto the centerline of the track, and the difference between the measured vertical offset and the theoretical vertical offset is calculated.

[0067] When calculating the vertical offset value, the elevation of the perpendicular foot point on the center line of the line is used as the height reference. The vertical distance between the actual target point and the perpendicular foot point is obtained and compared with the theoretical vertical distance calculated based on the design elevation. The difference is the vertical offset value.

[0068] See Figures 1 to 6 As shown, a second aspect of this application provides a construction system for precast bridge deck components, comprising: The measuring target is pre-installed on the prefabricated component; Measuring instruments used to measure the absolute coordinates of preset anchor points and measuring targets; The computer is used to solve the coordinate transformation parameters based on the absolute coordinates and design coordinates of the preset anchor points, generate the design route and target installation position based on the transformation parameters and the design coordinates of the feature points of the prefabricated components, and calculate the offset value based on the measured coordinates of the target and the target installation position. Bridge deck hoisting equipment is used to lift precast components and adjust their position according to the offset value; The measuring instruments, computer, and bridge deck hoisting device form a closed-loop control system that continuously measures, calculates, and adjusts until the offset value falls within the design range.

[0069] The bridge deck precast component construction system provided in this application embodiment achieves a high degree of system integration and automation, integrating functions such as coordinate benchmark establishment, design route generation, offset calculation and closed-loop control adjustment into one, reducing connection links and improving construction efficiency and data consistency.

[0070] The constructed highly reliable closed-loop control mechanism continuously monitors and corrects component positions through real-time feedback, calculation, and execution, avoiding cumulative errors and ensuring that installation accuracy meets design requirements. Automated measurement and adjustment reduce manual intervention, lower safety risks, and the system can flexibly set parameters according to different component types, exhibiting good versatility and adaptability.

[0071] In practice, the system includes measuring targets pre-installed on the surface of precast components, measuring instruments erected in the construction area, a computer as the control core, and a bridge deck hoisting device for lifting and adjustment.

[0072] Secondly, in some alternative embodiments: see Figures 1 to 6 As shown in the figure, this application provides a bridge deck prefabricated component construction system, the computer of which includes: The data receiving module is used to receive coordinate data measured by the measuring instrument; The transformation parameter calculation module is used to solve the coordinate transformation parameters based on the absolute coordinates of the preset anchor points and the design coordinates. The design location generation module is used to generate the design route and target installation position of the prefabricated component in the absolute coordinate system based on the coordinate transformation parameters and the design coordinates of the feature points of the prefabricated component. The offset calculation module is used to calculate the offset values ​​in the longitudinal, lateral, and vertical directions based on the measured coordinates of the target and the target installation position.

[0073] The computer system in this application adopts a modular software architecture with clear functional division and low coupling and high cohesion between modules, which facilitates software development, testing and maintenance and ensures smooth and reliable data processing flow.

[0074] It supports fully automated data processing, eliminating human error and improving processing efficiency and accuracy. The architecture boasts excellent scalability and adaptability, facilitating the addition of new features or adaptation to different instruments and processes based on engineering needs.

[0075] In addition, it provides a precise data foundation for closed-loop control. The three-dimensional offset value output by the offset calculation module can be directly used to generate adjustment commands. Together with measuring instruments and bridge deck hoisting devices, it forms a complete closed-loop control system to ensure high-precision installation of prefabricated components.

[0076] Secondly, in some alternative embodiments: see Figures 1 to 6 As shown in the figure, this application provides a bridge deck prefabricated component construction system, and the bridge deck hoisting device of the bridge deck prefabricated component construction system includes: The bridge deck walking frame can move along the bridge deck; The lifting device, installed on the bridge deck traveling frame, is used to lift prefabricated components; The three-axis displacement device is installed on the bridge deck traveling frame and is used to drive the lifting device to move in three-dimensional space; The sensor, mounted on the bridge deck traveling frame, is used to detect the spatial attitude of the lifting device.

[0077] In this embodiment, the bridge deck hoisting device adopts a modular design, integrating walking, lifting, three-axis precise displacement, and attitude detection functions. The walking frame balances mobility and operational stability, the three-axis displacement device enables independent and precise adjustment of components in three-dimensional space, and the sensor arrangement achieves non-contact real-time monitoring of the hoisting device's attitude. The overall structure is compact and has high control precision, making it particularly suitable for high-precision installation scenarios of prefabricated bridge deck components, effectively ensuring construction efficiency and quality.

