CN105279347A - Method for arranging mounting reference points of space pipe truss and device - Google Patents
Method for arranging mounting reference points of space pipe truss and device Download PDFInfo
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- CN105279347A CN105279347A CN201510824390.9A CN201510824390A CN105279347A CN 105279347 A CN105279347 A CN 105279347A CN 201510824390 A CN201510824390 A CN 201510824390A CN 105279347 A CN105279347 A CN 105279347A
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Abstract
The invention provides a method for arranging mounting reference points of space pipe truss and a device. The method comprises steps that, a first coordinate system is established, the first coordinate system is different from a second coordinate system, and the second coordinate system is for mounting the space pipe truss; three or more nodes are selected from the first coordinate system, first coordinates of the three nodes or more nodes on the first coordinate system and second coordinates of the three nodes or more nodes on the second coordinate system are acquired; a designated node is selected from the pipe surface of the space pipe truss, and a third coordinate of the designated node on the first coordinate system is acquired; a fourth coordinate of the designated node on the second coordinate system is calculated according to the first coordinates, the second coordinates and the third coordinate, and the fourth coordinate is taken as the mounting reference point of the space pipe truss. Through the method, a mounting reference point of a space pipe truss in the prior art has a disadvantage of low precision, and measurement precision of the mounting reference point of the space pipe truss is improved.
Description
Technical field
The present invention relates to tubular truss field, in particular to a kind of method and the device of laying the base point of installation of space tube truss.
Background technology
Space pipe truss structure is made up of the pipe related subgroup of all size, and the volume coordinate of the tube axis crossed node that its size is provided by designing institute controls.Because pipe appearance is circular, node accurately cannot be reflected to tube surface, simultaneously the assembled node coordinate of job specifications regulation (-0.55d comparatively large with design grid deviation
0≤ e≤0.25d
0, d
0for pipe diameter, e is node deviation), therefore determine that the node coordinate designed also is reflected to tube surface accurately and cannot realizes at all very accurately by the profile of assembled truss, that is accurately cannot extract the Survey control reference point of truss installa-tion.Finding out a kind of method can laying base point of installation fast and accurately in truss appearance, is whole space pipe truss structure construction key.
In correlation technique, the laying of truss installa-tion reference point, be in directly being divided by each crossing pipe on pipe according to theoretic panel point coordinate, cross, the angle extraction of pipe radial direction be arranged in tube surface after considering pipe radius, because the position deviation of pipe crossed node that formed in assembled process and reference point choose the accumulation of the unavoidable deviation formed in process, the precision of the reference point chosen is difficult to the Survey control requirement meeting truss installa-tion.
For in correlation technique, choose the problem that the base point of installation precision of space tube truss is not high, also do not propose effective solution.
Summary of the invention
The invention provides a kind of method and the device of laying the base point of installation of space tube truss, at least to solve in correlation technique the not high problem of the base point of installation precision of choosing space tube truss.
According to an aspect of the present invention, provide a kind of method laying the base point of installation of space tube truss, comprising: set up the first coordinate system, wherein, described first coordinate system is different from the second coordinate system, and described second coordinate system is the coordinate system of installing space tubular truss; In described first coordinate system, choose more than three or three nodes, and obtain described more than three or three nodes respectively at the first coordinate of described first coordinate system and the second coordinate in described second coordinate system; Choose specified node at the tube surface of described space tube truss, and obtain the three-dimensional of described specified node in described first coordinate system; The 4-coordinate of described specified node in described second coordinate system is calculated according to described first coordinate, described second coordinate and described three-dimensional, and using the base point of installation of described 4-coordinate as described space tube truss.
Alternatively, obtain described specified node to comprise in the described three-dimensional of described first coordinate system: arrange reflector plate at described specified node; Total powerstation is used to obtain described three-dimensional by described reflector plate.
