A linear control-based steel segment posture pre-adjustment and installation method

Abstract

The application relates to the technical field of bridge tower installation control, in particular to a steel segment posture pre-adjustment and installation method based on linear control. According to the application, the posture deviation between the current measured three-dimensional posture and the target posture is combined with the geometric characteristic parameters of the steel segment to be installed, so that the pre-correction amount required when the steel segment to be installed is hoisted is generated, the installation target posture pre-adjustment parameter is generated, and the posture pre-adjustment and installation of the steel segment to be installed are guided. After the installation and pouring of one segment are completed, measurement solving is carried out and comparison with the theoretical design axis is carried out. Once it is found that there is a slight deviation in the spatial posture of the current segment, the deviation value is directly counted into the pre-adjustment control parameter of the next segment, so that the accumulated error in the early stage is physically offset, and it is ensured that the tower body line shape always tends to the design track in the dynamic construction.

Description

Technical Field

[0001] This application relates to the field of bridge tower installation control technology, specifically to a method for pre-adjusting and installing the attitude of steel segments based on linear control. Background Technology

[0002] In large-scale bridge steel tower structure projects, the prefabricated steel shell segment layered assembly technology is commonly used. This involves factory prefabrication and on-site segment-by-segment hoisting and connection to achieve the installation of the bridge steel structure. Therefore, the hoisting control of steel segments is crucial to bridge construction: on the one hand, the spatial posture control of the hoisted steel segments directly determines the overall alignment; on the other hand, minor vertical, tilting, torsional, and planar deviations generated during the installation of a single steel segment are continuously transmitted with the assembly height, causing small deviations at the lower levels to develop into significant offsets at the tower top, exceeding the allowable error range, and even affecting the connection quality and structural safety.

[0003] Existing hoisting control schemes generally adopt a post-installation correction method of "install first, then adjust." After the segments are in place, manual adjustment of the posture is required, which has problems such as large human error, need for repeated testing, many procedures, low efficiency, long working time at height, and high risk. Moreover, the existing schemes lack quantitative basis and unified standard model for adjustment, resulting in unstable correction accuracy and inability to distinguish the adjustment path of different deviations, making precise control difficult.

[0004] Patent document (CN119720324B) discloses an intelligent prediction scheme for the attitude of bridge tower segments based on multi-point collaborative positioning. This scheme is based on rotation matrix, translation vector, and least squares fitting to solve for the theoretical optimal attitude. The measurement, calculation, and adjustment work are all carried out after the segment is in place, which is a passive correction. Moreover, the scheme only performs prediction and display, without establishing a quantitative correspondence between the deviation and the on-site physical adjustment components. The prediction results cannot be directly converted into specific construction operation quantities. In the end, it still relies on the experience of construction personnel for trial adjustment. It cannot offset the accumulated deviation from the source, and the core problem of the error being amplified step by step has not been fundamentally solved. Summary of the Invention

[0005] Based on this, this application proposes a method for pre-adjusting and installing the attitude of steel segments based on linear control, which aims to efficiently and accurately pre-adjust and control the attitude of each bridge tower steel segment. By generating pre-adjustment parameters, the installation of the steel segments is guided and controlled, thereby physically offsetting and correcting the errors accumulated in the early stage, ensuring that the tower body alignment always tends to the design trajectory during dynamic construction, and guaranteeing the quality and safety of subsequent projects.

[0006] This application provides a method for pre-adjusting the attitude of a steel segment based on linear control, the pre-adjustment method comprising: Collect the three-dimensional coordinates of each monitoring point on the installed steel segment, and calculate the current measured spatial pose; Based on the deviation between the measured spatial pose and the corresponding design target pose, calculate and extract the six-degree-of-freedom deviation value of the current cumulative deviation; Obtain the geometric characteristic parameters of the next steel segment to be installed; Based on the geometric characteristics of the steel segment to be installed and the current deviation values ​​of the six degrees of freedom, the installation pre-adjustment parameters required for the hoisting of the steel segment to be installed are generated; Adjustment instructions are generated based on the pre-adjustment parameters to guide the attitude pre-adjustment and alignment control of the steel segments to be installed.

