CN115435810A - Bridge rotation method and system based on real-time monitoring of bridge rotation attitude - Google Patents
Bridge rotation method and system based on real-time monitoring of bridge rotation attitude Download PDFInfo
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Abstract
The invention relates to a bridge turning method and a bridge turning system based on real-time monitoring of bridge turning postures, and relates to the technical field of bridge construction. And constructing a bridge direction vector according to the space coordinate, and obtaining rotation attitude data. And obtaining the interval duration, the acquisition instruction and the control instruction according to the swivel posture data. And controlling the bridge to swivel according to the control instruction. This application can turn the bridge space gesture and the angular velocity linear velocity of in-process to the bridge and carry out real-time supervision to in time take corresponding measure when it appears unusually, guarantee in the limited time, accomplish smoothly and turn, accurate centering guarantees to turn overall process railway safety and bridge safety.
Description
Technical Field
The invention relates to the technical field of bridge construction, in particular to a bridge turning method and a bridge turning system based on real-time monitoring of bridge turning postures.
Background
Along with the rapid development of traffic networks and urban municipal construction, various roads, municipal administration and railway bridges cross railways, the construction process of the railway bridge can cause great influence on the operation of the existing railway according to the conventional bridge construction method, and the traffic is not smooth or even paralyzed for a long time, so that similar bridges adopt turning construction methods more and more. In recent years, the total tonnage and the span of bridge rotation construction are developed and improved in a breakthrough manner, the control and research technology of the rotation bridge construction is more and more mature and reliable, and higher technical requirements are provided for real-time and digital monitoring of the bridge rotation process, so that the method has practical significance for developing related research on real-time monitoring of the bridge rotation process based on wireless transmission equipment and automatic equipment.
The main control parameters of the bridge rotation body are as follows: a designed angle of rotation (DEG), a designed distance of rotation (m), a rotated angle (DEG), a remaining angle (DEG), a rotated distance (m), a remaining distance (m), a rotational angular velocity (DEG/min) and a rotational linear velocity (m/min). The bridge rotation is a dynamic process in a short time, the time length of the whole rotation process is not more than 120min generally, and the bridge rotation has definite requirements on the specifications of the angular velocity and the linear velocity of the bridge rotation in the rotation time period and must be strictly controlled according to the specification limit value; for the final requirement, the deviation of the actual axis from the design axis is required to be within ± 10 mm.
If the rotation angular velocity and the linear velocity are too high in the rotation process, the instability of the bridge can be increased, the balance state of the bridge in the rotation process is easy to change, accidents can be caused in serious conditions, the railway driving safety is affected, and great economic loss is caused. If at the in-process of turning, turn angular velocity, linear velocity are too fast, still can increase the control degree of difficulty of bridge, take place the axis control poor, not accurate to, appear the phenomenon of excessively turning even, influence bridge formation bridge alignment and internal force, cause the construction quality accident. If in the process of turning, the turning angular velocity and the linear velocity are too low, the turning cannot be finished in a given time period of a railway bureau, the bridge is suspended above the railway line, the railway driving safety is seriously influenced, and the safety accident of iron-involved construction occurs, so that the personnel injury and the great economic loss are caused.
Therefore, the stability, the moderate speed and the accuracy of alignment of the turning bridge need to be guaranteed in the turning construction, so that the space posture of the turning bridge needs to be known in real time, the angular speed and the linear speed of the turning bridge are mastered in real time, on one hand, corresponding measures can be taken in time when the turning bridge is abnormal to guide the turning construction, on the other hand, the turning can be guaranteed to be completed smoothly in a given time period, the centering is accurate, and the railway safety and the bridge safety in the whole turning process are guaranteed.
At present, two main ways of obtaining attitude parameters (coordinates X, Y and Z) of a bridge end of a rotating bridge in bridge rotating construction monitoring are provided, namely: a total station + a prism, for example, an automatic monitoring system and method for bridge rotation construction (publication number: CN 111859501A); the second method comprises the following steps: the satellite positioning + receiver is, for example, a bridge turning monitoring system based on satellite positioning (publication No. CN 112733217A) and a bridge turning attitude real-time monitoring method and system based on GNSS (publication No. CN 11456809A).