Alternatively, when the quantity of described node is three, calculate described specified node according to described first coordinate, described second coordinate and described three-dimensional to comprise at the 4-coordinate of described second coordinate system: obtaining three nodes is (a at the coordinate of described first coordinate system respectively, b, c), (d, e, f) and (g, h, i), be (A, B, C), (D at the coordinate of described second coordinate system, E, and (G, H, I) F); Obtaining described specified node in the described three-dimensional of described first coordinate system is (x, y, z), and supposes that described specified node is (X, Y, Z) at the described 4-coordinate of described second coordinate system; According to following system of equations coordinates computed (X, Y, Z):
(a-x)
2+(b-y)
2+(c-z)
2＝(A-X)
2+(B-Y)
2+(C-Z)
2
(d-x)
2+(e-y)
2+(f-z)
2＝(D-X)
2+(E-Y)
2+(F-Z)
2
(g-x)
2+(h-y)
2+(i-z)
2＝(G-X)
2+(H-Y)
2+(I-Z)
2。
Alternatively, comprise after calculating described 4-coordinate: (the X calculated, Y, Z) when value is two, one of them value is got rid of, using the base point of installation of another value as described space tube truss according to the installation diagram corresponding with described space tube truss.
According to another aspect of the present invention, additionally provide a kind of device laying the base point of installation of space tube truss, comprise: set up module, for setting up the first coordinate system, wherein, described first coordinate system is different from the second coordinate system, and described second coordinate system is the coordinate system of installing space tubular truss; First acquisition module, for choosing more than three or three nodes in described first coordinate system, and obtains described more than three or three nodes respectively at the first coordinate of described first coordinate system and the second coordinate in described second coordinate system; Second acquisition module, for choosing specified node at the tube surface of described space tube truss, and obtains the three-dimensional of described specified node in described first coordinate system; Computing module, for calculating the 4-coordinate of described specified node in described second coordinate system according to described first coordinate, described second coordinate and described three-dimensional, and using the base point of installation of described 4-coordinate as described space tube truss.
Alternatively, described second acquisition module is also for arranging reflector plate at described specified node; Total powerstation is used to obtain described three-dimensional by described reflector plate.
Alternatively, when the quantity of described node is three, described computing module comprises: the first acquiring unit, be (a, b, c), (d at the coordinate of described first coordinate system respectively for obtaining three nodes, e, f) and (g, h, i), be (A, B at the coordinate of described second coordinate system, C), (D, E, F) and (G, H, I); Second acquisition unit is (x, y, z) for obtaining described specified node in the described three-dimensional of described first coordinate system, and supposes that described specified node is (X, Y, Z) at the described 4-coordinate of described second coordinate system; Computing unit, for according to following system of equations coordinates computed (X, Y, Z):
(a-x)
2+(b-y)
2+(c-z)
2＝(A-X)
2+(B-Y)
2+(C-Z)
2
(d-x)
2+(e-y)
2+(f-z)
2＝(D-X)
2+(E-Y)
2+(F-Z)
2
(g-x)
2+(h-y)
2+(i-z)
2＝(G-X)
2+(H-Y)
2+(I-Z)
2。
Alternatively, described device also comprises: get rid of module, for (the X calculated, Y, Z) when value is two, one of them value is got rid of according to the installation diagram corresponding with described space tube truss, using the base point of installation of another value as described space tube truss.
By the present invention, adopt and set up the first coordinate system, wherein, the first coordinate system is different from the second coordinate system, and the second coordinate system is the coordinate system of installing space tubular truss; In the first coordinate system, choose more than three or three nodes, and obtain more than three or three nodes respectively at the first coordinate of the first coordinate system and the second coordinate in the second coordinate system; Choose specified node at the tube surface of space tube truss, and obtain the three-dimensional of specified node in the first coordinate system; The 4-coordinate of specified node in the second coordinate system is calculated according to the first coordinate, the second coordinate and three-dimensional, and using the base point of installation of 4-coordinate as space tube truss.Solve in correlation technique the problem that the base point of installation precision of choosing space tube truss is not high, and then improve the measuring accuracy of base point of installation of space tube truss.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the process flow diagram of the laying space tube truss reference for installation point methods according to the embodiment of the present invention;
Fig. 2 is the structured flowchart of the laying space tube truss reference for installation point apparatus according to the embodiment of the present invention;
Fig. 3 is the structured flowchart () of the laying space tube truss reference for installation point apparatus according to the embodiment of the present invention;
Fig. 4 is the structured flowchart (two) of the laying space tube truss reference for installation point apparatus according to the embodiment of the present invention;
Fig. 5 is the assembled coordinate system arrangenent diagram according to the embodiment of the present invention;
Fig. 6 is the installation coordinate system arrangenent diagram according to the embodiment of the present invention.