[0007] Furthermore, the method pre-tuning also includes: The geometric characteristic parameters of the steel segment to be installed include the transverse width of the cross section, the longitudinal thickness of the cross section, the centroid coordinates of the cross section, and the segment height; The relative coordinates of each matching plate of the steel segment to be installed are obtained based on the transverse width of the cross section, the longitudinal thickness of the cross section, and the centroid coordinates of the cross section.

[0008] Furthermore, the pre-tuning method also includes: Based on the height of the steel segment to be installed and the current cumulative height of the installed segments, the corresponding deviation values ​​are corrected to obtain the corrected deviation values. A solution model for the geometric relationship of rigid body rotation is constructed based on the relative coordinates of each matching code plate and the corresponding correction deviation value, and the adjustment parameters of each matching code plate are calculated in reverse. Extract the correction deviation values ​​in the x and y directions of the plane and the adjustment amount required for each matching code plate to obtain the initial pre-adjustment parameters.

[0009] Furthermore, the pre-tuning method also includes: Based on the height h of the steel segment to be installed s and the current cumulative height H n Calculate the current deviation propagation amplification factor K. n : , Based on the current deviation propagation amplification factor K n The three-dimensional translation component and the tilt angle components along the longitudinal and transverse directions of the current deviation vector are corrected.

[0010] Furthermore, the pre-tuning method also includes: Based on the geometric constraints of the matching code plate, the docking gap constraints, and the docking surface constraints of the installation segments, the initial pre-adjustment parameters are constrained and optimized to generate the installation pre-adjustment parameters:

[0011] Among them, t i For the adjustment parameters of the i-th matching code plate, t min tmax These are the minimum and maximum adjustment values ​​for the matching code board, g. min g max These represent the minimum and maximum interface design gaps, respectively; g0 is the initial design thickness of the matching code board; k g The adjustment coefficients are Δx and Δy, which are the correction deviation values ​​in the x and y directions, respectively, and δ is the upper limit of the adjustment degrees of freedom.

[0012] Furthermore, the pre-tuning method also includes: Construct a three-dimensional digital model of the steel segment to be installed; The pre-adjustment parameters are mapped and superimposed onto the corresponding positions of the steel segment model to generate adjustment suggestion instructions.

[0013] A second aspect of this application provides a method for installing steel segments based on linear control, the method comprising: Based on the above attitude pre-adjustment control method, adjustment commands are generated, and pre-adjustment parameters corresponding to each matching code plate and planar displacement are obtained. Control the hoisting of the steel segment to be installed to the preset target position, and adjust the vertical elevation of the corresponding matching code plate based on the pre-adjustment parameters of each matching code plate; The steel segment to be installed is slowly lowered, so that the bottom matching code plate and the top matching code plate of the corresponding installed segment are in a hovering state that is almost touching. Select the target matching code plate as the locking point and drive in the punch; do not install punches or bolts on the other matching code plates. The transverse / longitudinal displacement of the steel segment to be installed is adjusted based on the pre-adjustment parameters of the planar displacement. After verifying that the current posture, clearance, and displacement are qualified, drive punch pins into the remaining matching code plates in sequence to achieve full-point planar locking.

[0014] A third aspect of this application provides a high-precision bridge tower steel segment attitude pre-adjustment system, the system comprising: The three-dimensional pose calculation unit is used to collect the three-dimensional coordinates of each monitoring point of the installed steel segment and calculate the current measured spatial pose. The pose deviation generation unit is used to calculate and extract the six-degree-of-freedom deviation value of the current cumulative deviation based on the deviation between the measured spatial pose and the corresponding design target pose in each previous test. The parameter acquisition unit is used to acquire the geometric characteristic parameters of the next steel segment to be installed; The pre-adjustment parameter generation unit is used to generate the installation pre-adjustment parameters required for the hoisting of the steel segment to be installed based on the geometric characteristics of the steel segment to be installed and the current deviation values ​​of the six degrees of freedom. The instruction generation unit generates adjustment instructions based on the installation pre-adjustment parameters to guide the attitude pre-adjustment and alignment control of the steel segment to be installed.

[0015] A fourth aspect of this application provides a computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the processor performs the steps of the above-described method.

