CN115559216A - Alignment control method, system and alignment device for precast beam and cover beam - Google Patents
Alignment control method, system and alignment device for precast beam and cover beam Download PDFInfo
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- E—FIXED CONSTRUCTIONS
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- E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
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Abstract
The invention discloses a method and a system for controlling alignment of a precast beam and a bent cap and an alignment device. Relates to the field of bridge construction. The camera module acquires an image of the bottom of the beam body; the angle acquisition module acquires inclination angle data; the distance acquisition module acquires a distance measurement value; determining the pixel coordinates of the center of the beam bottom identification mark according to the bottom image and the inclination data; according to the inclination data, the depth information of the identification mark center relative to the center of the aligning device is determined according to the distance measuring value, and then the position deviation data is obtained, and the bridge erecting machine is guided to control the bridge erecting machine to move so as to adjust the position of the precast beam, the aligning installation with the cover beam is completed, manual operation is replaced by automatic control, only one identification mark is used for replacing a plurality of measuring marks in the prior art, the installation and disassembly process is simple and convenient, the aligning device is arranged on the cover beam, the situation that the acquired data error is large due to the fact that the girder of the bridge erecting machine deforms or vibrates and the like is avoided, and the precision of beam falling alignment is improved.
Description
Technical Field
The invention relates to the field of bridge construction, in particular to a control method, a system and an alignment device for alignment of a precast beam and a capping beam.
Background
The beam falling of the precast beam is an important ring in the field of bridge construction, the beam falling process is mainly characterized in that the position relation of the precast beam relative to the rubber support and the cover beam cushion is adjusted, the center of the beam bottom steel plate, the center of the cover beam cushion and the center of the rubber support above the cover beam cushion are ensured to be positioned on a straight line in the same vertical direction, the alignment requirement is met at each central position and the beam falling position is met, and the beam falling alignment installation of the precast beam is carried out by controlling the bridge girder erection machine.
At present, two existing beam falling alignment methods are mainly used, one method is to obtain the position deviation between the center of a beam bottom steel plate and the center of a rubber support through visual observation or tape measurement of a constructor and guide an operator of a bridge girder erection machine to control the movement of the bridge girder erection machine so as to adjust the position of a precast beam, but the position deviation value obtained through manual observation or tape measurement depends on subjective judgment of the constructor to a great extent, so that the beam falling alignment accuracy is not high, and potential safety hazards also exist in the beam falling process. The other method is to utilize external equipment to equivalently measure or calculate the position deviation between the center of the steel plate at the bottom of the beam and the center of the rubber support, and guide the movement of the bridge erecting machine according to the deviation value to realize the beam falling alignment installation of the beam body, wherein the external equipment comprises an image acquisition device and the like, when the external equipment is utilized to carry out equivalent measurement and calculation, a plurality of measurement marks need to be arranged on the precast beam and the corresponding cover beam, the installation and the disassembly of the measurement marks are manually completed, but the installation and the disassembly processes are complicated due to too many measurement marks, in addition, the image acquisition device is arranged at the bottom of the main beam of the bridge erecting machine, the main beam of the bridge erecting machine is influenced by the self weight of the precast beam body in the alignment process to generate the phenomena of deformation, vibration and the like, the error of data acquired by the image acquisition device is increased, and the alignment precision of the falling beam is finally reduced.
Disclosure of Invention
The invention aims to provide a method, a system and a device for controlling alignment of a precast beam and a bent cap, wherein manual operation is replaced by automatic control, only one identification mark is used for replacing a plurality of measurement marks in the prior art, the installation and disassembly processes are simple and convenient, the alignment device is arranged on the bent cap, the situation that the error of acquired data is large due to the phenomena of deformation or vibration of a main beam of a bridge girder erection machine is avoided, and the accuracy of beam falling alignment is improved.