Embodiment
Hereinafter also describe the present invention in detail with reference to accompanying drawing in conjunction with the embodiments.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
It should be noted that, term " first ", " second " etc. in instructions of the present invention and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.
Provide a kind of method laying the base point of installation of space tube truss in the present embodiment, Fig. 1 is the process flow diagram of the laying space tube truss reference for installation point methods according to the embodiment of the present invention, and as shown in Figure 1, this flow process comprises the steps:
Step S102, sets up the first coordinate system, and wherein, the first coordinate system is different from the second coordinate system, and the second coordinate system is the coordinate system of installing space tubular truss;
Step S104, chooses more than three or three nodes in the first coordinate system, and obtains more than three or three nodes respectively at the first coordinate of the first coordinate system and the second coordinate in the second coordinate system;
Step S106, chooses specified node at the tube surface of space tube truss, and obtains the three-dimensional of specified node in the first coordinate system;
Step S108, calculates the 4-coordinate of specified node in the second coordinate system according to the first coordinate, the second coordinate and three-dimensional, and using the base point of installation of 4-coordinate as space tube truss.
By above-mentioned steps, make full use of the principle that in different coordinates, the relative tertiary location of each point is constant, tried to achieve the coordinate of unknown point by theoretic known point.Solve in correlation technique the problem that the base point of installation precision of choosing space tube truss is not high, and then improve the measuring accuracy of base point of installation of space tube truss.
" base point of installation or the datum mark " that it should be noted that in embodiment of the present invention all refers to the point for controlling truss installa-tion integral position be laid on truss tube surface, is different from the reference mark of space measurement Controling network.
Relate in above-mentioned steps S106 and obtain specified node in the three-dimensional of the first coordinate system, in one alternate embodiment, reflector plate is set at specified node, use total powerstation to obtain three-dimensional by this reflector plate.
Want to obtain the 4-coordinate of above-mentioned specified node in the second coordinate system, the minimum number of above-mentioned node is three, in one alternate embodiment, when the quantity of this node is three, obtaining three nodes is (a, b at the coordinate of the first coordinate system respectively, c), (d, e, f) and (g, h, i), be (A at the coordinate of the second coordinate system, B, C), (D, E, and (G, H, I) F); Obtaining specified node is (x, y, z) in the three-dimensional of the first coordinate system, and supposes that specified node is (X, Y, Z) at the 4-coordinate of the second coordinate system; According to following system of equations coordinates computed (X, Y, Z):
(a-x)
2+(b-y)
2+(c-z)
2＝(A-X)
2+(B-Y)
2+(C-Z)
2
(d-x)
2+(e-y)
2+(f-z)
2＝(D-X)
2+(E-Y)
2+(F-Z)
2
(g-x)
2+(h-y)
2+(i-z)
2＝(G-X)
2+(H-Y)
2+(I-Z)
2。
Thus calculated the 4-coordinate of specified node in the second coordinate system according to the first coordinate, the second coordinate and three-dimensional.
In one alternate embodiment, when the value of (X, Y, the Z) that calculate is two, one of them value is got rid of according to the installation diagram corresponding with space tube truss, using the base point of installation of another value as space tube truss.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that can add required general hardware platform by software according to the method for above-described embodiment and realize, hardware can certainly be passed through, but in a lot of situation, the former is better embodiment.Based on such understanding, technical scheme of the present invention can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product is stored in a storage medium (as ROM/RAM, magnetic disc, CD), comprising some instructions in order to make a station terminal equipment (can be mobile phone, computing machine, server, or the network equipment etc.) perform method described in each embodiment of the present invention.