The method has the advantages that the monitoring precision is high, the precision can reach the mm level, the requirements of construction monitoring specifications can be met, and the problems of insufficient monitoring frequency and large data analysis error exist. And in a second mode, the problem of insufficient monitoring precision exists, the dynamic satellite positioning monitoring precision cannot reach the mm level, and meanwhile, satellite positioning measurement is influenced in adverse weather environments such as mountainous areas and thick cloud layers, monitoring data cannot be provided in real time, and the requirement for real-time monitoring of bridge rotation bodies cannot be met.
Meanwhile, when the attitude parameters (coordinates X, Y and Z) of the bridge end of the rotating body are converted into main control parameters of the bridge rotating body, the calculation method is generally simplified, for example, the angle is not considered according to the spatial angle, the calculation result has larger error, and the accuracy is poorer.
Disclosure of Invention
In order to solve the problems of poor accuracy and insufficient real-time performance of a bridge rotation posture monitoring method, the embodiment of the application provides a bridge rotation system and a bridge rotation method based on bridge rotation posture real-time monitoring, which are used for monitoring the space posture and the angular velocity and the linear velocity of a bridge in the bridge rotation construction process in real time so as to take corresponding measures in time when the bridge is abnormal, ensure that rotation is smoothly completed within a limited time, accurately center, and ensure the railway safety and the bridge safety in the whole rotation process.
In a first aspect, a bridge turning method based on bridge turning attitude real-time monitoring is provided, which includes:
arranging a plurality of 360-degree prisms on a longitudinal central line of the bridge, and arranging a total station outside the bridge;
sending acquisition instructions to the total station at intervals so as to control the total station to acquire the spatial coordinates of the plurality of 360-degree prisms;
constructing a bridge direction vector according to the space coordinate, and obtaining swivel attitude data according to the bridge direction vector;
obtaining the interval duration, the acquisition instruction and the control instruction according to the swivel attitude data;
and controlling the bridge to swivel according to the control instruction.
In some embodiments, the plurality of 360 ° prisms include a first 360 ° prism disposed at the cantilever end of one side of the bridge, a second 360 ° prism disposed at the center of rotation of the bridge, and a third 360 ° prism disposed at the cantilever end of the other side of the bridge;
the swivel attitude data comprises angular velocity, linear velocity and spatial attitude data;
the spatial pose data includes a rotated distance, a remaining distance, a rotated angle, a remaining angle, and a net separation.
In some embodiments, when a single bridge is rotated, the bridge direction vector is calculated by using the following formula:
wherein the content of the first and second substances,
a represents a first monitoring point where the first 360-degree prism is located;
o represents a second monitoring point where the second 360-degree prism is located;
n represents time in seconds, and is a positive integer not less than 60;
x An x-axis coordinates of the first 360 ° prism at the n-th second;
y An the y-axis coordinate of the first 360-degree prism at the nth second is represented;
z An represents the z-axis coordinate of the first 360 ° prism at the nth second;
x On x-axis coordinates of the second 360 ° prism at the nth second;
y On the y-axis coordinate of the second 360-degree prism at the nth second is represented;
z On indicating the z-axis coordinate of the second 360 prism at the nth second.
In some embodiments, the radian of rotation of the bridge in each second of the specified time period is calculated by using the following formula:
wherein the content of the first and second substances,
Δθ n and the radian of the rotation of the bridge in each second in a specified time period is shown, wherein the specified time period is a time period 60 seconds after the bridge rotates.
In some embodiments, the angular velocity and the linear velocity at each time within the specified time period are calculated by using the following formulas:
wherein, the first and the second end of the pipe are connected with each other,
ω n representing the angular velocity of the bridge at the nth second;
pi represents the circumference ratio, and the value is 3.1415;
v n ＝(Δθ n +Δθ n-1 +…+Δθ n-59 )L′
wherein the content of the first and second substances,
v n representing the linear speed of the bridge at the nth second;
l' represents a distance between the first 360 ° prism and the second 360 ° prism;
in some embodiments, the spatial attitude data at each time in the specified time period is calculated by using the following formula:
l n ＝θ n L′
wherein the content of the first and second substances,
l n representing the rotated distance of the bridge at the nth second;
θ n representing the total rotation radian of the bridge at the nth second;
Δl n ＝l-l n
wherein the content of the first and second substances,
Δl n representing the remaining distance of the bridge at the nth second;
l represents the total rotating distance of the bridge when the bridge finishes rotating;
wherein the content of the first and second substances,
α n representing the turned angle of the bridge at the nth second;
Δα n ＝α-α n
wherein, the first and the second end of the pipe are connected with each other,
Δα n representing the remaining angle of the bridge at the nth second;
alpha represents the total rotation angle of the bridge when the rotation is finished.
