CN114910028A - Measurement and calculation method for box culvert jacking attitude - Google Patents
Measurement and calculation method for box culvert jacking attitude Download PDFInfo
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- CN114910028A CN114910028A CN202210034491.6A CN202210034491A CN114910028A CN 114910028 A CN114910028 A CN 114910028A CN 202210034491 A CN202210034491 A CN 202210034491A CN 114910028 A CN114910028 A CN 114910028A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a measuring and calculating method for box culvert jacking gestures, which comprises the steps of selecting at least 3 measurable points on two side walls of a box culvert, selecting a point A and a point B on two ends of a central axis of a roof, respectively measuring three-dimensional coordinates of the measurable points before and after the box culvert is jacked to obtain translation amount of the box culvert, and then converting the translation amount of the box culvert and initial three-dimensional coordinates of the point A and the point B to obtain actual three-dimensional coordinates of the point A and the point B after the box culvert is jacked to obtain real-time jacking gestures of the box culvert. The invention has the advantages that: the box culvert attitude data is jacked in, the measurement result is collected and calculated rapidly in real time, the box culvert attitude is displayed in real time, the labor consumption for data collection is low, the data collection and calculation are rapid, the precision is high, and the box body attitude can be displayed in real time.
Description
Technical Field
The invention belongs to the technical field of box culvert jacking construction, and particularly relates to a measuring and calculating method for box culvert jacking postures.
Background
The traditional box culvert jacking process box culvert posture measuring method is a traditional full-rotating instrument and a leveling instrument measurement, control points are required to be taken and placed before box culvert jacking, and box body measuring point positions are embedded (2 axial line positions at the front end and the rear end of a box body are totally embedded, and 4 elevation positions at the front end, the rear end and the left end and the right end of the box body are totally embedded).
When the box culvert is jacked into each roof, a leveling instrument is manually used for measuring and collecting front and rear end elevation data of the box body, and the deviation between the front and rear end elevation data and the designed elevation is calculated; and (3) measuring and collecting the axis data of the front end and the rear end of the box body by using a full-rotating instrument, and calculating deviation from a designed axis. The measurement and acquisition processes of the elevation data and the axis data are time-consuming and labor-consuming, manual reading and calculation errors can be generated, the precision is difficult to guarantee, the data calculation and processing needs to be performed manually, the period is long, and the timeliness is limited.
Disclosure of Invention
The invention aims to provide a box culvert jacking gesture measuring and calculating method according to the defects of the prior art, the measuring and calculating method comprises the steps of selecting at least 3 measurable points on the two side walls of a box culvert, selecting a point A and a point B on the two ends of the central axis of a roof, measuring the three-dimensional coordinates of the measurable points respectively before and after the box culvert is jacked to obtain the translation amount of the box culvert, and then converting the translation amount of the box culvert and the initial three-dimensional coordinates of the points A and B to obtain the actual measurement three-dimensional coordinates of the points A and B after the box culvert is jacked to obtain the real-time jacking gesture of the box culvert.
The purpose of the invention is realized by the following technical scheme:
a measurement and calculation method for box culvert jacking attitude is characterized by comprising the following steps:
(1) marking points on the central axis of the box culvert top plate, which are positioned on the front end face and the rear end face, as a point A and a point B respectively; selecting on the side walls of the two sides of the box culvertiThe measurable points are respectively marked as measurable point 1 and measurable point 2 … …iWherein, in the step (A),i≥3；
(2) before the box culvert is jacked, measuring to obtain the initial three-dimensional coordinates of each point:
dotA（x 0A ，y 0A ，z 0A ） T ；
DotB（x 0B ，y 0B ，z 0B ） T ；
Measurable pointi（x 0i ，y 0i ，z 0i ） T ；
(3) Starting the jacking of the box culvert, and measuring to obtain each measurable point after each jackingiThe measured three-dimensional coordinates are: measurable pointi（x i ，y i ，z i ） T ；
(4) Calculating the translation amount of the box culvert (X 0 Y 0 Z 0 ） T The calculation formula is as follows:
in the formula:
α、β、γthe rotation angles around the X axis, the Y axis and the Z axis respectively;
R 1 、R 2 、R 3 respectively are rotation operators around an X axis, a Y axis and a Z axis, and the calculation formula is as follows:
(5) according to the translation amount of the box culvert obtained by calculation in the step (4), (X 0 Y 0 Z 0 ） T And calculating the initial three-dimensional coordinates of the point A and the point B to obtain the actual three-dimensional coordinates of the point A and the point B after each top of the box culvert is finished:
each measurable point on the side walls at two sides of the box culvertiAnd the prisms are respectively adhered to the box culvert, and after each top of the box culvert is finished, the actual measurement three-dimensional coordinates of the prisms are automatically observed by using a total station.