Additionally provide a kind of device laying the base point of installation of space tube truss in the present embodiment, this device is used for realizing above-described embodiment and preferred implementation, has carried out repeating no more of explanation.As used below, term " module " can realize the software of predetermined function and/or the combination of hardware.Although the device described by following examples preferably realizes with software, hardware, or the realization of the combination of software and hardware also may and conceived.
Fig. 2 is the structured flowchart of the laying space tube truss reference for installation point apparatus according to the embodiment of the present invention, as shown in Figure 2, this device comprises: set up module 22, for setting up the first coordinate system, wherein, first coordinate system is different from the second coordinate system, and the second coordinate system is the coordinate system of installing space tubular truss; First acquisition module 24, for choosing more than three or three nodes in the first coordinate system, and obtains more than three or three nodes respectively at the first coordinate of the first coordinate system and the second coordinate in the second coordinate system; Second acquisition module 26, chooses specified node for the tube surface at this space tube truss, and obtains the three-dimensional of specified node in the first coordinate system; Computing module 28, for calculating the 4-coordinate of specified node in the second coordinate system according to the first coordinate, the second coordinate and three-dimensional, and using the base point of installation of this 4-coordinate as this space tube truss.
Alternatively, the second acquisition module 26 is also for arranging reflection unit at specified node; Total powerstation is used to obtain this three-dimensional by this reflection unit.
Fig. 3 is the structured flowchart () of the laying space tube truss reference for installation point apparatus according to the embodiment of the present invention, as shown in Figure 3, when the quantity of this node is three, computing module 28 comprises: the first acquiring unit 282, is (a, b respectively for obtaining three nodes at the coordinate of this first coordinate system, c), (d, e, f) and (g, h, i), be (A, B, C), (D at the coordinate of the second coordinate system, E, and (G, H, I) F); Second acquisition unit 284 is (x, y, z) for obtaining this specified node in this three-dimensional of this first coordinate system, and supposes that specified node is (X, Y, Z) at this 4-coordinate of this second coordinate system; Computing unit 286, for according to following system of equations coordinates computed (X, Y, Z):
(a-x)
2+(b-y)
2+(c-z)
2＝(A-X)
2+(B-Y)
2+(C-Z)
2
(d-x)
2+(e-y)
2+(f-z)
2＝(D-X)
2+(E-Y)
2+(F-Z)
2
(g-x)
2+(h-y)
2+(i-z)
2＝(G-X)
2+(H-Y)
2+(I-Z)
2。
Fig. 4 is the structured flowchart (two) of the laying space tube truss reference for installation point apparatus according to the embodiment of the present invention, as shown in Figure 4, this device also comprises: get rid of module 42, for (the X calculated, Y, Z) when value is two, one of them value is got rid of according to the installation diagram corresponding with this space tube truss, using the base point of installation of another value as this space tube truss.
It should be noted that, above-mentioned modules can be realized by software or hardware, for the latter, can realize in the following manner, but be not limited thereto: above-mentioned module is all arranged in same processor; Or above-mentioned module lays respectively in multiple processor.
Embodiments of the invention additionally provide a kind of storage medium.Alternatively, in the present embodiment, above-mentioned storage medium can be set to store the program code for performing following steps:
S1, sets up the first coordinate system, and wherein, the first coordinate system is different from the second coordinate system, and the second coordinate system is the coordinate system of installing space tubular truss;
S2, chooses more than three or three nodes in the first coordinate system, and obtains more than three or three nodes respectively at the first coordinate of the first coordinate system and the second coordinate in the second coordinate system;
S3, chooses specified node at the tube surface of space tube truss, and obtains the three-dimensional of specified node in the first coordinate system;
S4, calculates the 4-coordinate of specified node in the second coordinate system according to the first coordinate, the second coordinate and three-dimensional, and using the base point of installation of 4-coordinate as space tube truss.
Alternatively, in the present embodiment, above-mentioned storage medium can include but not limited to: USB flash disk, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), portable hard drive, magnetic disc or CD etc. various can be program code stored medium.
