CN107391800A  A kind of realtime dynamic stress monitoring method of steel truss hydraulic pressure lift overall process  Google Patents
A kind of realtime dynamic stress monitoring method of steel truss hydraulic pressure lift overall process Download PDFInfo
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 CN107391800A CN107391800A CN201710483686.8A CN201710483686A CN107391800A CN 107391800 A CN107391800 A CN 107391800A CN 201710483686 A CN201710483686 A CN 201710483686A CN 107391800 A CN107391800 A CN 107391800A
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Abstract
The invention discloses a kind of realtime dynamic stress monitoring method of steel truss hydraulic pressure lift overall process.Compared with the monitoring method during traditional steel truss hydraulic pressure lift, method provided by the present invention has advantages below：（1）Overcome and be difficult to the defects of dynamic realtime monitors using traditional coordinate monitoring method such as spirit level, total powerstation and theodolite, it is possible to achieve the dynamic realtime monitoring of steel truss hydraulic pressure lift overall process；（2）Compared to traditional monitoring device, once computer vision monitoring and identifying system are set up and finished, the coordinate data of multiple target monitoring points is obtained while just can quickly, without repeatedly operation, that is, manpower is saved and improves efficiency again；（3）By realtime data transfer and finite element model analysis, realtime steel truss stress distribution cloud atlas can be obtained, danger early warning function has then ensured the security in lifting process；（4）Compared to other method, meet high accuracy, high efficiency, the site operation demand of low cost.
Description
Technical field
The invention belongs to building field, is monitored more particularly, to a kind of realtime dynamic stress of steel truss hydraulic pressure lift overall process
Method.
Background technology
LongSpan Steel Space Structures are as a kind of various informative, attractive in appearance economic structure type, in the design of public building
In be widely adopted.At the same time, the unique complicated structure type of long span steel structure also brings opportunity to site operation
And challenge.
Compared in general steel structure member, there can be the problem of certain in hoisting process across steel truss greatly：(1) it is stable
Sex chromosome mosaicism：Steel truss rotation easily occurs in hoisting process, deviates the problem of lifting displacement, so as to cause component quickly accurate
True lifting is in place；(2) workload is excessive：Due to the limitation of crane tonnage, often need to carry out height using the method for lifting construction
Empty assembly welding, increase workload and very big safety, hidden danger of quality be present.
The method that long span steel structure hydraulic pressure is integrally lifted overcomes the deficiency of construction method for hanging, in longspan space steel
It is widely used in structure construction procedure.In steel truss hydraulic pressure entirety lifting process, each hoist point needs to keep real
When it is synchronous, to reduce the asynchronous influence for lifting the additional stress brought to steel truss and support bracket, thus, in lifting process
It is middle to need to carry out whole working condition scene monitoring in real time.
In traditional hydraulic pressure lift monitoring scheme, lifted by a small margin first and stagnate 24h observation pillars and steel in the air
The deformation of truss；Then slowly lifted, at regular intervals using total powerstation, spirit level, longitude and latitude in lifting process
The displacement to hoist point such as instrument, absolute altitude are monitored, and stress monitoring is carried out to emphasis monitoring portion position using strain gauge.This method
Although can meet the needs of construction, poor in timeliness, manpower and materials consumption is more during multiple spot monitoring, it is difficult to realizes dangerous in time
Early warning is to tackle urgent emergency case.
Computer vision technique is an emerging subject, and vision technique can obtain one by the analysis to video image
A little desirable important informations.In construction field, vision technique can pass through one or more camera and a computer
Realize the tracking of multipoint targets, coordinate obtains and deformation monitoring.Its untouchable, high efficiency, realtime and multiple target monitoring
The advantages of can effectively be used in steel truss lifting process.
Realtime finite element analysis can obtain compared to traditional analysis according to the structural deformation conditions of reality, analysis
The realtime stress distribution of structure.
