CN113734980A - Big dipper positioning-based large-span bridge girder hoisting method - Google Patents

Abstract

A big-span bridge girder hoisting method based on Beidou positioning comprises a three-dimensional accurate positioning system and an automatic hoisting control system; the three-dimensional precise positioning system comprises a Beidou reference station, a Beidou positioning terminal, a differential service system and a data center; the Beidou reference station is used for continuously tracking and observing Beidou satellite signals and providing positioned carrier phase difference data; the Beidou positioning terminal is arranged on a sports car and a lifting point, and positioning data of the sports car and the lifting point are obtained; and the automatic hoisting control system processes the data according to the data of the data center of the three-dimensional accurate positioning system and controls the running cars and the hoisting points to run towards the target. The automatic control device has the advantages that the problems that in the prior art, due to elastic deformation and position change of the traction cable, the measurement precision is inaccurate, and the control precision is low due to the fact that the interphone is matched with manual operation are solved, so that the parking precision and the hoisting precision of the sports car are influenced, the automatic control and accurate fixed-point parking of the sports car in the hoisting process are realized, and the hoisting height of the main beam is accurately and stably controlled.

Description

Big dipper positioning-based large-span bridge girder hoisting method

Technical Field

The invention relates to a hoisting technology in a large-span bridge construction process, in particular to a big Dipper positioning-based large-span bridge girder hoisting method.

Background

The method for hoisting the girder by adopting the cable crane is a common method for installing the girder of the large-span bridge at present. The cable crane is a hoisting device mainly used for large-span longitudinal hoisting in the engineering field, generally, towers are arranged on two banks of a valley, a steel wire rope is erected on the towers to serve as a main bearing member, a heavy roadster is suspended on the steel wire rope, and the roadster is pulled to reciprocate on the steel wire rope to realize the transportation of heavy objects on the two banks. It has the advantages of large span, high efficiency, relatively simple structure, good economy, etc. Can be used for lifting and transporting heavy objects under the condition of crossing barriers such as valleys and rivers.

At present, in the cable hoisting construction, the hoisting height and the sliding stroke of a main beam are usually determined by measuring the paying-off length or adopting an angle encoder, and the displacement and the speed are controlled by manually starting and stopping a winch. This method has the following disadvantages: when the hoisting height is measured by adopting the method of measuring the length of the paying-off wire, the measuring precision is influenced because the bearing cable generates elastic deformation under the action of a heavy object, and the synchronism of each hoisting point is low. When the angle encoder is used for measuring the sliding stroke, the sports car is pulled by the traction rope to run, and the position reached by the running of the sports car is displayed by information provided by the angle encoder on the large friction wheel shaft on the traction winch. However, the pulling force of the traction rope is continuously changed in the running process of the sports car, and the length of the rope is also changed due to elastic deformation, so that the position of the rope wound on the large friction wheel is correspondingly changed, the accuracy of the position display of the sports car is poor, and the monitoring of a driver on the operation of the cable hoisting system is influenced.

In addition, the conventional cable crane adopts a manual operation mode, operators control the stroke of the windlass manually, particularly the operators of the two windlasses arranged on two banks need to be matched through an interphone, and the speed of the sports car is difficult to accurately control in the operation mode, so that the fixed-point parking precision is low, and the synchronization error is large.

Disclosure of Invention

The invention aims to provide a big-span bridge girder hoisting method based on Beidou positioning, which realizes automatic control and accurate fixed-point parking of a sports car in a hoisting process and accurate control of girder hoisting height.

The solution of the invention is such that:

a big dipper positioning-based method for hoisting a large-span bridge girder comprises the following steps:

(1) a positioning coordinate reference setting step: establishing a Beidou reference station, selecting a datum reference point on a bridge main tower, arranging a temporary Beidou positioning terminal, measuring the three-dimensional coordinates of the datum reference point, calculating the theoretical position of each section of beam after being installed in place in advance by combining bridge design parameters, further obtaining the theoretical coordinates of the Beidou positioning terminals corresponding to each roadster and the theoretical coordinates of the Beidou positioning terminals on each hanger after being in place, and inputting the theoretical coordinates into a computer control center;

