Intelligent assembling system for assembly type station

Abstract

The utility model provides an intelligent assembling system for an assembled station. The intelligent assembling system comprises a cloud server, a surveying and mapping beacon, a prefabricated part coordinate positioning assembly, an intelligent crane and a surveying and mapping unmanned aerial vehicle. According to the utility model, the surveying and mapping unmanned aerial vehicle is introduced into the assembly type station assembly, so that the real-time positioning and deviation correction during the hoisting of the prefabricated parts are realized, and the assembly efficiency is improved. Component assembly is accurately positioned and guided by the surveying and mapping unmanned aerial vehicle through calculation of the cloud server, coordinates are remeasured by the surveying and mapping unmanned aerial vehicle after each component is assembled and serve as a reference benchmark of the next component, real-time updating of coordinate parameters is achieved, and the assembly accuracy is improved. Bolt pre-tightening force and joint construction of a component joint can be monitored in real time through a surveying and mapping unmanned aerial vehicle, deviation correction is guided, data are objective and real, and the joint splicing quality can be remarkably improved. Compared with the existing manual assembly, the in-ring assembly error accumulation of the station structure can be effectively eliminated, and the longitudinal integrated intelligent assembly accurate control is realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of assembly of assembled subway stations, and in particular relates to an intelligent assembly system for assembled stations. Background Art

[0002] The new type of prefabricated station conforms to the development trend of building industrialization and green building, and has broad development prospects. However, the assembly construction of existing prefabricated stations is in its infancy both at home and abroad. At present, the assembly of prefabricated components of prefabricated stations in China generally adopts traditional manual measurement and positioning verification technology, which has the following problems:

[0003] 1. The assembly quality of prefabricated components is controlled by the quality of joint assembly. At present, joint assembly relies on manual operation, which is limited by workers' experience and sense of responsibility. The quality of joint assembly varies greatly, and there is a lack of objective and scientific high-precision assembly methods and high-precision inspection and testing methods.

[0004] 2. In order to meet the design accuracy requirements, manual assembly often uses forced methods such as increasing the torque of the through bolts and applying large prestress to ensure the alignment of the joints. This is highly subjective and arbitrary, resulting in large residual internal forces in the joints of prefabricated components and even damage to the corners of the prefabricated components.

[0005] 3. As the residual internal forces generated by the assembly of multiple prefabricated components accumulate, the mechanical properties of the single-ring structure will be significantly reduced, thereby weakening the normal design bearing capacity of the prefabricated station structure.

[0006] 4. Manual assembly construction is inefficient, requires a lot of manpower and working hours, has a long construction period and high labor costs. Utility Model Content

[0007] The purpose of the utility model is to provide an intelligent assembly system for prefabricated stations, aiming to solve the problems of lack of scientific, objective and real-time monitoring basis, large residual internal force, unguaranteed assembly quality, low construction efficiency and high labor cost in the prior art of assembling prefabricated components of prefabricated stations using manual measurement, positioning and verification technology.

[0008] The utility model is implemented as follows: an intelligent assembly system for a prefabricated station, comprising:

[0009] The cloud server is used to store the design coordinate information of all prefabricated components of the prefabricated station, wirelessly receive various information, and perform corresponding calculations on the required information;

[0010] Surveying beacons are set at the geometric corners of prefabricated components;

[0011] A prefabricated component coordinate positioning component is used to measure the actual coordinates of the surveying and mapping beacons on each prefabricated component and upload them to the cloud server;

[0012] An intelligent crane, used to receive instructions sent by the cloud server and to hoist the prefabricated components to a target location;

[0013] The surveying drone is used to receive instructions sent by the cloud server and guide the intelligent crane to accurately locate and place the prefabricated components.

[0014] In some preferred embodiments, the surveying beacon is a photoelectric detector capable of receiving photoelectric signals, the prefabricated component coordinate positioning assembly includes three LED light sources, and the three LED light sources are distributed in a triangular shape at the construction site. The photoelectric detector sends the three detected light signals to a cloud server.

[0015] In some preferred embodiments, the surveying and mapping beacon is a color block that is easy to identify images, and the prefabricated component coordinate positioning assembly includes a binocular camera arranged on the surveying and mapping drone. After the binocular camera collects image information of the prefabricated component, the two collected image information are transmitted to the cloud server.

