Linear measurement device for camber on precast beam

Abstract

The utility model relates to the technical field of precast beam detection, in particular to a precast beam upper camber linear measurement device, which comprises a pole-climbing robot, a three-dimensional scanner, a guide bracket and a mobile terminal, the pole-climbing robot is in sliding fit with the guide bracket and transversely moves along the guide bracket, the pole-climbing robot is connected with the three-dimensional scanner, and the mobile terminal is connected with the three-dimensional scanner. According to the device, accurate and continuous measurement of an upper camber curve can be achieved without point pasting, the upper camber value is automatically calculated, and the device is suitable for measuring and monitoring the upper camber line shape, the upper camber value and the variable quantity before and after pre-stress tensioning of a precast beam and in each beam storage period.

Description

Technical Field

[0001] The utility model relates to the technical field of prefabricated beam detection, in particular to a device for measuring the camber linearity of a prefabricated beam. Background Art

[0002] After prefabrication, prestressed concrete small box girders are often stored in a beam storage area at a beam yard before being removed and hoisted based on on-site construction conditions. Due to constraints such as on-site construction conditions, the storage period for prefabricated beams often exceeds the storage period specified in relevant regulations. To prevent excessive camber of the prefabricated beams, which could seriously impact subsequent bridge deck construction and cause cracks in the beam slab, regulations require monitoring of the camber at different storage periods to determine whether it exceeds theoretically calculated values.

[0003] Existing methods for measuring camber mainly include the level method, dial indicator or displacement sensor method, laser rangefinder method, and connecting tube method. The level method measures the center and both ends of the beam and calculates the camber value between the three measured points. However, the measurement results are affected by the selected measuring points and have large errors. If multi-point measurement is performed through curve fitting, the beam yard space is limited by the multi-layer stacking of beams and slabs, and the clearance at the bottom of the beam is narrow, making it difficult to set up the level and place the scale, and the measurement efficiency is low. The dial indicator or displacement sensor method mainly measures the change in camber before and after prestressing, and is not suitable for measuring camber values ​​in existing beams. Although the laser rangefinder method can perform continuous multi-point measurements, it requires sufficient clearance at the bottom of the beam to facilitate the installation of guide rails, and the test results are significantly affected by the horizontality of the guide rods. The connecting tube method is simple to operate and low-cost, but it has the same measurement point limitations as the level method and the need for sufficient clearance as the laser rangefinder method. Utility Model Content

[0004] The purpose of the utility model is to provide a device for measuring the linear shape of the camber of a precast beam, which is used to effectively solve the problems existing in the existing measurement methods, such as large measurement error, limitation by the spatial environment of the beam yard, low measurement efficiency and the need for sufficient clearance.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a device for measuring the linear shape of the camber of a prefabricated beam, comprising a pole-climbing robot, a three-dimensional scanner, a guide bracket and a mobile terminal, wherein the pole-climbing robot is slidably engaged on the guide bracket and moves laterally along the guide bracket, the pole-climbing robot is connected to the three-dimensional scanner, and the three-dimensional scanner is connected to the mobile terminal.

[0006] Furthermore, a scanning industrial camera, a blue light grid generator and a visual tracking camera are provided on one side of the three-dimensional scanner, and a visual tracking sensor and an inertial sensor are provided on an adjacent side of the three-dimensional scanner.

[0007] Furthermore, the guide bracket includes a guide rod, two mounting assemblies, and two triangular brackets. The two mounting assemblies are arranged on the two triangular brackets, and the two triangular brackets are arranged at intervals. The guide rod is connected to the two mounting assemblies.

[0008] Furthermore, the mounting assembly includes a base provided on a triangular bracket and having an arc-shaped groove at the upper end, a hinged base provided on the base, a clamping plate hinged to the hinged base, and a bolt inserted into the clamping plate, the end of the bolt is threadedly connected to the base, and the guide rod is clamped between the base and the clamping plate.