(2) the Beidou positioning terminal is set: the sports car and the lifting point are respectively provided with a Beidou positioning terminal, and the Beidou positioning terminals acquire position information of the Beidou positioning terminals on the sports cars and the lifting points in real time and transmit the position information to the differential service system; the difference service system calculates XYZ coordinates of each sports car and each lifting point and transmits the data to the data center, and a computer control center of the automatic lifting control system reads and processes the data of the data center in real time;

(3) hoisting: after the segment beam is connected and fixed with the lifting hook, starting a hoisting winch to vertically hoist the segment beam away from the hoisting platform to start hoisting; in the lifting process, a Beidou positioning terminal on each lifting point collects position information of each lifting point in real time and transmits the position information to a differential service system, and the differential service system calculates XYZ coordinates of each lifting point and transmits data to a data center; a computer control center of the automatic hoisting control system reads and processes data of the data center in real time, calculates the vertical displacement and the hoisting speed of the segmental beam, and sends an instruction to a hoisting winch to control the hoisting process until the segmental beam reaches a preset position;

(4) a beam transporting step: starting a traction winch, enabling a traction section beam to walk to a target position, acquiring sports car position information in real time by a Beidou positioning terminal installed on a sports car and transmitting the sports car position information to a difference service system, calculating by the difference service system to obtain XYZ coordinates of each sports car and transmitting data to a data center; a computer control center of the automatic hoisting control system reads and processes data of the data center in real time, calculates the speed and the distance from a preset position of the sports car, and sends an instruction to a traction winch to control the movement of the sports car until the speed reaches the preset position and then stops;

(5) a positioning step: and (4) starting the hoisting winch again to hoist the segment beam in place, wherein the hoisting process control method is the same as the hoisting step (3).

Further: the step (3) of hoisting further comprises a step of synchronously controlling the hoisting point displacement: in the hoisting process, the computer control center compares the vertical displacement of each hoisting point in real time, and when the vertical displacement difference between any two hoisting points is larger than the maximum allowable value delta H, the computer control center sends a deceleration instruction to a hoisting winch with large vertical displacement, reduces the hoisting speed of the hoisting winch, sends a speed-up instruction to a hoisting winch with small displacement, and increases the speed of the hoisting winch until the vertical displacement of the two hoisting points is consistent.

Further: the beam transporting step in the step (4) further comprises the following steps:

a. the sports car speed synchronous control step: in the beam transporting process, the computer control center compares the speeds of the two groups of roadsters in real time, when the speed difference of the two groups of roadsters is larger than a maximum allowable value delta V, the computer control center sends a deceleration instruction to a traction winch with high speed, reduces the traction speed of the traction winch, sends a speed-up instruction to a traction winch with low speed, and increases the speed of the traction winch until the speeds of the two groups of roadsters are consistent;

b. synchronously controlling the displacement of the sports car: in the process of transporting the beam, the computer control center compares the displacement of the two groups of sports cars in real time, when the displacement difference of the two groups of sports cars is larger than the maximum allowable value Delta S, the computer control center sends a deceleration instruction to the traction winch corresponding to the sports car with large displacement to reduce the traction speed of the traction winch, and sends a speed-up instruction to the traction winch corresponding to the sports car with small displacement to increase the speed of the traction winch until the displacement values of the two groups of sports cars are consistent;

c. the precise positioning step of the sports car: when the distance between the sports car and the target position is less than or equal to the deceleration distance S1, the computer control center sends a deceleration instruction to the traction winch, so that the sports car runs to the target position at a lower speed, inertia is reduced, the car is parked stably, and the positioning precision is improved.

The invention has the advantages of solving the problems that the prior art has inaccurate measurement precision due to elastic deformation and position change of the traction cable and has low control precision due to the cooperation of an interphone and manual operation, thereby influencing the parking precision and the hoisting precision of the sports car, realizing automatic control and accurate fixed-point parking of the sports car in the hoisting process and accurate and stable control of the hoisting height of a main beam.

Drawings

FIG. 1 is a working principle diagram of a Beidou accurate positioning system of the invention.

Fig. 2 is a control logic diagram (1) of the hoisting method of the large-span bridge girder based on Beidou positioning.