Alternatively, in the present embodiment, processor performs above-mentioned S1, S2, S3 and S4 according to the program code stored in storage medium.
Alternatively, the concrete example in the present embodiment can with reference to the example described in above-described embodiment and Alternate embodiments, and the present embodiment does not repeat them here.
The assembled general employing subdivision of tubular truss is horizontal assembled, must set up one and installation different spaces coordinate system.Although coordinate system is different, the relative tertiary location of tubular truss each point is constant.Around this principle, before can lifting after truss element is assembled, choose some points (concrete quantity and position conveniently install and measure) on the spot in the air at tubular truss tube surface and stick reflector plate, these actual coordinates in assembled coordinate system are extracted with total station survey, then according to the inner link of two coordinate systems, calculate the coordinate in these installation coordinate systems provided in designing institute, as the space measurement reference point of truss installa-tion.Computation process is as follows:
As Fig. 5, Fig. 6: choose known node 1,2,3 in assembled coordinate system (being equivalent to above-mentioned first coordinate system), coordinate is respectively (a, b, c), (d, e, f) and (g, h, i), corresponding its is respectively (A installing the coordinate in coordinate system (being equivalent to above-mentioned second coordinate system), B, C), (D, E, F) and (G, H, I).
Stick measurement reflector plate in the pipe appearance selected point 4 of assembled unit, going out a little 4 coordinates in assembled coordinate system with total Station Measured is (x, y, z), set up an office and 4 the coordinate in coordinate system is being installed for (X, Y, Z) (unknown number is waited to separate).
According to the principle that the relative tertiary location of same tubular truss unit each point in different coordinates is constant, the group that establishes an equation is as follows:
(a-x)
2+ (b-y)
2+ (c-z)
2=(A-X)
2+ (B-Y)
2+ (C-Z)
2(1,4 space of points distances square)
(d-x)
2+ (e-y)
2+ (f-z)
2=(D-X)
2+ (E-Y)
2+ (F-Z)
2(2,4 space of points distances square)
(g-x)
2+ (h-y)
2+ (i-z)
2=(G-X)
2+ (H-Y)
2+ (I-Z)
2(3,4 space of points distances square)
Above-mentioned system of equations is ternary quadratic equation, and the coordinate (X, Y, Z) of calculated point 4 in installation coordinate system has two, and one of them contrast installation diagram is easy to get rid of, the reference point that a remaining coordinate is located as truss lifting.Using the same method can as required at the some reference point of other location arrangements.
In sum, the present invention is by the inner link of different coordinates, installation coordinate is converted to after the assembled coordinate of reference point is extracted in the actual measurement of pipe appearance, theoretical foundation is abundant, the scene of reference point is laid simple, operate miss is little, and selected base point accuracy is high, guarantees the bulk that tubular truss is installed further.Make full use of the principle that in different coordinates, the relative tertiary location of each point is constant, tried to achieve the coordinate of unknown point by theoretic known point.The reference point arranged is extracted by field measurement and is transformed into install in coordinate system and obtains, and eliminates the various errors chosen in process.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, and in some cases, step shown or described by can performing with the order be different from herein, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. lay a method for the base point of installation of space tube truss, it is characterized in that, comprising:
Set up the first coordinate system, wherein, described first coordinate system is different from the second coordinate system, and described second coordinate system is the coordinate system of installing space tubular truss;
In described first coordinate system, choose more than three or three nodes, and obtain described more than three or three nodes respectively at the first coordinate of described first coordinate system and the second coordinate in described second coordinate system;
Choose specified node at the tube surface of described space tube truss, and obtain the three-dimensional of described specified node in described first coordinate system;
The 4-coordinate of described specified node in described second coordinate system is calculated according to described first coordinate, described second coordinate and described three-dimensional, and using the base point of installation of described 4-coordinate as described space tube truss.
2. method according to claim 1, is characterized in that, obtains described specified node and comprises in the described three-dimensional of described first coordinate system:
At described specified node, reflector plate is set;
Total powerstation is used to obtain described three-dimensional by described reflector plate.