In some embodiments, the bridge is controlled to rotate at a constant speed by using a control instruction;
judging whether the angular velocity is more than 1.15 degrees/min or the linear velocity v according to the rotating posture data of the bridge n When the speed is more than 2.0m/min, early warning is carried out, and the bridge continues to rotate at a constant speed after the rotating speed of the bridge rotating body is reduced by using a control instruction;
and when the residual angle is judged to be 1 degree according to the rotation attitude data of the bridge, the bridge is controlled to rotate for multiple times by using the control instruction, and the residual distance after each rotation is reduced by 2-3 cm.
In some embodiments, when two bridges side by side are rotated, the following formula is used to calculate the distance between the first 360 ° prism on the right bridge and the longitudinal center line of the left bridge:
wherein the content of the first and second substances,
a represents a first monitoring point where the first 360-degree prism is located;
b represents a third monitoring point where a third 360-degree prism is located;
l represents a left bridge;
r represents a right bridge;
n represents time in seconds, and n is a positive integer;
In some embodiments, the net spacing is calculated using the following equation:
wherein the content of the first and second substances,
c represents the lateral width of each bridge when two bridges side by side are swiveled.
A bridge turning system based on real-time monitoring of bridge turning postures is based on a bridge turning method based on real-time monitoring of bridge turning postures, and the system comprises:
the 360-degree prisms are arranged on the longitudinal central line of the bridge;
the total station is arranged on the outer side of the bridge and used for acquiring the space coordinates of the plurality of 360-degree prisms according to the acquisition instruction;
the control module is used for outputting the acquisition instruction at intervals to obtain the space coordinate, constructing a bridge direction vector according to the space coordinate, obtaining rotation attitude data according to the bridge direction vector, and obtaining the interval duration, the acquisition instruction and the control instruction according to the rotation attitude data;
and the rotating body module is used for controlling the bridge to rotate according to the control command.
The technical scheme who provides this application brings beneficial effect includes:
the bridge rotation process is monitored in real time based on the total station, the 360-degree prism, the control module and the transfer module, and automatic, continuous, high-frequency and high-precision bridge rotation real-time monitoring can be realized only by looking through the rotation range. By monitoring the space attitude and the turning key parameter in the bridge turning construction process in real time, the change condition of the bridge turning parameter is mastered in real time, so that early warning is timely performed and corresponding measures are taken when abnormality occurs, and the construction safety and the structure construction quality of the whole turning process are ensured.
According to the invention, a plurality of monitoring points are arranged on the longitudinal center line of the bridge, the spatial position coordinates of each monitoring point are obtained by using the 360-degree prism and the total station to construct the direction vector of the bridge, the influence of position deviation on an X axis, a Y axis and a Z axis when the bridge rotates can be comprehensively considered, the actual situation of the bridge rotation can be fully simulated, and the attitude data of the rotation is calculated by using the direction vector of the bridge, so that the method for calculating the key parameters of the rotation is more accurate and representative.
The monitoring system can monitor and early warn the collision problem in the simultaneous turning construction process of the left bridge and the right bridge, and can immediately send out early warning information when the distance between the left bridge and the right bridge is smaller than a limit value to adjust the pulling speed of the turning body, thereby ensuring that the bridge body does not collide in the turning process of the bridge and ensuring the stability and the safety of the whole turning construction process of the bridge.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the description of the invention will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a flowchart of a bridge turning method based on bridge turning attitude real-time monitoring in the embodiment of the present application.
Fig. 2 is a schematic diagram of a bridge turning method based on real-time monitoring of bridge turning postures when a single bridge is turned in the embodiment of the present application.