Fig. 3 is a control logic diagram (2) of the hoisting method of the large-span bridge girder based on Beidou positioning.

Fig. 4 is a general layout diagram of the large-span bridge girder hoisting system based on Beidou positioning.

Fig. 5 is a top view of fig. 1.

Fig. 6 is an enlarged view of a portion a of fig. 4.

Fig. 7 is an enlarged view of a portion B of fig. 4.

Fig. 8 is an enlarged view of a portion C of fig. 5.

Fig. 9 is an enlarged view of a portion D in fig. 5.

The parts of the drawings are detailed as follows: 1. big dipper reference station, 2a, hoisting winch, 2b, hoisting winch No. two, 2c, hoisting winch No. three, 2d, hoisting winch No. four, 3, main control center, 4a, index winch No. one, 4b, index winch No. two, 4c, index winch No. three, 4d, index winch No. four, 5a, storage wire section, 5b, storage wire section, 6, lift platform, 7a, No. 1 sports car, 7b, No. 2 sports car, 7c, No. 3 sports car, 7d, No. 4 sports car, 8, first positioning terminal, 9, bearing rope, 10, index rope, 11, hoisting rope, 12, main cable, 13, gallows, 14, segmental beam, 15, second positioning terminal, 16, main tower, 17, vice control center, 18, interim big dipper positioning terminal.

Detailed Description

As shown in fig. 1, 2 and 3, the big dipper positioning-based large-span bridge girder hoisting method comprises the following steps:

(1) a positioning coordinate reference setting step: establishing a Beidou reference station 1, selecting a datum reference point on a bridge main tower, arranging a temporary Beidou positioning terminal 18, measuring the three-dimensional coordinates of the datum reference point, calculating the theoretical position of each section of beam after being installed in place in advance by combining bridge design parameters, further obtaining the theoretical coordinates of the Beidou positioning terminals corresponding to each roadster and the theoretical coordinates of the Beidou positioning terminals on each hanger after being in place, and inputting the theoretical coordinates into a computer control center.

(2) The Beidou positioning terminal is set: the sports car and the lifting point are respectively provided with a Beidou positioning terminal, and the Beidou positioning terminals acquire position information of the Beidou positioning terminals on the sports cars and the lifting points in real time and transmit the position information to the differential service system; the difference service system calculates XYZ coordinates of each sports car and each lifting point and transmits the data to the data center, and a computer control center of the automatic lifting control system reads and processes the data of the data center in real time;

(3) hoisting: after the segment beam 14 is connected and fixed with the lifting hook, the hoisting winch 2 is started to vertically hoist the segment beam 14 away from the hoisting platform, and the hoisting is started. The Beidou positioning terminal 15 installed on the lifting frame 13 collects position information of each lifting point in real time in the lifting process and transmits the position information to the difference service system, and the difference service system calculates XYZ coordinates of each lifting point and transmits data to the data center. And a computer control center of the automatic hoisting control system reads and processes data of the data center in real time, calculates the vertical displacement and the speed of the segmental beam 14, and sends an instruction to the hoisting winch 2 to control the hoisting process until the vertical displacement and the speed reach a preset position, and then the hoisting winch stops.

The hoisting step process further comprises a hoisting point displacement synchronous control step: in the hoisting process, the computer control center compares the vertical displacement of each hoisting point in real time, and when the vertical displacement difference between any two hoisting points is larger than the maximum allowable value delta H, the computer control center sends a deceleration instruction to a hoisting winch with large vertical displacement, reduces the hoisting speed of the hoisting winch, sends a speed-up instruction to a hoisting winch with small displacement, and increases the speed of the hoisting winch until the vertical displacement of the two hoisting points is consistent.