The content of the invention
It is an object of the present invention in terms of in order to solve the problems, such as following three：
(1) will be difficult to monitor in real time using total powerstation, spirit level, theodolite etc. during steel truss hydraulic pressure lift,
Dynamic tracking and the deformation measurement of steel truss hydraulic pressure lift overall process can not be realized；
(2) workload that conventional method needs multiple measurement to obtain multiple spot position coordinates is larger, can not realize automatically
Tracking measurement while multipoint displacement, the manpower and materials cost of field monitoring is wasted significantly；
(3) monitoring that the realtime stress distribution in each position of steel truss structure is difficult to during steel truss hydraulic pressure lift is asked
Topic, the realtime output of steel truss Stress Map can not be realized, and various structure unfavoured states can not be directed to and carry out early warning and scheme
Adjustment；
And provide a kind of steel truss hydraulic pressure lift overall process realtime dynamic stress monitoring method.
Therefore, the abovementioned purpose of the present invention is achieved through the following technical solutions：
The first step：According to design document steel truss hydraulic pressure lift finite element is established in ANSYS with the method for command stream
Model, generation is comprising element number, cell node coordinate, unit material information, elementary boundary condition and can be introduced directly into ANSYS
Carry out the template txt file of finite element analysis；
Second step：Position is monitored using the node of each unit of steel truss in FEM model as emphasis, is checked every
The actual coordinate data of individual cell node, and correspondence position is found out on constructing steel truss at the scene；
3rd step：The Computer Vision Recognition system for monitoring in real time is established in the job site of steel truss hydraulic pressure lift
System, is specifically included：
1) mark for being printed on 2 × 2 chequered with black and white grids, root are pasted on the emphasis monitoring position of constructing steel truss at the scene
According to the construction environment at scene, the installation position of camera is determined, and ensure that steel truss is all located at camera in whole lifting process
Within sweep of the eye and mark can clearly be caught by camera；
2) from scaling board of the flat board as camera for being printed on chequered with black and white grid, using ZhangShi standardizations to phase
Machine carries out plane reference, establishes the relation that target point is changed from image pixel coordinates to real world coordinates：
Sm=HM=A [r_{1} r_{2} t]M (1)
M=[x y 1]^{T} (2)
M=[X Y 1]^{T} (3)
R=[r_{1} r_{2} r_{3}] (4)
M is 3 × 1 expansion coordinates matrixs of the target point under image pixel coordinates system in formula, and x, y are respectively that target point is being schemed
The pixel coordinate of image plane both direction；M is 3 × 1 expansion coordinates matrixs of the target point under world coordinate system, and X, Y are respectively
The coordinate of both direction on the alive boundary plane of target point；H is 3 × 3 mapping matrix, reflects image pixel coordinates system and the world
The coordinate corresponding relation of coordinate system；A is the internal reference matrix of 3 × 3 camera, and A will not move with camera under same camera fixed focal length
Move, rotate and change；R is camera coordinates system relative to 3 × 3 Rotation matrix of world coordinate system, r_{1}、r_{2}And r_{3}Respectively R
Middle first row, secondary series and the column vector of the 3rd row 3 × 1；T is that camera coordinates system translates square relative to the 3 × 1 of world coordinate system
Battle array；[r_{1}r_{2}T] it is to join matrix, wherein r outside the 3 × 3 of camera_{1}And r_{2}Respectively R first, second column element；S is a size system
Number, can be by h_{31}X+h_{32}Y+h_{33}Try to achieve；
3) before steel truss hydraulic pressure lift starts, identified by ShiTomas Feature Points Matching algorithms 2 in mark
The central point of × 2 chequered with black and white grids is accurately positioned as steel truss emphasis monitoring position：
W (x, y)=exp [ (x^{2}+y^{2})/2σ^{2}] (8)
min(λ_{1},λ_{2}) ＞ c (9)
X in formula, y are the pixel coordinate of any on image；P be and a certain pixel (x_{i}, y_{i}) corresponding to 2 × 2 symmetrical squares
Battle array；I is with (x_{i}, y_{i}) centered on 3 × 3 pixel window；I_{x}And I_{y}Respectively ashes of the pixel window I in x directions and y directions