[0016] Furthermore, the intelligent assembly system also includes a notification device, which is arranged at the construction site or on the surveying and mapping drone. The notification device receives information from the cloud server and notifies on-site workers in the form of sound or image through the notification device.

[0017] Furthermore, the intelligent assembly system also includes an intelligent torque controller, which is used to monitor the torque of the prestressed steel bars between the ring components in the station structure in real time, and upload the detected data to the cloud server.

[0018] Furthermore, the intelligent assembly system also includes an intelligent inclinometer, which is used to detect the verticality of the prefabricated components during assembly and upload the detected data to the cloud server.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] The intelligent assembly system provided by the utility model introduces surveying and mapping drones into the assembly of prefabricated stations, realizes real-time positioning and deviation correction when hoisting prefabricated components, and improves assembly efficiency. The assembly of components is guided by the surveying and mapping drones through the cloud server to calculate precise positioning. After each component is assembled, the coordinates are re-measured by the surveying and mapping drones as the reference for the next component, so that the coordinate parameters are updated in real time, improving the assembly accuracy. The bolt preload and joint construction of component joints can be monitored, guided and corrected in real time by surveying and mapping drones. The data is objective and true, and can significantly improve the quality of joint assembly. Compared with the existing manual assembly, the utility model can effectively eliminate the accumulation of assembly errors within the ring of the station structure, realize precise control of the cross-sectional assembly of all components within the ring, and realize precise control of longitudinal integrated intelligent assembly, laying a good foundation for the subsequent precise installation of middle plates, middle columns, beams, etc.

[0021] On the other hand, the intelligent assembly system of the utility model can also be used to build a three-dimensional model based on real-time coordinates, and compare it with the design drawings in real time, so as to achieve real-time presentation of structural stress cloud maps and strain cloud maps under micro-deformation (<1mm) measurement conditions, and achieve objective, scientific and accurate guidance of joint assembly. It is also possible to scientifically and accurately fine-tune the joint connection in real time based on the analysis results of the strain cloud map and stress cloud map, eliminate the residual internal stress generated inside the prefabricated components during assembly and connection, and complete accurate joint assembly and residual internal force zeroing by monitoring the internal force performance state of the structure throughout the process. Residual internal force zeroing is conducive to the prefabricated components to give full play to their bearing performance and maintain the optimal state of structural mechanical performance, thereby avoiding the problem of inaccurate assembly and connection, and large residual internal forces of the structure itself, which leads to a reduction in the normal design bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural block diagram of an intelligent assembly system for a prefabricated station provided by an embodiment of the utility model;

[0023] Figure 2 It is a technical principle diagram of estimating surveying and mapping beacons using a visible light channel model provided by an embodiment of the utility model;

[0024] Figure 3 It is a schematic diagram of a binocular vision matching algorithm provided by an embodiment of the utility model;

[0025] Figure 4 It is a schematic cross-sectional view of an assembled station structure provided in the first application scenario of the embodiment of the utility model;

[0026] Figure 5 It is a schematic diagram of the longitudinal section of the construction of the assembled station structure provided by the first application scenario of the embodiment of the utility model;

[0027] Figure 6 It is a schematic diagram of the longitudinal section of the prefabricated station structure construction provided in the application scenario three of the embodiment of the utility model.

[0028] Markings in the figure:

[0029] 1. Cloud server; 2. Surveying beacon; 3. Prefabricated component coordinate positioning assembly; 4. Intelligent crane; 5. Surveying drone; 6. Notification device; 7. Intelligent torque controller; 8. Intelligent inclinometer; 9. Precision leveling strip; a. First ring A block lining; b. First ring B block lining; c. First ring C block lining; d. An block; e. Prestressed steel bar; f. BRn block; g. Cn block. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0031] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a communication between the two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0032] The existing technology uses manual measurement, positioning and verification technology to assemble prefabricated components of prefabricated stations, but there is a lack of scientific, objective and real-time monitoring basis, the assembly quality cannot be guaranteed, the construction efficiency is low and the labor cost is high.