[0016] A fifth aspect of this application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, characterized in that, when the computer program is executed by the processor, the processor performs the steps of the above-described method.

[0017] The high-precision bridge tower steel segment attitude pre-adjustment and installation scheme provided in this application generates the pre-correction amount required for hoisting the steel segment by combining the attitude deviation between the currently measured three-dimensional pose and the target pose with the geometric characteristic parameters of the steel segment to be installed. This generates pre-adjustment parameters for the target pose, guiding the attitude pre-adjustment and installation of the steel segment. After each segment is installed and concrete is poured, the scheme performs measurement calculations and compares them with the theoretical design axis. If a slight deviation in the spatial pose of the current segment is detected, the calculation kernel directly includes this deviation value in the pre-adjustment control parameters of the next segment, thus physically offsetting the accumulated errors from the previous stage. This ensures that the tower alignment always tends towards the design trajectory during dynamic construction, guaranteeing the quality and safety of subsequent projects.

[0018] Meanwhile, the solution proposed in this application also covers multi-dimensional attitude pre-adjustment control, adapting to the complex spatial posture adjustment of steel shell segments, meeting the high-precision alignment design requirements of bridge towers, and deeply adapting to digital intelligent construction systems. This improves the construction accuracy of current steel shell bridge towers, requiring on-site personnel to only execute standardized adjustment commands, eliminating reliance on the on-site experience of senior technicians and reducing human error. Furthermore, error traceability is clear, and the alignment is controllable and traceable, allowing for the tracking of deviations and pre-adjustment corrections for each segment, facilitating quality review and process control.

[0019] Furthermore, this application also constructs a multi-level closed-loop constraint system and introduces a high amplification factor to compensate for the deviation amplification effect, thereby offsetting the cumulative error from the source. In addition, during installation and adjustment, a pre-correction and flexible support adjustment are adopted to reduce the additional internal forces, steel shell deformation, and bolt hole squeezing damage caused by the forced correction of the high-rigidity steel shell. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] in: Figure 1 This is a flowchart of a steel segment attitude pre-adjustment method based on linear control in one embodiment; Figure 2 This is a schematic diagram of the pre-adjusted parameter fusion mapping onto the steel segment model in one embodiment; Figure 3 This is a schematic diagram of the overall alignment monitoring results of the bridge tower at different locations in one embodiment; Figure 4 This is a structural block diagram of a computer device in one embodiment; Detailed Implementation

[0022] 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, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] The terms "comprising," "including," and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus. Terms such as "first" and "second," and other relational terms, in the claims, specification, and accompanying drawings of this application, are used merely to distinguish one entity / operation / object from another, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0024] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase at various points in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0025] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0026] In one implementation, such as Figure 1The diagram shown is a flowchart of a steel segment attitude pre-adjustment method based on linear control according to this application. The pre-adjustment method includes: S10. Collect the three-dimensional coordinates of each monitoring point of the installed steel segment and calculate the current measured spatial pose.

[0027] Specifically, in one embodiment of this application, a global engineering coordinate system O-XYZ and a segmental local coordinate system o-xyz are first established. At least four non-coplanar monitoring points are arranged on the installed single steel shell segment. These monitoring points can be located on the steel shell segment body, the matching code plate, and the top of the segment. Monitoring is conducted under a stable temperature environment (such as at night). The three-dimensional coordinates of each monitoring point on the installed steel segment are collected using equipment such as a total station and input into the calculation kernel. By establishing rigid body transformation relationships and combining the least squares fitting method, the measured rotation matrix and measured translation vector of the current segment are obtained while minimizing the sum of squared measurement errors of all monitoring points, thus obtaining the three-dimensional spatial attitude of the installed segment.

[0028] S11. Based on the deviation between the measured spatial pose and the corresponding design target pose in each measurement, calculate and extract the six-degree-of-freedom deviation value of the current cumulative deviation.

[0029] Specifically, in one embodiment, the present application first calculates the cumulative deviation of the current bridge tower structure based on the measured spatial poses and design target poses of each segment installation in previous iterations. This includes: S111. Based on the measured spatial pose of each segment and the rotation matrix and translation vector of the corresponding design target pose, construct the corresponding 4th order homogeneous transformation matrix T. m,i T s,i : , Among them, R m,i R s,i The rotation matrices for the measured spatial pose and the designed target pose are respectively. m,i t s,i These are the translation vectors for the measured spatial pose and the designed target pose, respectively.