[0009] Furthermore, one side of the pole-climbing robot and the three-dimensional scanner is provided with a threaded sleeve, and the internal threads of the two threaded sleeves are connected to a connecting rod.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0011] The utility model has the following beneficial effects:

[0012] During measurement, the climbing robot drives the 3D scanner to move from one side of the prefabricated beam to the other side and perform 3D scanning. During the 3D scanning process, the 3D scanner uses visual tracking sensors and inertial sensors to accurately perceive the scanned object and its own motion trajectory, realize continuous scanning, and transmit the scanning information to the laptop through the signal transmission line. The laptop uses 3D scanning data processing software to realize image stitching and uses edge computing algorithms to extract edge coordinate data in real time. After the scan is completed, the upper camber linear curve of the prefabricated beam is generated according to the coordinate data, and the vertical distance from the highest point to the connecting line of the two end points is automatically calculated, which is the upper camber value of the prefabricated beam. The device can realize accurate and continuous measurement of the upper camber curve without sticking points, and automatically calculate the upper camber value. It is suitable for the measurement and monitoring of the upper camber linear shape, upper camber value and change amount of prefabricated beams before and after prestressing and during each storage period. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the measurement principle of the utility model;

[0014] Figure 2 This is a schematic diagram of the structural connection of the utility model;

[0015] Figure 3 A cross-sectional view of the triangular bracket of the utility model;

[0016] Figure 4 Structural diagram of the bracket seat of the triangular bracket of the utility model.

[0017] In the figure: 1. Pole-climbing robot; 2. Triangle bracket; 3. Guide rod; 4. 3D scanner; 5. Mobile terminal; 6. Scanning industrial camera; 7. Blue light grid generator; 8. Visual tracking camera; 9. Visual tracking sensor; 10. Inertial sensor; 11. Connecting rod; 12. Threaded sleeve; 13. Clamping plate; 14. Bolt; 15. Prefabricated beam; 16. Clamping seat; 17. Articulated seat. DETAILED DESCRIPTION

[0018] See also Figure 1-4 A device for measuring the linear shape of the camber of a prefabricated beam comprises a pole-climbing robot 1 (the pole-climbing robot 1 can be the D-04 multifunctional pole-climbing robot model designed and manufactured by Shanghai Jiao Tong University), a three-dimensional scanner 4, a guide bracket and a mobile terminal 5, wherein the mobile terminal 5 is a laptop computer. The pole-climbing robot 1 is slidably fitted on the guide bracket and moves laterally along the guide bracket. The pole-climbing robot 1 is connected to the three-dimensional scanner 4, and the three-dimensional scanner 4 is connected to the mobile terminal 5. A scanning industrial camera 6, a blue light grid generator 7 and a visual tracking camera 8 are provided on one side of the three-dimensional scanner 4, and a visual tracking sensor 9 and an inertial sensor 10 are provided on an adjacent side of the three-dimensional scanner 4. The scanning industrial camera 6, the blue light grid generator 7, the visual tracking camera 8, the visual tracking sensor 9 and the inertial sensor 10 form the three-dimensional scanner 4, and the three-dimensional scanner 4 and the mobile terminal 5 form a three-dimensional scanning system. Signals and data are transmitted between the three-dimensional scanner 4 and the pole-climbing robot 1, and between the three-dimensional scanner 4 and the laptop computer via signal transmission lines.

[0019] The guide bracket includes a guide rod 3, two mounting components, and two triangular brackets 2 with a height-adjustable function. The guide rod 3 and the triangular bracket 2 are installed through the mounting component. The mounting component is composed of a clamping seat 16, a hinged seat 17, a clamping plate 13 and a bolt 14. When the guide rod 3 and the triangular bracket 2 are installed, the guide rod 3 is clamped into the arc-shaped groove on the clamping seat 16, and then one end of the clamping plate 13 is held and moved to the lower right. The clamping plate 13 is clamped tightly to the outer wall of the guide rod 3, and then the bolt 14 is threaded through the clamping plate 13 and the clamping seat 16 to fix it.

[0020] A threaded sleeve 12 is provided on one side of the pole climbing robot 1 and the three-dimensional scanner 4. The internal threads of the two threaded sleeves 12 are connected to the connecting rod 11. The pole climbing robot 1 and the three-dimensional scanner 4 are connected to the threaded sleeve 12 through bolts at both ends of the connecting rod 11.

[0021] The length of the guide rod 3 is not less than the length of the prefabricated beam 15 .