Fig. 3 is a second schematic diagram of a bridge turning method based on real-time monitoring of bridge turning postures when a single bridge is turned according to the embodiment of the present application.
Fig. 4 is a schematic diagram of a bridge turning method based on bridge turning attitude real-time monitoring when two bridges side by side are turned in the embodiment of the present application.
Fig. 5 is a second schematic diagram of a bridge turning method based on real-time monitoring of bridge turning postures when two bridges in parallel are turned in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention, and it is obvious that the drawings describe only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Based on the problems in the prior art, the invention provides a bridge turning method and a bridge turning system based on real-time monitoring of bridge turning postures, wherein a plurality of monitoring points are arranged on a longitudinal central line of a bridge 1, a 360-degree prism and a total station 2 are used for acquiring space position coordinates of each monitoring point to construct a bridge direction vector, the influence of position deviation of the bridge 1 in an X axis, a Y axis and a Z axis during turning can be comprehensively considered, the actual situation of the bridge 1 turning is fully simulated, and turning posture data are calculated by using the bridge direction vector, so that the calculation method of key turning parameters is more accurate and representative.
Based on total powerstation 2, 360 prism, control module 3 and transfer module to bridge 1 process of turning and monitor in real time, only need turn the within range looks through, can realize automatic, continuous high frequency, bridge 1 of high accuracy turns real-time supervision in succession. Through the real-time monitoring of the space attitude and the rotation key parameters in the rotation construction process of the bridge 1, the change condition of the rotation parameters of the bridge 1 is mastered in real time, so that the early warning is timely performed and corresponding measures are taken when abnormality occurs, and the construction safety and the structure construction quality of the whole rotation process are ensured.
Specifically, as shown in fig. 1, the method includes:
step S1, arranging a plurality of 360-degree prisms on a longitudinal central line of a bridge 1, and arranging a total station 2 outside the bridge 1.
And S2, sending acquisition instructions to the total station 2 at intervals so as to control the total station 2 to acquire the spatial coordinates of the plurality of 360-degree prisms.
And S3, constructing a bridge direction vector according to the space coordinate, and obtaining swivel attitude data according to the bridge direction vector.
And S4, obtaining the interval duration, the acquisition instruction and the control instruction according to the swivel posture data.
And S5, controlling the bridge 1 to rotate according to the control command.
In this embodiment, when a single bridge 1 is rotated, the total station 2 may be disposed on any side of the bridge 1, and when two bridges 1 are rotated side by side, the total station 2 is disposed outside the two bridges 1, and one total station 2 monitors one beam.
Further, as shown in fig. 2 to 4, the plurality of 360 ° prisms include a first 360 ° prism a disposed at the cantilever end of one side of the bridge 1, a second 360 ° prism O disposed at the rotation center of the bridge 1, and a third 360 ° prism B disposed at the cantilever end of the other side of the bridge 1.
The swivel attitude data includes angular velocity, linear velocity, and spatial attitude data.
The spatial attitude data includes a rotated distance, a remaining distance, a rotated angle, a remaining angle, and a net pitch.
The longitudinal bridge direction is defined as an X axis, and simultaneously defined as a mileage direction, wherein the forward direction is a large mileage (positive) and the backward direction is a small mileage (negative). The transverse direction is defined as the Y-axis, and is defined as the offset, right (negative) and left (positive). The vertical direction is defined as the Z-axis, and is defined as the elevation, down (negative), up (positive).
After the construction of the bridge 1 is finished, a bridge 1 rotation design angle alpha (°) is obtained, a rotation design radian theta (radian, theta = alpha x pi/180) is obtained, and the rotation design cantilever length L is obtained ′ (m), swivel design distance L (m, L = θ × L).