And calculating to obtain the actual three-dimensional coordinates of the point A and the point B after each top of the box culvert is finished, and then determining the real-time posture of the box culvert.
The invention has the advantages that: the box culvert attitude data is jacked in, the measurement result is collected and calculated rapidly in real time, the box culvert attitude is displayed in real time, the labor consumption for data collection is low, the data collection and calculation are rapid, the precision is high, and the box body attitude can be displayed in real time.
Drawings
FIG. 1 is a schematic diagram of the point location arrangement on a box culvert in the invention;
FIG. 2 is a schematic diagram of a spatial position relationship of a box culvert top entering measuring point in the invention.
Detailed Description
The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings to facilitate understanding by those skilled in the art:
referring to fig. 1-2, the labels in the figure are: measurable point 1, measurable point 2, measurable point 3, point A and point B.
Example (b): as shown in fig. 1 and 2, the present embodiment specifically relates to a measurement and calculation method for box culvert jacking attitude, which mainly includes the following steps:
(1) point location marking is carried out on the box culvert, as shown in fig. 1, measurable points 2 and measurable points 3 are box culvert jacking posture measurement point locations, and are respectively arranged on side walls on two sides of the box culvert, 3 are provided, of course, more measurable points can be selected, and the measurable points are used in the calculation formulaiIt is shown that, among others,i =1,2,......,n；
the point A and the point B are two end points on the central axis of the box culvert roof and are respectively positioned on the front end surface and the rear end surface of the box culvert roof, the jacking direction of the box culvert is A, B direction, and if A, B three-dimensional coordinates can be measured, the posture of the box culvert can be uniquely determined;
the three-dimensional space coordinate system is constructed as shown in fig. 2, the longitudinal direction and the transverse direction of the box culvert bottom plate are taken as an X axis and a Y axis, and the direction vertical to the bottom plate is taken as a Z axis.
(2) The A, B point has no geometric point on the box culvert, and its coordinates cannot be directly measured. Some space in the box culvert can be measured, such as measurable points 1, measurable points 2, measurable points 3 and the like shown in fig. 1, and it should be noted that in actual operation, in order to facilitate automatic observation, prisms are arranged on the measurable points 1, the measurable points 2, the measurable points 3 and the like. Before the system is established, the relation between the measurable point position and the point A, B is measured.
Before the box culvert is jacked, measuring to obtain initial three-dimensional coordinates of each point, wherein the method specifically comprises the following steps:
dotA（x 0A ，y 0A ，z 0A ） T ；
DotB（x 0B ，y 0B ，z 0B ） T ；
Measurable pointi（x 0i ，y 0i ，z 0i ） T 。
Because the measurable points 1, 2 and 3 are in rigid relation with the points A and B, the box culvert is jacked inAs long as measurable points are determinediThe actual three-dimensional coordinates of the point A and the point B can be calculated by the coordinates of the box culvert, so that the jacking posture of the box culvert is determined.
(3) Starting jacking of the box culvert, and automatically observing and measuring by using a total station after each jacking to obtain each measurable pointiThe measured three-dimensional coordinates are: measurable pointi（x i ，y i ，z i ） T ；
(4) Calculating translation quantity of box culvertX 0 Y 0 Z 0 ） T The calculation formula is as follows:
in the formula:
α、β、γthe rotation angles around the X axis, the Y axis and the Z axis respectively;
R 1 、R 2 、R 3 respectively are rotation operators around an X axis, a Y axis and a Z axis, and the calculation formula is as follows:
(5) according to the translation amount of the box culvert obtained by calculation in the step (4), (X 0 Y 0 Z 0 ） T And calculating the initial three-dimensional coordinates of the point A and the point B to obtain the measured three-dimensional coordinates of the point A and the point B after each top of the box culvert is finished:
and after the actual measurement three-dimensional coordinates of the point A and the point B after each top of the box culvert is obtained through calculation, the real-time posture of the box culvert can be determined.