In order to solve the technical problem, the invention provides a method for controlling the alignment of a precast beam and a bent cap, which is applied to a control module of an alignment device, wherein the alignment device further comprises a camera module, an angle acquisition module and a distance acquisition module, and the control module is respectively connected with the camera module, the angle acquisition module and the distance acquisition module;
the alignment device is arranged at a position which takes the center of the bent cap cushion as a reference datum point and is away from the center of the bent cap cushion by a certain distance, the center of the alignment device is positioned on a connecting line of the center points of the bent cap cushions of two adjacent bent caps, and the distance between the center of the alignment device and the center of the bent cap cushion is a first preset distance; setting an identification mark at a position which is away from the center of a beam bottom steel plate of a precast beam by a certain distance by taking the center of the beam bottom steel plate of the precast beam as a reference datum point, wherein the center of the identification mark is positioned on a connecting line of center points in the width direction of the bottom of the precast beam, the distance between the center of the identification mark and the center of the beam bottom steel plate is a second preset distance, and the first preset distance is equal to the second preset distance;
the alignment control method of the precast beam and the bent cap comprises the following steps:
acquiring a beam body bottom image of the precast beam through the camera module;
acquiring inclination angle data of the alignment device through the angle acquisition module;
acquiring a distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module;
determining the pixel coordinate of the central point of the identification mark according to the beam body bottom image of the precast beam and the inclination angle data of the alignment device;
determining depth information of the center of the identification mark relative to the center of the alignment device according to the distance ranging value of the bottom of the precast beam and the inclination angle data of the alignment device;
and acquiring position deviation data according to the pixel coordinates of the central point of the identification mark and the depth information, and sending the position deviation data to a bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam to complete beam falling alignment of the precast beam and the cover beam.
Preferably, the determining the pixel coordinates of the central point of the identification mark according to the beam bottom image of the precast beam and the inclination data of the alignment device includes:
obtaining the pixel coordinates of the identification mark under an alignment device coordinate system which takes the center of the alignment device as an origin and is parallel to a geographic horizontal reference coordinate system according to the image of the bottom of the beam body of the precast beam and the inclination angle data of the alignment device;
and obtaining the pixel coordinate of the central point of the identification mark at the bottom of the beam according to the pixel coordinate of the identification mark.
Preferably, the device also comprises a communication module, and the communication module is connected with the control module;
sending the position deviation data to a bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam and further complete beam falling alignment of the precast beam and the capping beam, and the method comprises the following steps of:
and establishing communication connection between the alignment device and the bridge girder erection machine control system through the communication module, and sending the position deviation data to the bridge girder erection machine control system so that the bridge girder erection machine control system controls the bridge girder erection machine to adjust the position of the precast beam to complete beam falling alignment of the precast beam and the cover beam.
Preferably, before the distance measurement value from the alignment device to the bottom of the precast beam is obtained by the distance acquisition module, the method further includes:
periodically judging whether a signal which is sent by the distance acquisition module and is used for representing that a distance measurement value from the alignment device to the bottom of the precast beam can be acquired is received;
if so, sending a precise alignment signal to the bridge erecting machine control system so that the bridge erecting machine can precisely drop the precast beam for alignment;
and if not, sending a rough alignment signal to the bridge erecting machine control system so that the bridge erecting machine performs rough beam falling alignment on the precast beam.
Preferably, the process of determining the completion of the beam falling alignment comprises:
judging whether the depth information of the center of the beam bottom identification mark relative to the center of the alignment device is not greater than a preset fitting threshold value, wherein the preset fitting threshold value is a preset threshold value representing the condition that the beam bottom steel plate and a rubber support are fitted, and the rubber support is positioned on the upper portion of the bent cap base;
and when the depth information is not greater than the preset fitting threshold value, determining that the beam falling alignment is completed and sending a beam falling stopping instruction to a control system of the bridge girder erection machine so as to stop the beam falling of the bridge girder erection machine.
Preferably, the identification mark is an identification code.
Preferably, the distance acquisition module is a laser range finder;
through the distance acquisition module acquires the aligning device arrives the distance range finding value of precast beam bottom includes:
and acquiring a distance measurement value from the alignment device to the bottom of the precast beam through the laser distance meter.