After the preparation work of the bridge 1 for rotation is completed, before the preparation for rotation, the initial attitude parameters of the bridge 1 are obtained. A monitoring point A is arranged at the longitudinal center line of the large-mileage cantilever end of the bridge 1, a monitoring point O is arranged at the intersection of the transverse center line of the bridge 1 and the longitudinal center line, and a monitoring point B is arranged at the longitudinal center line of the small-mileage cantilever end of the bridge 1. Monitoring points A, O and B are all located on the longitudinal central line of the swivel bridge 1. Obtaining the attitude monitoring coordinate parameter of the swivel bridge 1 as
When the bridge 1 starts to turn, the total station 2 is set and controlled through the control module 3, monitoring points are monitored once per second, monitoring time T =0,1,2,3,4 \8230n \8230nseconds, and the attitude monitoring coordinate parameter of the bridge 1 in the nth second obtained through monitoring is
And converting the attitude coordinate parameters of the rotating bridge 1 obtained in the rotating process of the bridge 1 into rotating control parameters of the bridge 1, namely constructing a bridge direction vector according to the space coordinate, and obtaining rotating attitude data according to the bridge direction vector.
In a specific embodiment, as shown in fig. 2 and fig. 3, a solid frame is a posture of the bridge 1 at the beginning of rotation, a dashed frame is a posture of the bridge 1 at the in-place rotation, and when a single bridge 1 is rotated, the bridge direction vector is calculated by using the following formula (1):
wherein the content of the first and second substances,
and the bridge direction vector of the straight line of the longitudinal central line AO of the single bridge 1 in the nth second is shown when the single bridge 1 is rotated. n represents time in seconds, and n is a positive integer not less than 60. x is a radical of a fluorine atom An Representing the x-axis coordinate of the first 360 prism at the nth second. y is An Representing the y-axis coordinate of the first 360 prism at the nth second. z is a radical of An Indicating the z-axis coordinate of the first 360 prism at the nth second. x is the number of On Representing the x-axis coordinate of the second 360 prism at the nth second. y is O Representing the y-axis coordinate of the second 360 prism at the nth second. z is a radical of O Indicating the z-axis coordinate of the second 360 prism at the nth second.
The vector product coordinate formula is
Calculating the rotation radian of the bridge 1 in each second in the specified time period by adopting the following formula (2):
wherein, delta theta n The rotation radian of the bridge 1 in each second in a specified time period is shown, and the specified time period is a time period 60 seconds after the bridge 1 rotates. For example, Δ θ n At the nth second time andand at the moment n-1, the rotating angle of the bridge 1 in 1 second, and the radian of the bridge. Delta theta 60 The angle of rotation of the bridge 1 in radians is measured in 1 second between the 60 th and 59 th second moments. Based on the radian rotated every second, the total rotating radians of the bridge 1 rotated in any time interval can be obtained by calculation such as accumulation.
The angular velocity (°/min) at each time within the specified time period is calculated using the following formula (3):
wherein, ω is n Indicates the angular velocity of the bridge 1 at the nth second. And pi represents the circumference ratio and is 3.1415. When n is less than 60 seconds, the angular velocity is not calculated.
Calculating the linear speed (m/min) of each moment in the specified time period by adopting the following formula (4):
v n ＝(Δθ n +Δθ n-1 +…+Δθ n-59 )L′ (4)
wherein v is n The linear velocity of the bridge 1 at the nth second is shown. L' denotes a distance between the first 360 ° prism and the second 360 ° prism.
Calculating the rotated distance of each time in the designated time period by adopting the following formula (5):
l n ＝θ n L′ (5)
wherein l n Indicating the distance the bridge 1 has been rotated at the nth second. Theta.theta. n Representing the full arc of rotation of the bridge 1 at the nth second.
Calculating the remaining distance of each time in the designated time period by adopting the following formula (6):
Δl n ＝l-l n (6)
wherein, Δ l n Indicating the remaining distance of the bridge 1 at the nth second. l represents the total rotation distance of the bridge 1 when the rotation is completed.
Calculating the turned angle of the bridge 1 at the nth second by adopting the following formula (7):
wherein alpha is n Indicating the turned angle of the bridge 1 at the nth second.
Calculating the remaining angle of the bridge 1 at the nth second by adopting the following formula (8):
Δα n ＝α-α n (8)
wherein, delta alpha n Representing the remaining angle of the bridge 1 at the nth second. Alpha represents the total rotation angle of the bridge 1 when the rotation is completed.
Further, the bridge 1 is controlled to rotate at a constant speed by using the control instruction.