[0022] Working principle: before measurement, the equipment is set up on one side of the prefabricated beam 15 to be measured, and two tripod brackets 2 are erected at both ends of the prefabricated beam 15. The guide rod 3 is fixed to the tripod bracket 2 using the mounting assembly brought by the tripod bracket 2. When the mounting assembly and the guide rod 3 are specifically installed, the guide rod 3 is clamped into the arc groove on the clamping seat 16, and then one end of the clamping plate 13 is held and moved to the lower right, and the clamping plate 13 is clamped and fits tightly to the outer wall of the guide rod 3. Then, the bolts 14 are passed through the clamping plate 13 and the clamping seat 16 to fix them, completing the installation of the guide rod 3 and the tripod bracket 2. Then, the clamping switch of the pole climbing robot 1 is turned on, so that the pole climbing robot 1 is suspended on the guide rod 3. The pole climbing robot 1 and the three-dimensional scanner 4 are connected with the threaded sleeve 12 at both ends of the connecting rod 11 by bolts. The control signal is transmitted between the three-dimensional scanner 4 and the pole climbing robot 1 through the signal transmission line. The three-dimensional scanner 4 and the pole climbing robot 1 move synchronously, and the control signal and data are transmitted between the laptop computer and the three-dimensional scanner 4 through the signal transmission line.

[0023] During measurement, the height of the tripod bracket 2 is adjusted so that the bottom plate edge of the prefabricated beam 15 is within the scanning range of the three-dimensional scanner 4, and the climbing robot 1 is suspended on the guide rod 3 clamped and fixed, the three-dimensional scanner 4 switch is turned on to start the scanner, and the climbing robot 1's crawling switch is turned on. The climbing robot 1 drives the three-dimensional scanner 4 to move from one side of the prefabricated beam 15 to the other side and perform three-dimensional scanning. During the three-dimensional scanning process, the three-dimensional scanner 4 uses the visual tracking sensor 9 and the inertial sensor 10 to accurately perceive the scanned object and its own motion trajectory, realize continuous scanning, and transmit the scanned information to the laptop through the signal transmission line. The laptop uses the three-dimensional scanning data processing software to realize image stitching, and uses the edge computing algorithm to extract the edge coordinate data in real time. After the scan is completed, the upper camber linear curve of the prefabricated beam 15 is generated according to the coordinate data, and the vertical distance from the highest point to the line connecting the two end points is automatically calculated, which is the upper camber value of the prefabricated beam 15.

[0024] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for measuring the linear shape of the camber of a precast beam, characterized in that: The invention comprises a pole climbing robot (1), a three-dimensional scanner (4), a guide bracket and a mobile terminal (5), wherein the pole climbing robot (1) is slidably fitted on the guide bracket and moves laterally along the guide bracket, the pole climbing robot (1) is connected to the three-dimensional scanner (4), and the three-dimensional scanner (4) is connected to the mobile terminal (5).

2. A device for measuring the linear shape of the camber of a precast beam as claimed in claim 1, characterized in that: A scanning industrial camera (6), a blue light grid generator (7) and a visual tracking camera (8) are provided on one side of the three-dimensional scanner (4), and a visual tracking sensor (9) and an inertial sensor (10) are provided on an adjacent side of the three-dimensional scanner (4).

3. The device for measuring the linear shape of the camber of a precast beam according to claim 1, characterized in that: The guide bracket comprises a guide rod (3), two mounting assemblies, and two triangular brackets (2), the two mounting assemblies being arranged on the two triangular brackets (2), the two triangular brackets (2) being arranged at intervals, and the guide rod (3) being connected to the two mounting assemblies.

4. A device for measuring the linear shape of the camber of a precast beam as claimed in claim 3, characterized in that: The mounting assembly comprises a holder (16) disposed on the tripod bracket (2) and having an arc-shaped groove at the upper end, a hinge seat (17) disposed on the holder (16), a clamping plate (13) hinged to the hinge seat (17), and a bolt (14) inserted into the clamping plate (13), wherein the end of the bolt (14) is threadedly connected to the holder (16), and the guide rod (3) is clamped between the holder (16) and the clamping plate (13).

5. The device for measuring the linear shape of the camber of a precast beam according to claim 1, characterized in that: A threaded sleeve (12) is provided on one side of the pole climbing robot (1) and the three-dimensional scanner (4), and a connecting rod (11) is connected to the internal threads of the two threaded sleeves (12).

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