Spend Grad；W (x, y) is the weight coefficient corresponding to window I, and σ is the root mean square of all pixels gray value in pixel window I；
λ_{1}And λ_{2}For matrix P two characteristic roots；C is a constant；
Scene adjustment constant c value, when only having unique pixel (x in mark object area_{c0}, y_{c0}) meet matrix P two
When characteristic value is both greater than c, then (x_{c0}, y_{c0}) it is that steel truss emphasis monitors accurate coordinates of the position on image.Utilize formula (1)
Transformational relation between middle image pixel coordinates and real world coordinates, obtain the steel truss emphasis monitoring alive boundary's coordinate system in position
Under coordinate (X_{c0}, Y_{c0})：
(1/s) M=H^{1}m (10)
H in formula^{1}For 3 × 3 mapping matrix H inverse matrix；
4) in steel truss hydraulic pressure lift overall process, the position that template matches track algorithm obtains each mark in real time is first passed through
Put, then each emphasis monitoring position is obtained with ShiTomas Feature Points Matchings algorithm and coordinate transform in object area is indicated
Realtime coordinates under world coordinate system, the coordinate of t are designated as (X_{ct}, Y_{ct})；
5) changes in coordinates at t emphasis monitoring position is calculated：
(ΔX_{ct},ΔY_{ct})=(X_{ct}X_{c0},Y_{ct}Y_{c0}) (11)
Δ X in formula_{ct}With Δ Y_{ct}Emphasis monitors position in Xdirection and Y direction respectively under t world coordinate system
Changes in coordinates value；
, it is necessary to test in advance camera and computer, to ensure that camera can be gathered clearly before field monitoring
Image, and computer possesses the ability of realtime processing data.At the scene in monitoring process, it should try one's best and avoid target monitoring point from being hidden
The situation of gear, to ensure that data continuously, can be recorded accurately.Pay attention to camera shake caused by avoiding any environmental factor, if
Camera should then stop monitoring immediately because the reasons such as collision produce larger shift in position, and update the system parameter in time, rear
The lifting and monitoring of steel truss can be restarted.
4th step：With (Δ X_{ct}, Δ Y_{ct}) as t emphasis monitor position increment of coordinate change template txt file
In corresponding cell node coordinate, obtain the txt file of t；
5th step：The txt file of t is imported in ANSYS and carries out finite element analysis, steel truss is exported in analysis result
The stress value of frame stress distribution cloud atlas and unit, and calculate stress axis：
K=σ_{ei}/σ_{iMax} (12)
K is unit i stress ratio in formula；σ_{ei}For unit i true stress；σ_{iMax}For unit i allowable stresses；Work as k>
When 0.9, then provide prewarning signal and targetedly adjust steel truss lifting scheme with reference to stress distribution situation.
Compared with the monitoring method during traditional steel truss hydraulic pressure lift, steel truss hydraulic pressure provided by the present invention carries
Rising the realtime dynamic stress monitoring method of overall process has advantages below：
(1) overcome and be difficult to dynamic realtime using traditional coordinate monitoring method such as spirit level, total powerstation and theodolite
The defects of monitoring, it is possible to achieve the dynamic realtime monitoring of steel truss hydraulic pressure lift overall process；
(2), just can be fast once computer vision monitoring and identifying system are set up and finished compared to traditional monitoring device
The coordinate data of multiple target monitoring points is obtained while fast, without repeating operation, that is, manpower is saved and improves efficiency again；
(3) by realtime data transfer and finite element model analysis, realtime steel truss stress distribution cloud can be obtained
Figure, danger early warning function have then ensured the security in lifting process；
(4) compared to other method, high accuracy, high efficiency, the site operation demand of low cost are met.
Brief description of the drawings
Fig. 1 is a kind of scene of the realtime dynamic stress monitoring method of steel truss hydraulic pressure lift overall process provided by the present invention
Monitor schematic diagram；
In figure：1. it is steel truss in place to be hoisted；2. it is camera；3. it is camera calibration plate；4. it is mark；5. it is meter
Calculation machine and data handling system；6. it is realtime steel truss FEM model.
Embodiment
The present invention is described in further detail with specific embodiment referring to the drawings.