In the process of jacking box culvert, the points areaRotation about the Z axis is an example.aPoint coordinates (x，y，z) Is changed along with the jacking of the box culvert intoa’Point coordinates (x’，y’，z’) Suppose that box culverts are wound only aroundZThe shaft rotates and the box culvert displacement is 0, i.ez=z’Then the two points are equidistant from the origin O and are atXYThe lengths of straight lines formed by the projection point and the origin point on the surface are equal to each otherrAt an included angle ofγAs shown in fig. 2.aAnda’the relationship between them is:
is unfolded to obtain
Substituting x and y values
Expressed in a matrix manner as
。
In addition, in the box culvert jacking process, the elevation and the axis of the box culvert can be changed, and the calculation of the attitude change coordinates of the box culvert can be divided into four steps:
1) assuming that the box culvert only rotates around the X axis, the rotation angle of the YZ axis is 0, and the displacement of the box body is 0.
Initial coordinates of measurable points: (x 0i ，y 0i ，z 0i ) Actual coordinates of measurable points (x 1i ，y 1i ，z 1i ）
Assuming that the box culvert rotates around the Y axis, the rotation angle of the Z axis is 0, and the displacement is 0;
initial coordinates of measurable points: (x 1i ，y 1i ，z 1i ) Actual coordinates of measurable points (x 2i ，y 2i ，z 2i ）
Assuming that the box culvert rotates around the Z axis, and the displacement is 0;
initial coordinates of measurable points: (x 2i ，y 2i ，z 2i ) Actual coordinates of measurable points (x 3i ，y 3i ，z 3i ）
And (5) moving the box culvert forwards.
Initial coordinates of measuring points: (x 3i ，y 3i ，z 3i ) Measuring the actual coordinates of the points (x 4i ，y 4i ，z 4i ）
If more than 3 points can be detected (nGreater than 3), can be found from the above relationship (X 0 Y 0 Z 0 ) And (a)α β γ）。
If with (a)x 0A ，y 0A ，z 0A ） T 、（x 0B ，y 0B ，z 0B ） T Representing the initial coordinates of A, B points, the measured coordinates of A, B points are:
from the three-dimensional coordinates of the measured position at point A, B, the relationship between the measured position and the design position can be estimated.
Claims (3)
1. A measurement and calculation method for box culvert jacking attitude is characterized by comprising the following steps:
(1) points on the central axis of the box culvert top plate, which are positioned on the front end surface and the rear end surface, are marked as a point A and a point B respectively; selecting on the side walls of the two sides of the box culvertiThe measurable points are respectively marked as measurable point 1 and measurable point 2 … …iWherein, in the step (A),i ≥3；
(2) before the box culvert is jacked, measuring to obtain the initial three-dimensional coordinates of each point:
dotA（x 0A ，y 0A ，z 0A ） T ；
DotB（x 0B ，y 0B ，z 0B ） T ；
Measurable pointi（x 0i ，y 0i ，z 0i ） T ；
(3) Starting the jacking of the box culvert, and measuring to obtain each measurable point after each jackingiThe measured three-dimensional coordinates are:
measurable pointi（x i ，y i ，z i ） T ；
(4) Calculating the translation amount of the box culvert (X 0 Y 0 Z 0 ） T The calculation formula is as follows:
in the formula:
α、β、γthe rotation angles around the X axis, the Y axis and the Z axis respectively;
R 1 、R 2 、R 3 respectively are rotation operators around an X axis, a Y axis and a Z axis, and the calculation formula is as follows:
(5) according to the translation amount of the box culvert obtained by calculation in the step (4), (X 0 Y 0 Z 0 ） T And calculating to obtain the initial three-dimensional coordinates of the point A and the point B to obtain each top of the box culvertActual three-dimensional coordinates of the point a and the point B after the end:
2. the method for measuring and calculating the jacking attitude of the box culvert according to claim 1, wherein each measurable point on the side walls at two sides of the box culvertiAnd the prisms are respectively adhered to the box culvert, and after each top of the box culvert is finished, the actual measurement three-dimensional coordinates of the prisms are automatically observed by using a total station.
3. The method for measuring and calculating the jacking attitude of the box culvert according to claim 1, wherein the real-time attitude of the box culvert can be determined after actual three-dimensional coordinates of a point A and a point B after each top of the box culvert are obtained through calculation.
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Citations (9)
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|---|---|---|---|---|
| JPH0727564A (en) * | 1993-05-21 | 1995-01-27 | Morimotogumi:Kk | Measuring device for position and attitude of excavator |
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2022
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