[0030] S112. Based on the corresponding pose transformation matrix, obtain the pose deviation matrix △Ti of each segment through matrix operations:

[0031] S113. Based on the deviations in the installation pose of each segment, the deviations are progressively passed down and superimposed using a homogeneous transformation matrix to obtain the total cumulative deviation matrix △T of the pose at the current top reference point up to the completion of the nth segment's installation:

[0032] The cumulative deviation matrix is ​​decomposed to extract the deviation values ​​for the six degrees of freedom, and the current pose deviation vector is constructed: ΔS=[Δx',Δy',Δz',Δα',Δβ',Δγ'] Wherein, Δx', Δy', and Δz' are the three-dimensional translation deviation values ​​in the construction coordinate system, Δα' is the deviation value of the rotation angle around the X-axis (i.e., the longitudinal tilt angle of the bridge), Δβ' is the deviation value of the rotation angle around the Y-axis (i.e., the transverse tilt angle of the bridge), and Δγ' is the deviation value of the rotation angle around the Z-axis (i.e., the torsion angle around the vertical axis).

[0033] S12. Obtain the geometric characteristic parameters of the next steel segment to be installed.

[0034] Specifically, in one embodiment of this application, the geometric feature parameters of the next steel segment to be installed are extracted, and the tilt angle-horizontal offset, error amplification factor, and attitude adjustment deviation are calculated and constrained based on the corresponding geometric parameters. The geometric feature parameters extracted in this application include the geometric feature parameters of the steel segment body and the corresponding matching code plate. The geometric feature parameters of the steel segment body include at least the steel segment height and cross-sectional centroid coordinates, while the geometric parameters of the matching code plate include at least the number and distribution of the code plates, the adjustable range, and the stroke of the elongated hole. The segment height is the vertical distance from the bottom to the top opening, used as the amplification factor for the tilt angle deviation on the top opening coordinates, and the cross-sectional centroid coordinates (x... c ,y c ) is the geometric centroid of the bottom section, which serves as the origin of the rotational reference for angular deviation conversion.

[0035] Furthermore, in the above-described scheme of this application, the matching code plates of the steel segments are arranged symmetrically at four points. In one embodiment, the scheme of this application obtains the coordinate positions of the corresponding matching code plates based on the geometric characteristic parameters of the steel segments. Specifically, the scheme of this application obtains the relative coordinates of the relative centroid coordinates of each matching code plate by extracting the transverse bridge distance 'a' and longitudinal bridge distance 'b' of the center of the four symmetrical matching code plates relative to the geometric centroid position of the bottom section, which are (+a,+b), (-a,+b), (-a,-b), and (+a,-b). In the scheme of this application, the above-mentioned corresponding geometric characteristic parameters can be obtained from the factory drawings of the prefabricated steel segments or by actual measurement and verification after delivery.

[0036] S13. Based on the geometric characteristics of the steel segment to be installed and the current deviation value, generate the installation pre-adjustment parameters required for the hoisting of the steel segment to be installed.

[0037] Specifically, in one embodiment, the present application first corrects the current deviation based on the current installation height and the current steel segment height to offset the effect of the deviation amplifying with the tower height, thereby obtaining more accurate pre-adjustment parameters, specifically including: S131. Correct the corresponding current deviation value according to the height of the steel segment to be installed and the current cumulative height of the installed segment to obtain the corrected deviation value.

[0038] Specifically, during the tower bridge installation process, minor tilting deviations in the bottom segments will be amplified into deviations at the top as the tower height increases. Therefore, this application's solution, based on the law of error propagation, constructs a pre-correction coefficient using the height of the steel segment to be installed and the current cumulative installed height, and accordingly amplifies and corrects the corresponding deviation value, thereby improving the accuracy of subsequent calculations. Specifically, this includes: S1311, Based on the height h of the steel segment to be installed s and the current cumulative height H n Calculate the current deviation propagation amplification factor K. n : , S1312, Based on the current deviation propagation amplification factor K n The three-dimensional translation components and the tilt angle components along the longitudinal and transverse directions of the current deviation vector are corrected, namely:

[0039] The above-mentioned scheme in this application incorporates the deviation into the pre-correction amount by amplifying the correction, and compensates for the amplified increment in the next section by pre-adjusting the attitude, thereby eliminating the layer-by-layer offset. This significantly improves the smoothness of the overall alignment installation and adjustment of the ultra-high bridge tower, and significantly increases the first-time pass rate of the completed axis and verticality acceptance.