[0033] To solve the above technical problems, refer to Figure 1 , this embodiment provides an intelligent assembly system for a prefabricated station, including:

[0034] The cloud server 1 is used to store the design coordinate information of all prefabricated components of the assembled station, wirelessly receive various information, and perform corresponding calculations on the required information;

[0035] Surveying beacon 2, set at the geometric corner of the prefabricated component;

[0036] The prefabricated component coordinate positioning component 3 is used to measure the actual coordinates of the surveying and mapping beacons 2 on each prefabricated component and upload them to the cloud server;

[0037] The intelligent crane 4 is used to receive the instructions sent by the cloud server 1 and to lift the prefabricated components to the target location;

[0038] The surveying drone 5 is used to receive instructions sent by the cloud server 1 and guide the intelligent crane 4 to accurately position and place the prefabricated components.

[0039] Optionally, the mapping beacon 2 of this embodiment is a photoelectric detector capable of receiving photoelectric signals, referring to Figure 2 The prefabricated component coordinate positioning assembly 3 includes three LED light sources, which are distributed in a triangle at the construction site. The photoelectric detector sends the three detected light signals to the cloud server. The cloud server calculates the distance between each LED light source and the photoelectric detector according to the power of the three light signals, and finally obtains the coordinate data of the photoelectric detector through the triangulation positioning algorithm. The coordinate data of the photoelectric detector is the coordinate data of the corner of the prefabricated component.

[0040] Optionally, the surveying and mapping beacon of this embodiment is a color block that is easy to identify by image, and the prefabricated component coordinate positioning assembly 3 includes a binocular camera arranged on the surveying and mapping drone 5. Figure 3 After the binocular camera collects the image information of the prefabricated component, the collected two image information are transmitted to the cloud server. After the cloud server 1 processes the image information, the image coordinate data of the color block in the two images is obtained. The cloud server 1 then converts the image coordinate data into the coordinate data of the corners of the prefabricated component according to the binocular vision matching algorithm.

[0041] Furthermore, the intelligent assembly system of this embodiment also includes a notification device 6, which is set at the construction site or on the surveying and mapping drone 5. After the notification device receives information from the cloud server 1, it notifies the on-site workers in the form of sound or image through the notification device 6.

[0042] Furthermore, the intelligent assembly system of this embodiment also includes an intelligent torque controller 7, which is used to monitor the torque of the prestressed steel bars between the ring components in the station structure in real time, and upload the detected data to the cloud server 1.

[0043] Furthermore, the intelligent assembly system of this embodiment also includes an intelligent inclinometer 8, which is used to detect the verticality of the prefabricated components during assembly and upload the detected data to the cloud server 1.

[0044] In order to make the technical effect of the intelligent assembly system of this embodiment clearer, the following describes this embodiment in detail in combination with some specific applications of the intelligent assembly system of this embodiment in prefabricated stations:

[0045] Application scenario 1:

[0046] Reference Figure 4 and Figure 5 The foundation pit is excavated as per the design requirements, and the prefabricated components are transported to the construction site after passing the inspection. Surveying and mapping beacons 2 are set at the geometric corners of the prefabricated components.

[0047] The site control network data is uploaded to the cloud server 1 , and after calculation by the cloud server 1 , the boundary point data of the fine-leveling strip 9 is transmitted to the surveying and mapping drone 5 , which locates and guides the construction of the fine-leveling strip 1 .

[0048] Based on the measurement of the fine-leveling strip 9 after construction by the surveying and mapping drone 5, the predetermined coordinate data of the first ring A block lining a is determined after calculation by the cloud server 1; the cloud server 1 transmits the predetermined coordinate data to the intelligent crane 4, and the intelligent crane 4 hoists the first ring A block lining a into place according to the predetermined coordinate data; during the hoisting process, the surveying and mapping drone 5 guides the hoisting, provides coordinate guidance and correction, until the coordinate error is less than the design allowable error; after the first ring A block lining a is positioned and placed, the surveying and mapping drone 5 remeasures the endpoint coordinates of the first ring A block lining a and transmits them back to the cloud server 1.