Judging whether the angular velocity is more than 1.15 DEG/min or the linear velocity v according to the rotating posture data of the bridge 1 n When the speed is more than 2.0m/min, early warning is carried out, and the bridge 1 continues to rotate at a constant speed after the rotating speed of the rotating body of the bridge 1 is reduced by using a control command.
And when the residual angle is judged to be 1 degree according to the rotating posture data of the bridge 1, the bridge 1 is controlled to rotate for multiple times by using the control instruction, and the residual distance after each rotation is reduced by 2-3 cm.
Specifically, when the angular velocity ω is n Greater than 1.15 DEG/min, or linear velocity v n And when the speed is more than 2.0m/min, early warning is carried out, and the rotating speed of the bridge 1 is reduced. The bridge 1 is rotated at a constant speed until the residual angle delta alpha n And when the angle is 1 degree, entering a precise adjustment stage. The adjustment process is based on the residual distance Δ l n Each time, the distance is reduced by 2 cm-3 cm until the final accurate centering is realized.
The coordinates of the point A in the formulas (1) to (8) can be replaced by the coordinates of the point B, so that the bridge swivel posture can be calculated based on the point B.
In another embodiment, as shown in fig. 4 and 5, the solid line frame is the posture of the bridge 1 when the rotation starts, and the dashed line frame is the posture of the bridge 1 when the rotation is in place, when the left and right bridges 1 rotate simultaneously, there is a problem of collision during the rotation, and related monitoring is needed. Seat with 1 posture on left side at nth secondSubject to the parameters of
The attitude coordinate parameter of the right bridge 1 at the nth second is
After the bridge 1 rotates to the right, the designed minimum clear distance from the bridge deck 1 on the left side to the bridge deck 1 on the right side is D (m), the width of the bridge deck 1 on the left side and the right side is C (m), and the minimum designed distance from the longitudinal center line of the bridge deck 1 on the left side to the longitudinal center line of the bridge deck 1 on the right side is D + C (m).
The bridge 1 with the left side and the right side rotating at the nth moment in the rotating process and the bridge 1 beam end monitoring point on the bridge with the right side rotating
To the longitudinal center line of the left swivel beam
Is at a distance of
Make the longitudinal center line of the left side turning beam body
The direction vector of the straight line is
The following formula (9) is adopted to calculate the spacing distance from the first 360-degree prism on the right bridge beam 1 to the longitudinal center line of the left bridge beam 1:
wherein the content of the first and second substances,
showing the first bridge 1 on the right when two bridges 1 side by side are turnedThe spacing distance from the 360-degree prism to the longitudinal center line of the left bridge beam 1. A denotes a first monitoring point at which the first 360 ° prism is located. B denotes a third monitoring point at which the third 360 ° prism is located. L denotes a left bridge 1.R represents a right bridge 1.n represents time in seconds, and n is a positive integer.
Represents the longitudinal center line of the left bridge 1
And the straight line of the bridge is the direction vector of the bridge in the nth second.
Representing the x-axis coordinate of the first 360 prism on the left bridge beam 1 at the nth second.
The y-axis coordinate of the first 360 prism on the left bridge beam 1 at the nth second is shown.
The z-axis coordinate of the first 360 prism on the left bridge beam 1 in the nth second is shown.
Representing the x-axis coordinate of the first 360 prism on the right bridge beam 1 at the nth second.
The y-axis coordinate of the first 360 ° prism on the right bridge beam 1 at the nth second is shown.
The z-axis coordinate of the first 360 ° prism on the right bridge beam 1 at the nth second is shown.
The bridge 1 with the left side and the right side rotates at the nth moment in the rotating process, and the monitoring point at the beam end of the bridge 1 with the left side rotating
To the longitudinal center line of the right side swivel beam body
Is at a distance of
Make the longitudinal center line of the left side rotating beam body
The direction vector of the straight line is
The distance between the third 360-degree prism on the left bridge beam 1 and the longitudinal center line of the right bridge beam 1 is calculated by adopting the following formula (10):
wherein the content of the first and second substances,
the spacing distance from the third 360-degree prism on the left bridge 1 to the longitudinal center line of the right bridge 1 when the two bridges 1 are rotated side by side is shown.