[0040] S132. Based on the relative coordinates of each matching code plate and the corresponding correction deviation value, construct a solution model for the geometric relationship of rigid body rotation, and reversely calculate the adjustment parameters of each matching code plate.

[0041] Preferably, in one embodiment, the present application scheme converts the segmental vertical elevation deviation value Δz, the longitudinal bridge tilt angle deviation value Δα, the transverse bridge tilt angle deviation value Δβ, and the torsional deviation value Δγ around the vertical axis into the vertical adjustment amount of the matching code plate. The vertical adjustment amount of the matching code plate is used as a direct physical quantity to change the rigid body support height difference and correspondingly adjust the attitude.

[0042] In one embodiment, the present application's solution constructs a set of equations for solving the rigid body rotation geometric relationship using the relative coordinate values ​​(+a,+b), (-a,+b), (-a,-b), (+a,-b) of each matching code plate and the corresponding correction deviation values:

[0043] Solving simultaneously, we can obtain the vertical adjustment amounts t1~t4 corresponding to the four matching code plates as follows:

[0044] Among them, t1~t4 are the vertical adjustment amounts corresponding to the four matching code plates. The vertical adjustment amounts corresponding to the four matching code plates can be adjusted by setting shims of corresponding thickness at (or near) the matching code plate positions at the bottom opening of the steel section to be installed or the top opening of the steel section that has been installed above, or by setting corresponding fine-tuning mechanisms at (or near) the corresponding matching code plate positions.

[0045] S133. Extract the correction deviation values ​​in the x and y directions of the plane and the adjustment amount required for each matching code plate to obtain the initial pre-adjustment parameters.

[0046] Specifically, in one embodiment of this application, the pre-adjustment parameters of the steel shell segment are divided into two categories: planar direction correction deviation value and adjustment amount required for each matching code plate. The planar direction correction deviation value includes pre-correction displacement parameters (and horizontal two-dimensional adjustment amount) in the transverse and longitudinal directions. The matching code plate adjustment amount is used as the direct adjustment material parameter for the segment vertical elevation deviation value Δz, longitudinal tilt angle deviation value Δα, transverse tilt angle deviation value Δβ, and torsional deviation value Δγ around the vertical axis.

[0047] S134. Based on the geometric constraints of the matching code plate and the mating surface constraints of the installation segments, the initial pre-adjustment parameters are constrained and optimized to generate the installation pre-adjustment parameters.

[0048] Specifically, the matching code plate is an interface element that can be actively adjusted during installation. Its geometric parameters directly determine the achievable range and decoupling capability of the pre-correction amount. Simultaneously, the mating surface constraint parameters specify the physical boundary conditions when the segment is in place, ensuring the engineering feasibility of the above calculation results under the constraints of the mating surface. Therefore, the above-mentioned scheme in this application further optimizes the initial pre-adjustment parameters through the geometric constraints of the matching code plate and the constraints of the mating surface of the installation segment. Specifically, the geometric constraints of the matching code plate in this application include the minimum and maximum adjustment values ​​of the matching code plate, the upper limit of the degree of freedom of adjustment within the plane of the long oval hole of the matching code plate, etc., while the mating surface constraints of the installation segment include the design gap range of the interface weld, etc. Specifically, the optimization of the initial pre-adjustment parameters in this application includes:

[0049] Among them, t i For the adjustment parameters of the i-th matching code plate, t min t max These are the minimum and maximum adjustment values ​​for the matching code board, g. min g max These represent the minimum and maximum design gaps for the interface, such as the design gap range for the interface weld (4~8mm), where g0 is the initial design thickness of the matching code plate, and k... gThe adjustment coefficients are Δx and Δy, which are the correction deviation values ​​in the x and y directions, respectively, and δ is the adjustable amount in the long circle direction of the matching code plate bolt hole.