[0049] The cloud server 1 transmits the re-measured endpoint coordinate data of the first ring A block lining a to the intelligent crane 4. The intelligent crane 4 hoists the first ring B block lining b and connects it with the first ring A block lining a. The surveying and mapping drone 5 guides and corrects the deviation throughout the process to complete the placement of the first ring B block lining b. At the same time, the surveying and mapping drone 5 conducts real-time measurement and guidance, combined with the design preload or torque range of the AB joint through-bolts and the design range of the allowable opening of the AB joint, to complete the tightening of the AB joint through-bolts.

[0050] Next, complete the precise docking of the remaining components of the first ring (lining c of the first ring C block), and finally complete the assembly of the components of the other rings.

[0051] Application scenario 2:

[0052] Before assembly, the cloud server 1 first sends the design coordinates of the prefabricated lining block A to the intelligent crane 4. Under the guidance of the surveying and mapping drone 5, the intelligent crane 4 hoists the prefabricated lining block A to the predetermined position. Then the surveying and mapping drone 5 remeasures the actual coordinates of the prefabricated lining block A and uploads them to the cloud server 1.

[0053] The cloud server 1 calculates the set coordinates of the prefabricated lining block B based on the uploaded actual coordinates of the prefabricated lining block A and the design drawings, and sends the set coordinates of the prefabricated lining block B to the smart crane 4, which starts to hoist the prefabricated lining block B.

[0054] Under the guidance of the surveying and mapping UAV 5, the joints of the prefabricated lining block B and the prefabricated lining block A are first roughly butted into place to ensure the rough alignment of the joints of the two prefabricated lining blocks. Then the surveying and mapping UAV 5 measures the coordinate values ​​of the geometric points of the corners of the joints and uploads them to the cloud server 1. The cloud server 1 automatically generates a three-dimensional model of the rough butt joint, verifies the three-dimensional model with the dimensions of the design drawings, obtains the slight displacement deviation of the joint, automatically generates a joint strain cloud map, and calculates the joint stress value based on the material mechanics formula, and generates a joint stress cloud map.

[0055] The joint strain cloud map and joint stress cloud map are acquired and presented in real time. According to the real-time mechanical state indicators between the joints of the two prefabricated lining blocks, the two prefabricated lining blocks are guided to butt joint. The stress and strain values ​​generated by the extrusion between the joints during the butt jointing process are gradually fine-tuned to within the design allowable range. The precise assembly of the joints and the clearing of residual internal forces are completed by monitoring the internal force performance state of the structure throughout the process.

[0056] Referring to the above steps, complete the assembly of the remaining prefabricated components of the nth ring, and then complete the assembly of the remaining rings of the entire station.

[0057] Application scenario three:

[0058] Reference Figure 6 Before assembly, the cloud server 1 first calculates the predetermined coordinates of the nth ring of prefabricated components based on the actual coordinates of the previous ring of prefabricated components and the dimensions of the design drawings input in advance; then the cloud server 1 sends the predetermined coordinates of the An block d to the intelligent crane 4. Under the real-time guidance of the surveying and mapping drone 5, the intelligent crane 4 links the An-An-1 block ring-to-ring mortise and tenon joint mortise-to-mortise rough alignment, ring-to-ring prestressed steel bar torque control, and ring-to-ring longitudinal compression displacement Δ to accurately hoist the An block d and apply prestress to it in place. Finally, the surveying and mapping drone 5 remeasures the actual coordinates of the An block and uploads them to the cloud server 1.

[0059] The cloud server 1 calculates the setting coordinates of the BLn block according to the uploaded design drawings and the actual coordinates of the An block d, and then sends the setting coordinates of the BLn block to the smart crane by the cloud server. The smart crane 4 hoists the BLn block, and under the guidance of the mapping drone 5, the three indicators of the inner-loop linkage mortise and tenon joint, the torque control of the reinforcing rod and the verticality control the precise joint of the BLn-An block, and the three indicators of the ring-to-ring linkage BLn-BLn-1 block mortise and tenon joint, the BLn-BLn-1 block prestressed steel bar e torque control and the longitudinal compression displacement Δ control the precise joint of the BLn-BLn-1 block; the inner and outer rings need to be linked and synchronously controlled, and after multiple fine-tuning, the BLn block is precisely positioned. Finally, the mapping drone re-measures the actual coordinates of the BLn block and uploads them to the cloud server 1;

[0060] Referring to the above steps, the assembly of the nth ring BRn block f prefabricated components and the assembly of the nth ring Cn block g prefabricated components are completed;

[0061] Finally, the nth ring of the prefabricated station structure is longitudinally integrated and retested and fine-tuned.