Further, the above-mentioned net pitch is calculated by the following equation (11)
Wherein the content of the first and second substances,
the net distance from the monitoring point A end of the right bridge 1 to the left rotating bridge 1 is shown.
Further, it is calculated by the following formula (12)To the above-mentioned clear distance
Wherein, the first and the second end of the pipe are connected with each other,
the net distance from the monitoring point B end of the bridge 1 at the left side to the bridge 1 at the right side of the rotation is shown.
When in use
Or
When being less than D, carry out the early warning, need reduce the 1 rotation speed of turning of right side bridge, increase the net interval of left side roof beam body and right side roof beam body.
In this embodiment, when the two bridges 1 rotate, the point B of the left bridge 1 and the point a of the right bridge 1 are the points that are most likely to collide with the opposite bridge, so that the collision of the two bridges 1 can be avoided as long as the net distance between the two points and the opposite bridge is monitored to ensure that the net distance is not less than a safety value. The monitoring system can monitor and early warn the collision problem in the simultaneous turning construction process of the left and right turning bridges 1, and can immediately send out early warning information when the distance between the left and right turning bridges 1 is smaller than a limit value, so as to adjust the pulling speed of the turning body, ensure that the bridge bodies do not collide in the turning process of the bridges 1, and ensure the stability and safety of the whole turning construction process of the bridges 1.
The invention also provides a bridge 1 swivel system based on the method, which comprises a plurality of 360-degree prisms, at least one total station 2, a control module 3 and a swivel module, wherein the control module 3 is connected with the total station 2 and the swivel module, can control the total station 2 to acquire space coordinates fed back by the prisms at a high frequency, and controls the swivel module to carry out real-time swivel construction on the bridge 1. And the total station 2 has an automatic motor function and an automatic aiming function.
A plurality of 360 prisms are arranged on the longitudinal center line of the bridge 1. And the total station 2 is arranged on the outer side of the bridge 1 and used for acquiring the space coordinates of the plurality of 360-degree prisms according to the acquisition instruction. The control module 3 is configured to output the acquisition instruction at intervals to obtain the space coordinate, construct a bridge direction vector according to the space coordinate, obtain swivel posture data according to the bridge direction vector, and obtain the interval duration, the acquisition instruction, and a control instruction according to the swivel posture data. And the rotating module is used for controlling the bridge 1 to rotate according to the control command.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A bridge turning method based on real-time monitoring of bridge turning postures is characterized by comprising the following steps:
arranging a plurality of 360-degree prisms on a longitudinal central line of the bridge, and arranging a total station outside the bridge;
sending acquisition instructions to the total station at intervals so as to control the total station to acquire the spatial coordinates of the plurality of 360-degree prisms;
constructing a bridge direction vector according to the space coordinate, and obtaining swivel attitude data according to the bridge direction vector;
obtaining the interval duration, the acquisition instruction and the control instruction according to the swivel attitude data;
and controlling the bridge to rotate according to the control command.
2. A bridge swivel method based on real-time bridge swivel attitude monitoring according to claim 1, wherein the plurality of 360 ° prisms comprises a first 360 ° prism disposed at the cantilever end of one side of the bridge, a second 360 ° prism disposed at the center of rotation of the bridge, and a third 360 ° prism disposed at the cantilever end of the other side of the bridge;
the swivel attitude data comprises angular velocity, linear velocity and spatial attitude data;
the spatial pose data includes a distance turned, a distance remaining, an angle turned, an angle remaining, and a net separation.
3. The bridge turning method based on bridge turning attitude real-time monitoring according to claim 2, wherein when a single bridge is turned, the bridge direction vector is calculated by adopting the following formula:
wherein the content of the first and second substances,
a represents a first monitoring point where the first 360-degree prism is located;
o represents a second monitoring point where the second 360-degree prism is located;
n represents time in seconds, and is a positive integer not less than 60;
x An x-axis coordinates of the first 360 ° prism at the n-th second;
y An the y-axis coordinate of the first 360-degree prism at the nth second is represented;
z An represents the z-axis coordinate of the first 360 ° prism at the nth second;
x On x-axis coordinates of the second 360 ° prism at the nth second;
y On the y-axis coordinate of the second 360-degree prism at the nth second is represented;
z On indicating the z-axis coordinate of the second 360 prism at the nth second.