[0050] S14. Generate adjustment instructions based on the installation pre-adjustment parameters to guide the attitude pre-adjustment and alignment control of the steel segment to be installed.

[0051] In one embodiment, the proposed solution generates text commands from the calculated target pose pre-adjustment parameters and performs parameter fusion mapping with the three-dimensional geometric model of the steel shell segment, ultimately outputting standardized on-site adjustment suggestion commands. Specifically, this includes: S141. Construct a three-dimensional digital model of the steel segment to be installed.

[0052] Specifically, the proposed solution extracts multidimensional geometric parameters of steel segments to construct a three-dimensional digital model of the steel segment body, code plate, monitoring points, and other information, which serves as the underlying carrier for parameter mapping.

[0053] S142. Map and overlay the pre-adjustment parameters onto the corresponding positions of the steel segment model to generate adjustment instructions.

[0054] Specifically, using the geometric constraints of the digital model of the steel shell segment as boundaries, a two-way mapping relationship is established from the installation pre-adjustment parameters to the component adjustment. Each parameter is decomposed layer by layer and mapped: the coordinate positions of the matching code plates in the model and their corresponding planar translation adjustment positions are extracted. The installation pre-adjustment parameters are decoupled and decomposed into the thickness adjustment amount and planar translation adjustment amount corresponding to each matching code plate. The thickness adjustment amount corresponding to each matching code plate is mapped to the corresponding matching code plate position in the 3D digital model, and the planar translation adjustment amount along with the adjustment direction is mapped to the corresponding position in the 3D digital model. For example... Figure 2 The diagram shown is based on a steel segment model in one embodiment of this application, and the target pose pre-adjustment parameters are fused and mapped onto the steel segment model. By mapping the pre-adjustment parameters onto the three-dimensional steel shell model, the adjustment instructions are intuitively displayed on the shore side, sea side, matching code plate, and each partition, facilitating subsequent installation and adjustment.

[0055] Furthermore, the generated adjustment instructions, in addition to the visual instructions shown in the above diagram, can also include specific text and parameter description instructions, and the graphic and text instructions are compiled into an instruction file and sent. During actual installation, the vertical adjustment corresponding to the four matching code plates shown in the diagram can be achieved by setting support shims of corresponding thickness at the corresponding position of the top opening of the installed (or poured) steel segment or at the corresponding matching code plate position (or nearby) of the bottom opening of the steel segment to be installed. Alternatively, it can be achieved by setting corresponding fine-tuning mechanisms at the corresponding matching code plate positions (or nearby).

[0056] The proposed solution maps pre-adjustment parameters onto a 3D steel shell model, generating visual adjustment suggestions and instructions. This allows measurement, hoisting, and alignment teams to simultaneously view unified, visual instructions, ensuring accurate information transmission. It also effectively eliminates manual alignment errors during hoisting, significantly improving installation and adjustment efficiency. Furthermore, the mapping process, steel shell geometric parameters, and plate adjustment instructions are all bound to the component's 3D model archive. The pre-adjustment calculation chain for each segment is fully recorded, allowing for reverse traceability of alignment deviations and corrections, meeting the requirements for digital management and control in intelligent steel structure construction.

[0057] In one embodiment, a second aspect of this application provides a method for installing steel segments based on linear control, the method comprising: S20. Based on the above attitude pre-adjustment control method, generate adjustment instructions and obtain the pre-adjustment parameters corresponding to each matching code plate and planar displacement.

[0058] S21. Control the hoisting of the steel segment to be installed to the preset target position, and adjust the vertical elevation of the corresponding matching code plate based on the pre-adjustment parameters of each matching code plate.

[0059] S22. Slowly lower the steel segment to be installed, so that the bottom matching plate and the top matching plate of the corresponding installed segment are in a suspended state where they are not under force.

[0060] S23. Select the target matching code plate as the locking point and drive in the punch. Do not install punches or bolts on the other matching code plates.

[0061] S24. Adjust the transverse / longitudinal displacement of the steel segment to be installed based on the pre-adjustment parameters of the planar displacement.