Fig. 1 is that a kind of realtime dynamic stress monitoring method of steel truss hydraulic pressure lift overall process provided by the invention is applied to one
The case of stress monitoring during steel truss scene hydraulic pressure lift is in place, specific implementation comprise the following steps：
(1) design document according to the steel truss establishes steel truss hydraulic pressure lift in ANSYS with the method for command stream
6., generation includes element number, cell node coordinate, unit material information, elementary boundary condition and can be direct to FEM model
The template txt file that ANSYS carries out finite element analysis is imported, is named as " steel truss finite element template model .txt "；
(2) using FEM model 6. each unit of middle steel truss node as emphasis monitor position, a total of 11
Individual node, i.e. 11 emphasis monitoring positions.Check the actual coordinate data of each cell node, and constructing steel truss is 1. at the scene
On find out correspondence position；
(3) the Computer Vision Recognition system for monitoring in real time is established in the job site of steel truss hydraulic pressure lift, is had
Body includes：
1) mark for being printed on 2 × 2 chequered with black and white grids is pasted on the emphasis monitoring position of constructing steel truss 1. at the scene
4. 1. steel truss during the whole hydraulic pressure lift of camera being placed in 2. is all located to the position within the vision of camera, and
Test is carried out to camera to guarantee clearly to gather image；
2) from be printed on the flat board of chequered with black and white grid as camera scaling board 3., using ZhangShi standardizations pair
Camera carries out plane reference, establishes the relation that target point is changed from image pixel coordinates to real world coordinates, solves 3 × 3
Mapping matrix H, and seek H inverse matrix H^{1}；
3) before 1. hydraulic pressure lift starts steel truss, mark is identified by ShiTomas Feature Points Matching algorithms
4. as steel truss, 1. emphasis monitors being accurately positioned for position to the central point of 2 × 2 chequered with black and white grids in, remembers ith of emphasis prison
The accurate coordinates surveyed on the image at position are (x_{c0i}, y_{c0i}) (i=1,2 ..., 11).The m at each emphasis monitoring position is designated as
[x_{c0i} y_{c0i} 1]^{T}, M notes [X_{c0i} Y_{c0i} 1]^{T}.By the inverse matrix H of the mapping matrix obtained in 2)^{1}With each emphasis monitoring portion
The m of position does matrix multiplication and obtains M, you can knows coordinate of the steel truss 1. under each emphasis monitoring alive boundary's coordinate system in position
(X_{c0i}, Y_{c0i})；
4) in steel truss 1. hydraulic pressure lift overall process, first pass through template matches track algorithm and obtain each mark in real time 4.
Position, then obtain each emphasis monitoring with ShiTomas Feature Points Matchings algorithm and coordinate transform in mark 4. region
Realtime coordinates under the world coordinate system at position, the coordinate at ith of emphasis monitoring position of t are designated as (X_{cti}, Y_{cti})；
5) changes in coordinates at t each emphasis monitoring position, ith of emphasis monitoring two, position side of t are calculated
To changes in coordinates be designated as Δ X respectively_{cti}With Δ Y_{cti}；
(4) with (Δ X_{cti}, Δ Y_{cti}) as t the ith emphasis monitor position increment of coordinate modification " steel truss is limited
Corresponding cell node i coordinate, obtains the txt file of t, is named as " t_ steel truss in meta template model .txt " files
FEM model .txt "；
(5) " finite element analysis will be carried out in t_ steel truss FEM model .txt " files importing ANSYS, in analysis result
The stress value of middle output steel truss stress distribution cloud atlas and unit, and the stress ratio of each unit is calculated, remember ith of list
The stress ratio of member is k_{i}.If there is k_{i}>0.9 situation, then provide prewarning signal and targetedly adjusted with reference to stress distribution situation
Whole steel truss lifting scheme.
Abovementioned embodiment is used for illustrating the present invention, only the preferred embodiments of the present invention, rather than to this
Invention is limited, and in the protection domain of spirit and claims of the present invention, to any modification of the invention made, is equal
Replace, improve etc., both fall within protection scope of the present invention.