[0078] In practice, the bridge deck traveling frame adopts a rectangular frame structure, with drive wheels installed at the bottom to move longitudinally along the bridge deck. Retractable outriggers at the four corners can extend before operation to provide a stable platform. The lifting equipment includes vertical booms and lifting ropes for connecting components.

[0079] In the three-axis displacement device, a pair of transverse slides are installed on the transverse beam of the rectangular frame to achieve transverse movement, and a longitudinal linear slide is installed across the transverse slide slider to achieve longitudinal movement. A winch is installed on the longitudinal slide slider and drives the lifting device to rise and fall vertically through a sling.

[0080] The sensor can be a laser sensor installed at different positions on the rectangular frame. It emits a laser beam downward or sideways to measure the distance to the boom or component, calculates the tilt angle and horizontal offset of the lifting device, and transmits it to the central control system for closed-loop control of the three-axis displacement device for precise adjustment.

[0081] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0082] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. 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 this application. Therefore, this application 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 claimed herein.

Claims

1. A construction method for precast bridge deck components, characterized in that, include: The absolute coordinates of the preset anchor points are measured using a surveying instrument with known station locations, and the coordinate transformation parameters are solved by combining the design coordinates of the preset anchor points. Based on coordinate transformation parameters and design coordinates of feature points of prefabricated components, the design path of prefabricated components in the absolute coordinate system and the target installation position on the design path are obtained. The precast components were lifted using a bridge deck hoisting device, and their spatial orientation was measured and adjusted to match the design route. The control measuring instrument automatically searches for and measures the measuring targets pre-installed on the precast components, calculates the offset between the measured position and the target installation position, and adjusts the position of the precast components through closed-loop control of the bridge deck hoisting device until the offset falls within the design range.

2. The construction method for precast bridge deck components as described in claim 1, characterized in that: Before measuring the absolute coordinates of the preset anchor point using a surveying instrument at a known station location, and combining this with the design coordinates of the preset anchor point to solve for the coordinate transformation parameters, the process also includes: A three-dimensional model of the beam and precast components is constructed based on the design parameters, and a relative coordinate system is established on the model to obtain the design coordinates of the preset anchor points and feature points of the precast components in the relative coordinate system. Measuring instruments are set up around the precast components to be laid, and the orientation is determined using control points with known absolute coordinates. The position of the measuring instruments in the absolute coordinate system is then calculated and determined.

3. The construction method for precast bridge deck components as described in claim 1, characterized in that: The process of measuring the absolute coordinates of a preset anchor point using a surveying instrument at a known station location, and then calculating the coordinate transformation parameters by combining these coordinates with the design coordinates of the preset anchor point, specifically includes: Using a surveying instrument with a known station location, measure the absolute coordinates of at least three preset anchor points, preset the design coordinates corresponding to the anchor points, and calculate the initial coordinate transformation parameters; Using a measuring instrument at a known station location, measure the absolute coordinates of at least one verification anchor point; then, using the initial coordinate transformation parameters, convert the design coordinates of the verification anchor point into theoretical absolute coordinates. If the difference between the theoretical absolute coordinates and the measured absolute coordinates of the verification anchor point is within a preset threshold, the initial coordinate transformation parameter is determined to be valid and used as the final coordinate transformation parameter; if the difference exceeds the limit, the above steps are repeated.

4. The construction method for precast bridge deck components as described in claim 1, characterized in that: The design coordinates based on coordinate transformation parameters and feature points of prefabricated components are used to obtain the design path of the prefabricated components in the absolute coordinate system and the target installation position on the design path, specifically including: Based on the design coordinates and coordinate transformation parameters of the feature points of the precast components in the relative coordinate system, the absolute coordinates of the feature points of the precast components in the absolute coordinate system are calculated. Based on the absolute coordinates of the feature points of the prefabricated components in the absolute coordinate system, the design path of the prefabricated components is fitted or connected. The design path includes the spatial trajectory of the center line and the edge line. Select key positioning points on the designed route as the target installation locations for prefabricated components; Output the absolute coordinates of the target installation location as the reference data for subsequent layout and guided installation.