4. The bridge swivel method based on bridge swivel attitude real-time monitoring of claim 3, wherein the radian of rotation of the bridge in each second within a specified time period is calculated by adopting the following formula:
wherein the content of the first and second substances,
Δθ n and the radian of the rotation of the bridge in each second in a specified time period is shown, wherein the specified time period is a time period 60 seconds after the bridge rotates.
5. The bridge turning method based on bridge turning attitude real-time monitoring according to claim 4, wherein the angular velocity and linear velocity at each moment in a specified time period are calculated by adopting the following formulas:
wherein the content of the first and second substances,
ω n representing the angular velocity of the bridge at the nth second;
pi represents the circumference ratio, and the value is 3.1415;
v n ＝(Δθ n +Δθ n-1 +…+Δθ n-59 )L′
wherein the content of the first and second substances,
v n representing the linear speed of the bridge at the nth second;
l' denotes a distance between the first 360 ° prism and the second 360 ° prism.
6. The bridge swivel method based on bridge swivel attitude real-time monitoring of claim 4, wherein the spatial attitude data at each moment in a specified time period is calculated by adopting the following formula:
l n ＝θ n L′
wherein the content of the first and second substances,
l n representing the rotated distance of the bridge at the nth second;
θ n representing the total rotation radian of the bridge at the nth second;
Δl n ＝l-l n
wherein the content of the first and second substances,
Δl n representing the remaining distance of the bridge at the nth second;
l represents the total rotating distance of the bridge when the bridge finishes rotating;
wherein the content of the first and second substances,
α n representing the turned angle of the bridge at the nth second;
Δα n ＝α-α n
wherein the content of the first and second substances,
Δα n representing the remaining angle of the bridge at the nth second;
alpha represents the total rotation angle of the bridge when the rotation is finished.
7. The bridge turning method based on real-time bridge turning attitude monitoring according to claim 2, wherein the bridge is controlled to rotate at a constant speed by using a control command;
judging whether the angular velocity is more than 1.15 degrees/min or the linear velocity v according to the rotating body attitude data of the bridge n When the speed is more than 2.0m/min, early warning is carried out, and after the rotating speed of a bridge rotating body is reduced by using a control instruction, the bridge continues to rotate at a constant speed;
and when the residual angle is judged to be 1 degree according to the turning posture data of the bridge, the bridge is controlled to rotate for multiple times by using the control instruction, and the residual distance after each rotation is reduced by 2-3 cm.
8. The bridge turning method based on real-time bridge turning attitude monitoring according to claim 2, wherein when two bridges side by side are turned, the distance from the first 360 ° prism on the right bridge to the longitudinal centerline of the left bridge is calculated by using the following formula:
wherein the content of the first and second substances,
a represents a first monitoring point where the first 360-degree prism is located;
b represents a third monitoring point where a third 360-degree prism is located;
l represents a left bridge;
r represents a right bridge;
n represents time in seconds, and n is a positive integer;
9. The bridge swivel method based on real-time monitoring of bridge swivel attitude according to claim 8, wherein the net spacing is calculated using the following formula:
wherein the content of the first and second substances,
c represents the lateral width of each bridge when two bridges side by side are swiveled.
10. A bridge turning system based on real-time bridge turning attitude monitoring, which is based on the bridge turning method based on real-time bridge turning attitude monitoring of any one of claims 1-9, and is characterized in that the system comprises:
the 360-degree prisms are arranged on the longitudinal central line of the bridge;
the total station is arranged on the outer side of the bridge and used for acquiring the space coordinates of the plurality of 360-degree prisms according to the acquisition instruction;
the control module is used for outputting the acquisition instruction at intervals to obtain the space coordinate, constructing a bridge direction vector according to the space coordinate, obtaining rotation attitude data according to the bridge direction vector, and obtaining the interval duration, the acquisition instruction and the control instruction according to the rotation attitude data;
and the rotating body module is used for controlling the bridge to rotate according to the control command.
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| CN115825995A (en) * | 2023-02-23 | 2023-03-21 | 中铁云网信息科技有限公司 | Bridge rotation safety monitoring system and method based on Beidou positioning |
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