[0062] S25. After verifying that the current posture, clearance, and displacement are qualified, drive punch pins into the remaining matching code plates in sequence to achieve full-point planar locking.

[0063] like Figure 3 The diagram shown is based on an embodiment of this application. After each steel segment is hoisted according to the adjustment instructions generated by the above scheme and the above hoisting method, the overall alignment of the left and right limb tower columns of the bridge tower structure is monitored. The monitoring measures different monitoring points in different directions (straight to the bridge, transverse to the bridge, inner side, outer side) of the left and right limb tower columns. Figure 3In this design, the horn line represents the boundary of the allowable installation deviation at various heights of the bridge tower. Monitoring results from different monitoring points (longitudinal, transverse, inner, and outer) on the left and right limb towers show that the proposed solution can precisely control the overall alignment of the bridge tower structure at different heights (overall deviation controlled within 10mm at each stage), ensuring that the tower alignment consistently adheres to the design trajectory during dynamic construction, thus guaranteeing the quality and safety of subsequent projects. Furthermore, the proposed solution also covers multi-dimensional attitude pre-adjustment control, adapting to complex spatial posture adjustment of steel shell segments, meeting the high-precision alignment requirements of different types of bridge towers, and deeply adapting to digital intelligent construction systems, thereby improving the construction accuracy and efficiency of current steel shell bridge towers.

[0064] A third aspect of this application provides a steel segment attitude pre-adjustment system based on linear control, the system comprising: The three-dimensional pose calculation unit is used to collect the three-dimensional coordinates of each monitoring point of the installed steel segment and calculate the current measured spatial pose. The pose deviation generation unit is used to calculate and extract the six-degree-of-freedom deviation value of the current cumulative deviation based on the deviation between the measured spatial pose and the corresponding design target pose in each previous test. The parameter acquisition unit is used to acquire the geometric characteristic parameters of the next steel segment to be installed; The pre-adjustment parameter generation unit is used to generate the installation pre-adjustment parameters required for the hoisting of the steel segment to be installed based on the geometric characteristics of the steel segment to be installed and the current deviation values ​​of the six degrees of freedom. The instruction generation unit generates adjustment instructions based on the installation pre-adjustment parameters to guide the attitude pre-adjustment and alignment control of the steel segment to be installed.

[0065] In one embodiment, such as Figure 4 As shown, this application also provides a computer device, which includes a processor, a memory, and a network interface connected via a system bus. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs. When the computer programs are executed by the processor, the processor performs the following steps: Collect the three-dimensional coordinates of each monitoring point on the installed steel segment, and calculate the current measured spatial pose; Based on the deviation between the measured spatial pose and the corresponding design target pose, calculate and extract the six-degree-of-freedom deviation value of the current cumulative deviation; Obtain the geometric characteristic parameters of the next steel segment to be installed; Based on the geometric characteristics of the steel segment to be installed and the current deviation values ​​of the six degrees of freedom, the installation pre-adjustment parameters required for the hoisting of the steel segment to be installed are generated; Adjustment instructions are generated based on the pre-adjustment parameters to guide the attitude pre-adjustment and alignment control of the steel segments to be installed.

[0066] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0067] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for pre-adjusting the attitude of steel segments based on linear control, characterized in that, The pre-adjustment method includes: S10. Collect the three-dimensional coordinates of each monitoring point of the installed steel segment and calculate the current measured spatial pose; S11. Based on the deviation between the measured spatial pose and the corresponding design target pose in each measurement, calculate the six-degree-of-freedom deviation value of the current cumulative deviation. S12. Obtain the geometric characteristic parameters of the next steel segment to be installed; S13. Based on the geometric characteristics of the steel segment to be installed and the current deviation values ​​of the six degrees of freedom, generate the installation pre-adjustment parameters required for the hoisting of the steel segment to be installed; S14. Generate adjustment instructions based on the installation pre-adjustment parameters to guide the attitude pre-adjustment and alignment control of the steel segment to be installed; S13 also includes: Based on the height of the steel segment to be installed h s and current cumulative height of installations H n Calculate the current deviation propagation amplification factor. K n : ， Based on the current deviation propagation amplification factor K n The three-dimensional translation component and the tilt angle components along the longitudinal and transverse directions of the current deviation vector are corrected to obtain the corrected deviation value: in, These represent the corrected and uncorrected 3D translation deviations in the construction coordinate system, respectively. These are the rotation angle deviations around the X, Y, and Z axes before and after correction in the construction coordinate system, respectively. A solution model for the geometric relationship of rigid body rotation is constructed based on the relative coordinates of each matching code plate and the corresponding correction deviation value, and the adjustment parameters of each matching code plate are calculated in reverse. Extract the correction deviation values ​​in the x and y directions of the plane and the adjustment parameters of each matching code plate to obtain the initial pre-adjustment parameters.