Claims (1)
 A kind of 1. realtime dynamic stress monitoring method of steel truss hydraulic pressure lift overall process, it is characterised in that the steel truss hydraulic pressure The lifting realtime dynamic stress monitoring method of overall process includes：(1) steel truss hydraulic pressure lift FEM model is established with the method for command stream in ANSYS according to design document, generated Comprising element number, cell node coordinate, unit material information, elementary boundary condition and can be introduced directly into ANSYS carry out it is limited The template txt file of meta analysis；(2) position is monitored using the node of each unit of steel truss in FEM model as emphasis, checks each unit section The actual coordinate data of point, and correspondence position is found out on constructing steel truss at the scene；(3) the Computer Vision Recognition system for monitoring in real time is established in the job site of steel truss hydraulic pressure lift, specific step Suddenly include：(301) mark for being printed on 2 × 2 chequered with black and white grids, root are pasted on the emphasis monitoring position of constructing steel truss at the scene According to the construction environment at scene, the installation position of camera is determined, and ensure that steel truss is all located at camera in whole lifting process Within sweep of the eye and mark can clearly be caught by camera；(302) from scaling board of the flat board as camera for being printed on chequered with black and white grid, using ZhangShi standardizations to camera Plane reference is carried out, establishes the relation that target point is changed from image pixel coordinates to real world coordinates：Sm=HM=A [r_{1} r_{2} t]M (1)M=[x y 1]^{T} (2)M=[X Y 1]^{T} (3)R=[r_{1} r_{2} r_{3}] (4)<mrow> <mo>&lsqb;</mo> <mtable> <mtr> <mtd> <msub> <mi>r</mi> <mn>1</mn> </msub> </mtd> <mtd> <msub> <mi>r</mi> <mn>2</mn> </msub> </mtd> <mtd> <mi>t</mi> </mtd> </mtr> </mtable> <mo>&rsqb;</mo> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>r</mi> <mn>11</mn> </msub> </mtd> <mtd> <msub> <mi>r</mi> <mn>12</mn> </msub> </mtd> <mtd> <msub> <mi>t</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>r</mi> <mn>21</mn> </msub> </mtd> <mtd> <msub> <mi>r</mi> <mn>22</mn> </msub> </mtd> <mtd> <msub> <mi>t</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>r</mi> <mn>31</mn> </msub> </mtd> <mtd> <msub> <mi>r</mi> <mn>32</mn> </msub> </mtd> <mtd> <msub> <mi>t</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo></mo> <mo></mo> <mo></mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow><mrow> <mi>H</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>h</mi> <mn>11</mn> </msub> </mtd> <mtd> <msub> <mi>h</mi> <mn>12</mn> </msub> </mtd> <mtd> <msub> <mi>h</mi> <mn>13</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>h</mi> <mn>21</mn> </msub> </mtd> <mtd> <msub> <mi>h</mi> <mn>22</mn> </msub> </mtd> <mtd> <msub> <mi>h</mi> <mn>23</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>h</mi> <mn>31</mn> </msub> </mtd> <mtd> <msub> <mi>h</mi> <mn>32</mn> </msub> </mtd> <mtd> <msub> <mi>h</mi> <mn>33</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo></mo> <mo></mo> <mo></mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>M is 3 × 1 expansion coordinates matrixs of the target point under image pixel coordinates system in formula, and x, y are respectively that target point is put down in image The pixel coordinate of face both direction；M is 3 × 1 expansion coordinates matrixs of the target point under world coordinate system, and X, Y are respectively target The coordinate of both direction on the alive boundary plane of point；H is 3 × 3 mapping matrix, reflects image pixel coordinates system and world coordinates The coordinate corresponding relation of system；A is the internal reference matrix of 3 × 3 camera, under same camera fixed focal length A will not it is mobile with camera, turn Move and change；R is camera coordinates system relative to 3 × 3 Rotation matrix of world coordinate system, r_{1}、r_{2}And r_{3}In respectively R One