(4) A beam transporting step: the hoist engine 4 that pulls is started, pull 14 toward the target location walkings of segmental beam, install No. 1 sports car 7a, No. 2 sports car 7b, No. 3 sports car 7c, No. 4 sports car 7d on big dipper positioning terminal 8 gather No. 1 sports car 7a in real time, No. 2 sports car 7b, No. 3 sports car 7c, No. 4 sports car 7d positional information and transmit difference service system, difference service system calculates the XYZ coordinate that reachs each sports car and with data transmission to data center. The computer control center of the hoisting automatic control system reads and processes the data of the data center in real time, calculates the speed of the No. 1 sports car 7a, the No. 2 sports car 7b, the No. 3 sports car 7c and the No. 4 sports car 7d and the distance from the preset position, and sends an instruction to the traction winch 4 to control the movement of the No. 1 sports car 7a, the No. 2 sports car 7b, the No. 3 sports car 7c and the No. 4 sports car 7d until the preset position is reached and then stops.

The beam transporting step process further comprises a sports car speed synchronous control step, a sports car displacement synchronous control step and a horizontal accurate positioning step:

a. the sports car speed synchronous control step: in the process of transporting the beam, the computer control center compares the speeds of the two groups of roadsters in real time, when the speed difference of the two groups of roadsters is larger than a maximum allowable value delta V, the computer control center sends a deceleration instruction to the traction winch with high speed, reduces the traction speed of the traction winch, sends a speed-up instruction to the traction winch with low speed, and improves the speed of the traction winch until the speeds of the two groups of roadsters are consistent.

b. Synchronously controlling the displacement of the sports car: in the process of transporting the beam, the computer control center compares the displacement of the two groups of sports cars in real time, when the displacement difference of the two groups of sports cars is larger than the maximum allowable value Delta S, the computer control center sends a deceleration instruction to the traction winch corresponding to the sports car with large displacement to reduce the traction speed of the traction winch, and sends a speed-up instruction to the traction winch corresponding to the sports car with small displacement to increase the speed of the traction winch until the displacement values of the two groups of sports cars are consistent.

c. The precise positioning step of the sports car: when the distance between the No. 1 sports car 7a, the No. 2 sports car 7b, the No. 3 sports car 7c and the No. 4 sports car 7d and the target position is less than or equal to the deceleration distance S1, the computer control center sends a deceleration instruction to the traction winch 4, so that the No. 1 sports car 7a, the No. 2 sports car 7b, the No. 3 sports car 7c and the No. 4 sports car 7d run to the target position at a lower speed, inertia is reduced, parking is stable, and positioning accuracy is improved.

(4) A positioning step: and (4) starting the hoisting winch 2 again to lift the segment beam 14 in place, wherein the lifting process control method is the same as the hoisting step (3).

The invention is applied to a big-span bridge girder hoisting system based on Beidou positioning, and the description is as follows:

as shown in fig. 4, 5, 6, 7, 8 and 9, the big-span bridge girder hoisting system based on Beidou positioning, which is applied to the invention, comprises a three-dimensional accurate positioning system and an automatic hoisting control system; the three-dimensional precise positioning system comprises a Beidou reference station 1, a first Beidou positioning terminal 8, a second Beidou positioning terminal 15, a differential service system and a data center; the Beidou reference station 1 continuously tracks and observes Beidou satellite signals, transmits satellite information in real time through a network and provides high-precision carrier phase difference data for the Beidou positioning terminal in real time; the first Beidou positioning terminal 8 is installed on a sports car, the second Beidou positioning terminal 15 is installed on a lifting point, carrier positioning data of a Beidou reference station and Beidou reference station coordinates are received and transmitted to a differential service system, the system sports car adopts four sports cars, namely a No. 1 sports car 7a, a No. 2 sports car 7b, a No. 3 sports car 7c and a No. 4 sports car 7d, each sports car is provided with one first Beidou positioning terminal 8, and each lifting point is provided with one second Beidou positioning terminal 15; the differential service system is provided with differential service software and is responsible for calculating to obtain XYZ coordinates of the Beidou positioning terminal and transmitting data to the data center, and the data center is responsible for storing the data and transmitting the data to the computer control center of the automatic hoisting control system; the automatic hoisting control system comprises a computer control center, a hoisting winch, a traction winch, a No. 1 roadster 7a, a No. 2 roadster 7b, a No. 3 roadster 7c, a No. 4 roadster 7d, a hoisting cable 11, a traction cable 10, a hanger 13 and related auxiliary facilities; the computer control center is provided with:

(1) a data input unit: the system is used for inputting parameters such as motion target coordinates of a No. 1 roadster 7a, a No. 2 roadster 7b, a No. 3 roadster 7c and a No. 4 roadster 7d, a section beam 14 lifting target coordinate, a maximum allowable value delta V of two roadster speed differences, a maximum allowable value delta S of two roadster displacement differences, a deceleration distance S1, a maximum allowable value delta H of a lifting point vertical displacement difference and the like;

(2) a data reading and processing unit: the system comprises a three-dimensional accurate positioning system, a data center, a track 1, a track 2, a track 3, a track 4, a track 7d, a track 1, a track 2, a track 3, a track 4, a track 14, a lifting speed of a section beam, a vertical displacement and the like, wherein the data center is used for reading and processing data of the data center of the three-dimensional accurate positioning system in real time;

(3) sports car motion control unit: the system is used for controlling the sports car to run to a target coordinate according to information such as real-time coordinates, speed, displacement and the like of the sports car;

(4) hoisting a control unit: the control system is used for controlling the segment beam to move to a target position according to information such as real-time coordinates, speed and vertical displacement of the hoisted segment beam 14.

The computer control center is set as a main control center 3 and an auxiliary control center 17 which are respectively arranged at two banks, the main control center 3 and the auxiliary control center 17 establish communication in a wired or wireless mode, in the embodiment, the main control center and the auxiliary control center establish communication through high-power Bluetooth, and during construction, a control instruction can be sent to the auxiliary control center 17 through the main control center 3 according to needs to realize linkage control of a hoisting machine and a traction hoisting machine at the two banks, and the main control center 3 and the auxiliary control center 17 can also respectively and independently control the hoisting machine 2 and the traction hoisting machine 4 at the bank to work.

As shown in fig. 7 and 8, the hoisting winch 2 is used to retract the hoisting rope 11 to achieve the lifting and lowering of the segment beam 14. The hoisting winches are provided with four hoisting winches, namely a first hoisting winch 2a, a second hoisting winch 2b, a third hoisting winch 2c and a fourth hoisting winch 2d, and one hoisting winch is arranged on the upstream and the downstream of each of the two banks.

The traction winch is used for a rope 10 to realize the movement of a No. 1 sports car 7a, a No. 2 sports car 7b, a No. 3 sports car 7c and a No. 4 sports car 7 d. The traction winch set is provided with four sets, namely a first index winch 4a, a second index winch 4b, a third index winch 4c and a fourth index winch 4d, and one set is respectively arranged on the upper part and the lower part of two banks.

As shown in fig. 4, 6 and 9, the carriage No. 1, the carriage No. 2, the carriage No. 3, the carriage No. 4 and the carriage No. 7b are girder transporting mechanisms for transporting the section girders 14 to a designated position. No. 1 sports car 7a, No. 2 sports car 7b, No. 3 sports car 7c, No. 4 sports car 7d establish on bearing cable 9. The upper and lower reaches of bearing cable 9 are respectively established a set ofly, and the upper and lower reaches of sports car are respectively established a set ofly, and every sports car of group comprises two independent sports cars. The two sports cars in the same group are pulled by the same group of traction ropes; the same position of every sports car all sets firmly first big dipper positioning terminal 8 for gather sports car positional information in real time.

As shown in fig. 6, the hanger 13 is a profile steel hanger, 2 i-beams are arranged to form an integral steel box as a longitudinal beam, the integral steel box is connected with the bearing cable 11 through a steel lifting lug by a pin, 2 lifting hooks are arranged at the lower part of each longitudinal beam, and when the segmental beam 14 is lifted, the segmental beam 14 is connected and fixed with the lifting hooks by a screw; big dipper positioning terminals 15 are fixedly arranged right above each lifting hook and on the upper surface of the lifting frame 14 and used for collecting the position information of the section beam 14 in real time.