5. The construction method for precast bridge deck components as described in claim 1, characterized in that: The aforementioned method of using a bridge deck hoisting device to lift precast components and measuring their spatial orientation to adjust them to match the designed route specifically includes: The prefabricated components were lifted to the target installation position using a bridge deck hoisting device. The current spatial attitude of the precast components is obtained by the measuring device built into the bridge deck hoisting device, and compared with the design route to calculate the attitude deviation. Based on the attitude deviation, the bridge deck hoisting device is moved to adjust the spatial attitude of the precast components to be parallel to the designed route.

6. The construction method for precast bridge deck components as described in claim 1, characterized in that: The control and measurement instrument automatically searches for and measures the pre-installed measurement targets on the precast components, calculates the offset between the measured position and the target installation position, and adjusts the position of the precast components through closed-loop control of the bridge deck hoisting device until the offset falls within the design range. Specifically, this includes: The control measuring instrument automatically searches for and measures the measuring targets pre-installed on the prefabricated components to obtain their measured coordinates; Based on the measured coordinates and the target installation position, calculate the offset values ​​of the current precast component in the longitudinal, transverse, and vertical directions; Adjustment amounts are generated based on the current offset values ​​of the precast components in the longitudinal, transverse, and vertical directions; The drive bridge deck hoisting device adjusts the position of the current precast component according to the adjustment amount, and updates the offset value after re-measurement until the offset value falls within the design range.

7. The construction method for precast bridge deck components as described in claim 6, characterized in that: The calculation of the longitudinal offset value includes: For the first precast component, after alignment, the coordinates of its front and rear ends are recorded by the measurement system software, and the longitudinal reference of subsequent precast components is calculated in polar coordinates. For subsequent precast components, the difference between the measured position and the theoretical longitudinal position of the current precast component is calculated based on the longitudinal benchmark and used as the longitudinal offset value. The calculation of the lateral offset value includes: Using the centerline of the line as a reference, the measured points of the measuring targets on the prefabricated components are projected onto the centerline of the line to obtain the perpendicular foot points; Calculate the perpendicular distance from the measured point to the center line of the line, and compare it with the theoretical perpendicular distance from the designed line to the center line of the line. The difference is the lateral offset value. The calculation of the vertical offset value includes: Using the elevation of the perpendicular point on the center line of the line as the height reference, obtain the vertical distance between the measured point of the measuring target on the precast component and the perpendicular point; Calculate the difference between this vertical distance and the design elevation of the line, and use it as the vertical offset value.

8. A construction system for precast bridge deck components, characterized in that, include: The measuring target is pre-installed on the prefabricated component; Measuring instruments used to measure the absolute coordinates of preset anchor points and measuring targets; The computer is used to solve the coordinate transformation parameters based on the absolute coordinates and design coordinates of the preset anchor points, generate the design route and target installation position based on the transformation parameters and the design coordinates of the feature points of the prefabricated components, and calculate the offset value based on the measured coordinates of the target and the target installation position. A bridge deck hoisting device is used to lift precast components and adjust the position of the precast components according to the offset value; The measuring instruments, computer, and bridge deck hoisting device constitute a closed-loop control system, which continuously measures, calculates, and adjusts until the offset value falls within the design range.

9. The bridge deck precast component construction system as described in claim 8, characterized in that: The computer includes: The data receiving module is used to receive coordinate data measured by the measuring instrument; The transformation parameter calculation module is used to solve the coordinate transformation parameters based on the absolute coordinates of the preset anchor points and the design coordinates. The design location generation module is used to generate the design route and target installation position of the prefabricated component in the absolute coordinate system based on the coordinate transformation parameters and the design coordinates of the feature points of the prefabricated component. The offset calculation module is used to calculate the offset values ​​in the longitudinal, lateral, and vertical directions based on the measured coordinates of the target and the target installation position.

10. The bridge deck precast component construction system as described in claim 8, characterized in that: The bridge deck hoisting device includes: The bridge deck walking frame can move along the bridge deck; A lifting device, mounted on the bridge deck traveling frame, is used to lift prefabricated components; A three-axis displacement device is installed on the bridge deck traveling frame to drive the lifting device to move in three-dimensional space; A sensor, mounted on the bridge deck traveling frame, is used to detect the spatial attitude of the lifting device.

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