2. The pre-adjustment method according to claim 1, characterized in that, The pre-adjustment method further includes: The geometric characteristic parameters of the steel segment to be installed include the transverse width of the cross section, the longitudinal thickness of the cross section, and the centroid coordinates of the cross section; The relative coordinates of each matching plate of the steel segment to be installed are determined based on the transverse width of the cross section, the longitudinal thickness of the cross section, and the centroid coordinates of the cross section.

3. The pre-adjustment method according to claim 1, characterized in that, The pre-adjustment method further includes: Based on the geometric constraints of the matching code plate, the docking gap constraints, and the docking surface constraints of the installation segments, the initial pre-adjustment parameters are constrained and optimized to generate the installation pre-adjustment parameters: in, t i For the first i Adjusting the parameters of the matching code board. t min 、t max These are the minimum and maximum adjustment values ​​for the matching code board, respectively. g min 、 g max These represent the minimum and maximum interface design gaps, respectively. g 0 To match the initial design thickness of the code board, k g To adjust the coefficient, Δx, Δy They are respectively x, y The correction deviation value for the direction, δ Adjustable amount in the long circle direction to match the bolt holes of the code plate.

4. The pre-adjustment method according to any one of claims 1-3, characterized in that, The pre-adjustment method further includes: Construct a three-dimensional digital model of the steel segment to be installed; The pre-adjustment parameters are mapped and superimposed onto the corresponding positions of the steel segment model to generate adjustment suggestion instructions.

5. A method for installing steel segments based on linear control, characterized in that, The installation method includes: Based on the attitude pre-adjustment method as described in any one of claims 1-4, an adjustment command is generated, and the pre-adjustment parameters corresponding to each matching code plate and planar displacement are obtained; Control the hoisting of the steel segment to be installed to the preset target position, and adjust the vertical elevation of the corresponding matching code plate based on the pre-adjustment parameters of each matching code plate; The steel segment to be installed is slowly lowered so that the bottom matching plate and the top matching plate of the corresponding installed segment are in a non-critical suspension state. Select the target matching code plate as the locking point and drive in the punch; do not install punches or bolts on the other matching code plates. The transverse / longitudinal displacement of the steel segment to be installed is adjusted based on the pre-adjustment parameters of the planar displacement. After verifying that the current posture, clearance, and displacement are qualified, drive punch pins into the remaining matching code plates in sequence to achieve full-point planar locking.

6. A steel segment attitude pre-adjustment system based on linear control, characterized in that, The system is configured to perform the method as described in any one of claims 1-4, the system comprising: The three-dimensional pose calculation unit is used to collect the three-dimensional coordinates of each monitoring point of the installed steel segment and calculate the current measured spatial pose. The pose deviation generation unit is used to calculate and extract the six-degree-of-freedom deviation value of the current cumulative deviation based on the deviation between the measured spatial pose and the corresponding design target pose in each previous test. The parameter acquisition unit is used to acquire the geometric characteristic parameters of the next steel segment to be installed; The pre-adjustment parameter generation unit is used to generate the installation pre-adjustment parameters required for hoisting the steel segment to be installed based on the geometric characteristics of the steel segment to be installed and the current deviation values ​​of the six degrees of freedom. The instruction generation unit generates adjustment instructions based on the installation pre-adjustment parameters to guide the attitude pre-adjustment and alignment control of the steel segment to be installed.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it causes the processor to perform the steps of the method as described in any one of claims 1-4.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the computer program is executed by the processor, it causes the processor to perform the steps of the method as described in any one of claims 1-4.

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