Claims (3)

1. A big-span bridge girder hoisting method based on Beidou positioning is characterized in that: the method comprises the following steps:

(1) a positioning coordinate reference setting step: establishing a Beidou reference station, selecting a datum reference point on a bridge main tower, arranging a temporary Beidou positioning terminal, measuring the three-dimensional coordinates of the datum reference point, calculating the theoretical position of each section of beam after being installed in place in advance by combining bridge design parameters, further obtaining the theoretical coordinates of the Beidou positioning terminals corresponding to each roadster and the theoretical coordinates of the Beidou positioning terminals on each hanger after being in place, and inputting the theoretical coordinates into a computer control center;

(2) the Beidou positioning terminal is set: the sports car and the lifting point are respectively provided with a Beidou positioning terminal, and the Beidou positioning terminals acquire position information of the Beidou positioning terminals on the sports cars and the lifting points in real time and transmit the position information to the differential service system; the difference service system calculates XYZ coordinates of each sports car and each lifting point and transmits the data to the data center, and a computer control center of the automatic lifting control system reads and processes the data of the data center in real time;

(3) hoisting: after the segment beam is connected and fixed with the lifting hook, starting a hoisting winch to vertically hoist the segment beam away from the hoisting platform to start hoisting; in the lifting process, a Beidou positioning terminal on each lifting point collects position information of each lifting point in real time and transmits the position information to a differential service system, and the differential service system calculates XYZ coordinates of each lifting point and transmits data to a data center; a computer control center of the automatic hoisting control system reads and processes data of the data center in real time, calculates the vertical displacement and the hoisting speed of the segmental beam, and sends an instruction to a hoisting winch to control the hoisting process until the segmental beam reaches a preset position;

(4) a beam transporting step: starting a traction winch, enabling a traction section beam to walk to a target position, acquiring sports car position information in real time by a Beidou positioning terminal installed on a sports car and transmitting the sports car position information to a difference service system, calculating by the difference service system to obtain XYZ coordinates of each sports car and transmitting data to a data center; a computer control center of the automatic hoisting control system reads and processes data of the data center in real time, calculates the speed and the distance from a preset position of the sports car, and sends an instruction to a traction winch to control the movement of the sports car until the speed reaches the preset position and then stops;

(5) a positioning step: and (4) starting the hoisting winch again to hoist the segment beam in place, wherein the hoisting process control method is the same as the hoisting step (3).

2. The big dipper positioning-based large-span bridge girder hoisting method according to claim 1, characterized in that: the step (3) of hoisting further comprises a step of synchronously controlling the hoisting point displacement: in the hoisting process, the computer control center compares the vertical displacement of each hoisting point in real time, and when the vertical displacement difference between any two hoisting points is larger than the maximum allowable value delta H, the computer control center sends a deceleration instruction to a hoisting winch with large vertical displacement, reduces the hoisting speed of the hoisting winch, sends a speed-up instruction to a hoisting winch with small displacement, and increases the speed of the hoisting winch until the vertical displacement of the two hoisting points is consistent.

3. The big dipper positioning-based large-span bridge girder hoisting method according to claim 1, characterized in that: the beam transporting step in the step (4) further comprises the following steps:

a. the sports car speed synchronous control step: in the beam transporting process, the computer control center compares the speeds of the two groups of roadsters in real time, when the speed difference of the two groups of roadsters is larger than a maximum allowable value delta V, the computer control center sends a deceleration instruction to a traction winch with high speed, reduces the traction speed of the traction winch, sends a speed-up instruction to a traction winch with low speed, and increases the speed of the traction winch until the speeds of the two groups of roadsters are consistent;

b. synchronously controlling the displacement of the sports car: in the process of transporting the beam, the computer control center compares the displacement of the two groups of sports cars in real time, when the displacement difference of the two groups of sports cars is larger than the maximum allowable value Delta S, the computer control center sends a deceleration instruction to the traction winch corresponding to the sports car with large displacement to reduce the traction speed of the traction winch, and sends a speed-up instruction to the traction winch corresponding to the sports car with small displacement to increase the speed of the traction winch until the displacement values of the two groups of sports cars are consistent;

c. the precise positioning step of the sports car: when the distance between the sports car and the target position is less than or equal to the deceleration distance S1, the computer control center sends a deceleration instruction to the traction winch, so that the sports car runs to the target position at a lower speed, inertia is reduced, the car is parked stably, and the positioning precision is improved.

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