3. method according to claim 1, it is characterized in that, when the quantity of described node is three, calculates described specified node according to described first coordinate, described second coordinate and described three-dimensional and comprise at the 4-coordinate of described second coordinate system:
Obtaining three nodes is (a, b, c), (d, e, f) and (g at the coordinate of described first coordinate system respectively, h, i), be (A, B, C), (D at the coordinate of described second coordinate system, E, F) and (G, H, I);
Obtaining described specified node in the described three-dimensional of described first coordinate system is (x, y, z), and supposes that described specified node is (X, Y, Z) at the described 4-coordinate of described second coordinate system;
According to following system of equations coordinates computed (X, Y, Z):
(a-x)
2+(b-y)
2+(c-z)
2＝(A-X)
2+(B-Y)
2+(C-Z)
2
(d-x)
2+(e-y)
2+(f-z)
2＝(D-X)
2+(E-Y)
2+(F-Z)
2
(g-x)
2+(h-y)
2+(i-z)
2＝(G-X)
2+(H-Y)
2+(I-Z)
2。
4. method according to claim 3, is characterized in that, comprises after calculating described 4-coordinate:
When the value of (X, Y, the Z) that calculate is two, get rid of one of them value according to the installation diagram corresponding with described space tube truss, using the base point of installation of another value as described space tube truss.
5. lay a device for the base point of installation of space tube truss, it is characterized in that, comprising:
Set up module, for setting up the first coordinate system, wherein, described first coordinate system is different from the second coordinate system, and described second coordinate system is the coordinate system of installing space tubular truss;
First acquisition module, for choosing more than three or three nodes in described first coordinate system, and obtains described more than three or three nodes respectively at the first coordinate of described first coordinate system and the second coordinate in described second coordinate system;
Second acquisition module, for choosing specified node at the tube surface of described space tube truss, and obtains the three-dimensional of described specified node in described first coordinate system;
Computing module, for calculating the 4-coordinate of described specified node in described second coordinate system according to described first coordinate, described second coordinate and described three-dimensional, and using the base point of installation of described 4-coordinate as described space tube truss.
6. device according to claim 5, is characterized in that, described second acquisition module is also for arranging reflector plate at described specified node; Total powerstation is used to obtain described three-dimensional by described reflector plate.
7. device according to claim 6, is characterized in that, when the quantity of described node is three, described computing module comprises:
First acquiring unit is (a, b at the coordinate of described first coordinate system for obtaining three nodes respectively, c), (d, e, f) and (g, h, i), be (A at the coordinate of described second coordinate system, B, C), (D, E, F) and (G, H, I);
Second acquisition unit is (x, y, z) for obtaining described specified node in the described three-dimensional of described first coordinate system, and supposes that described specified node is (X, Y, Z) at the described 4-coordinate of described second coordinate system;
Computing unit, for according to following system of equations coordinates computed (X, Y, Z):
(a-x)
2+(b-y)
2+(c-z)
2＝(A-X)
2+(B-Y)
2+(C-Z)
2
(d-x)
2+(e-y)
2+(f-z)
2＝(D-X)
2+(E-Y)
2+(F-Z)
2
(g-x)
2+(h-y)
2+(i-z)
2＝(G-X)
2+(H-Y)
2+(I-Z)
2。
8. according to claim 7, it is characterized in that, described device also comprises:
Get rid of module, when being two for the value at (X, Y, the Z) that calculate, get rid of one of them value according to the installation diagram corresponding with described space tube truss, using the base point of installation of another value as described space tube truss.
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| CN103389081A (en) * | 2013-07-18 | 2013-11-13 | 中国二十二冶集团有限公司 | Method for positioning intersecting mouth space of pipe truss secondary rod |
| CN104196245A (en) * | 2014-08-08 | 2014-12-10 | 宝钢钢构有限公司 | Segmented manufacturing and splicing method for large steel tube truss curved beam with variable cross-sections |
| CN104264781A (en) * | 2014-10-31 | 2015-01-07 | 中国建筑第二工程局有限公司 | Latticed cylindrical surface steel structure latticed shell and construction method thereof |
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