row, secondary series and the column vector of the 3rd row 3 × 1；T is 3 × 1 translation matrix of the camera coordinates system relative to world coordinate system；[r_{1} r_{2}T] it is to join matrix, wherein r outside the 3 × 3 of camera_{1}And r_{2}Respectively R first, second column element；S is a size factor, can By h_{31}X+h_{32}Y+h_{33}Try to achieve；(303) before steel truss hydraulic pressure lift starts, identified by ShiTomas Feature Points Matching algorithms 2 in mark The central point of × 2 chequered with black and white grids is accurately positioned as steel truss emphasis monitoring position：<mrow> <mi>P</mi> <mo>=</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>x</mi> <mo>,</mo> <mi>y</mi> </mrow> <mi>I</mi> </munderover> <mi>W</mi> <mrow> <mo>(</mo> <mi>x</mi> <mo>,</mo> <mi>y</mi> <mo>)</mo> </mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msubsup> <mi>I</mi> <mi>x</mi> <mn>2</mn> </msubsup> </mtd> <mtd> <mrow> <msub> <mi>I</mi> <mi>x</mi> </msub> <msub> <mi>I</mi> <mi>y</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>I</mi> <mi>x</mi> </msub> <msub> <mi>I</mi> <mi>y</mi> </msub> </mrow> </mtd> <mtd> <msubsup> <mi>I</mi> <mi>y</mi> <mn>2</mn> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo></mo> <mo></mo> <mo></mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>W (x, y)=exp [ (x^{2}+y^{2})/2σ^{2}] (8)min(λ_{1},λ_{2}) ＞ c (9)X in formula, y are the pixel coordinate of any on image；P be and a certain pixel (x_{i}, y_{i}) corresponding to 2 × 2 symmetrical matrixes；I is With (x_{i}, y_{i}) centered on 3 × 3 pixel window；I_{x}And I_{y}Respectively shade of gray of the pixel window I in x directions and y directions Value；W (x, y) is the weight coefficient corresponding to window I, and σ is the root mean square of all pixels gray value in pixel window I；λ_{1}And λ_{2}For Matrix P two characteristic roots, c are a constant；Scene adjustment constant c value, when only having unique pixel (x in mark object area_{c0}, y_{c0}) meet two features of matrix P When value is both greater than c, then (x_{c0}, y_{c0}) it is that steel truss emphasis monitors accurate coordinates of the position on image；Scheme using in formula (1) As the transformational relation between pixel coordinate and real world coordinates, obtain under the steel truss emphasis monitoring alive boundary's coordinate system in position Coordinate (X_{c0}, Y_{c0})：(1/s) M=H^{1}m (10)H in formula^{1}For 3 × 3 mapping matrix H inverse matrix；(304) in steel truss hydraulic pressure lift overall process, the position that template matches track algorithm obtains each mark in real time is first passed through Put, then each emphasis monitoring position is obtained with ShiTomas Feature Points Matchings algorithm and coordinate transform in object area is indicated Realtime coordinates under world coordinate system, the coordinate of t are designated as (X_{ct}, Y_{ct})；(305) changes in coordinates at t emphasis monitoring position is calculated：(ΔX_{ct},ΔY_{ct})=(X_{ct}X_{c0},Y_{ct}Y_{c0}) (11)Δ X in formula_{ct}With Δ Y_{ct}Coordinate of the emphasis monitoring position in Xdirection and Y direction respectively under t world coordinate system Changing value；(4) with (Δ X_{ct}, Δ Y_{ct}) as t emphasis monitor position increment of coordinate modification template txt file in corresponding to Cell node coordinate, obtain the txt file of t；(5) txt file of t is imported in ANSYS and carries out finite element analysis, steel truss stress point is exported in analysis result The stress value of cloth cloud atlas and unit, and calculate stress axis：K=σ_{ei}/σ_{iMax} (12)K is unit i stress ratio in formula；σ_{ei}For unit i true stress；σ_{iMax}For unit i allowable stresses；Work as k>When 0.9, Then provide prewarning signal and targetedly adjust steel truss lifting scheme with reference to stress distribution situation.
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CN109470226A (en) *  20181026  20190315  中船西江造船有限公司  A method of monitoring is implemented to ship launching and upper row using total station 
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