[0062] In summary, the intelligent assembly system provided in this embodiment has the following technical effects compared with the existing manual assembly:

[0063] The intelligent assembly system of this embodiment introduces a surveying and mapping drone 5 in the assembly of prefabricated stations, which realizes real-time positioning and deviation correction when hoisting prefabricated components, thereby improving assembly efficiency. The surveying and mapping drone 5 calculates precise positioning guidance for component assembly through the cloud server 1. After each component is assembled, the surveying and mapping drone 5 remeasures the coordinates as a reference for the next component, so that the coordinate parameters are updated in real time, improving assembly accuracy. The bolt preload and joint construction of component joints can be monitored, guided and corrected in real time by surveying and mapping drones. The data is objective and true, and can significantly improve the quality of joint assembly. This embodiment can effectively eliminate the accumulation of assembly errors within the ring of the station structure, realize precise control of the cross-sectional assembly of all components within the ring, and realize precise control of longitudinal integrated intelligent assembly, laying a good foundation for the subsequent precise installation of middle plates, middle columns, beams, etc.

[0064] On the other hand, the intelligent assembly system of this embodiment can also build a three-dimensional model based on real-time coordinates, compare it with the design drawings in real time, and realize the real-time presentation of structural stress cloud map and strain cloud map under micro-deformation (<1mm) measurement conditions, so as to achieve objective, scientific and accurate guidance of joint assembly. It is also possible to scientifically and accurately fine-tune the joint connection in real time according to the analysis results of the strain cloud map and stress cloud map, eliminate the residual internal stress generated inside the assembled prefabricated components, and complete the precise assembly of the joints and the zeroing of the residual internal force by monitoring the performance state of the internal force of the structure throughout the process. The zeroing of the residual internal force is conducive to the prefabricated components to give full play to their bearing performance and maintain the optimal state of the mechanical performance of the structure, thereby avoiding the problem of inaccurate assembly and connection, and large residual internal force of the structure itself, which leads to a reduction in the normal design bearing capacity.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent assembly system for prefabricated stations, characterized in that: include: The cloud server is used to store the design coordinate information of all prefabricated components of the prefabricated station, wirelessly receive various information, and perform corresponding calculations on the required information; Surveying beacons are set at the geometric corners of prefabricated components; A prefabricated component coordinate positioning component is used to measure the actual coordinates of the surveying and mapping beacons on each prefabricated component and upload them to the cloud server; An intelligent crane, used to receive instructions sent by the cloud server and to hoist the prefabricated components to a target location; The surveying drone is used to receive instructions sent by the cloud server and guide the intelligent crane to accurately locate and place the prefabricated components.

2. The intelligent assembly system according to claim 1, characterized in that: The surveying beacon is a photoelectric detector that can receive photoelectric signals. The prefabricated component coordinate positioning assembly includes three LED light sources, and the three LED light sources are distributed in a triangular shape at the construction site. The photoelectric detector sends the three detected light signals to the cloud server.

3. The intelligent assembly system according to claim 1, characterized in that: The surveying and mapping beacon is a color block that is easy to identify images. The prefabricated component coordinate positioning component includes a binocular camera arranged on the surveying and mapping drone. After the binocular camera collects image information of the prefabricated component, the collected two image information are transmitted to the cloud server.

4. The intelligent assembly system according to claim 1, characterized in that: It also includes a notification device, which is arranged at the construction site or on the surveying and mapping drone. The notification device receives information from the cloud server and notifies on-site workers in the form of sound or image through the notification device.

5. The intelligent assembly system according to claim 1, characterized in that: It also includes an intelligent torque controller, which is used to monitor the torque of prestressed steel bars between ring components in the station structure in real time and upload the detected data to the cloud server.

6. The intelligent assembly system according to claim 1, characterized in that: It also includes an intelligent inclinometer, which is used to detect the verticality of the prefabricated components during assembly and upload the detected data to the cloud server.

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