In order to solve the above technical problem, the present invention further provides an alignment control system for a precast beam and a bent cap, including:
the image acquisition unit is used for acquiring a beam body bottom image of the precast beam through the camera module;
the inclination angle acquisition unit is used for acquiring inclination angle data of the alignment device through the angle acquisition module;
the distance measurement acquisition unit is used for acquiring a distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module;
the pixel coordinate determination unit is used for determining the pixel coordinate of the central point of the identification mark according to the beam body bottom image of the precast beam and the inclination angle data of the alignment device;
the depth information determining unit is used for determining the depth information of the center of the identification mark relative to the center of the alignment device according to the distance ranging value of the bottom of the precast beam and the inclination angle data of the alignment device;
and the beam falling control unit is used for acquiring position deviation data according to the pixel coordinates of the central point of the identification mark and the depth information and sending the position deviation data to a bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam and further complete beam falling alignment of the precast beam and the cover beam.
In order to solve the above technical problem, the present invention further provides an alignment apparatus, including:
a memory for storing a computer program;
the control module is connected with the memory and used for executing the computer program to realize the steps of the alignment control method of the precast beam and the cover beam;
the device is characterized by further comprising a camera module, an angle acquisition module and a distance acquisition module, wherein the control module is respectively connected with the camera module, the angle acquisition module and the distance acquisition module.
Preferably, the device further comprises a power module and a fixing module, wherein the power module is respectively connected with the memory, the control module, the camera module, the angle acquisition module and the distance acquisition module, and the fixing module is arranged outside the aligning device;
the power supply module is used for supplying power;
the fixing module is used for fixing the alignment device at a preset position.
The application provides a method and a system for controlling alignment of a precast beam and a bent cap and an alignment device. Respectively arranging an identification mark and an alignment device at positions which are at certain distances from corresponding reference points by taking the center of the beam bottom steel plate and the center of the bent cap stone as reference points, and enabling the distance from the center of the identification mark to the center of the beam bottom steel plate to be equal to the distance from the center of the alignment device to the center of the bent cap stone; the camera module acquires an image of the bottom of the beam body; the angle acquisition module acquires inclination angle data; the distance acquisition module acquires a distance measurement value; determining the pixel coordinates of the center of the beam bottom identification mark according to the bottom image and the inclination data; according to the inclination data, the depth information of the identification mark center relative to the center of the aligning device is determined according to the distance measuring value, and then the position deviation data is obtained, and the bridge erecting machine is guided to control the bridge erecting machine to move so as to adjust the position of the precast beam, the aligning installation with the cover beam is completed, manual operation is replaced by automatic control, only one identification mark is used for replacing a plurality of measuring marks in the prior art, the installation and disassembly process is simple and convenient, the aligning device is arranged on the cover beam, the situation that the acquired data error is large due to the fact that the girder of the bridge erecting machine deforms or vibrates and the like is avoided, and the precision of beam falling alignment is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is obvious 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 to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of an alignment control method for a precast beam and a capping beam according to the present invention;
fig. 2 is a schematic structural diagram of an integral precast beam and a capping beam provided by the present invention;
fig. 3 is a schematic structural view of a precast beam according to the present invention;
FIG. 4 is a schematic structural view of a capping beam according to the present invention;
FIG. 5 is a schematic diagram of an alignment apparatus according to the present invention;
fig. 6 is a schematic structural diagram of an alignment apparatus provided in the present invention.
Detailed Description
The core of the invention is to provide a control method, a system and a device for aligning a precast beam and a bent cap, the method, the system and the device replace manual operation through automatic control, only one identification mark is used for replacing a plurality of measurement marks in the prior art, the installation and disassembly process is simple and convenient, the aligning device is arranged on the bent cap, the situation that the error of acquired data is large due to the phenomena of deformation or vibration of a main beam of a bridge girder erection machine is avoided, and the accuracy of beam falling alignment is improved.
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 drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, fig. 1 is a flowchart of a method for controlling alignment between a precast beam and a capping beam according to the present invention, fig. 2 is a schematic structural diagram of an entire precast beam and a capping beam according to the present invention, fig. 3 is a schematic structural diagram of a precast beam according to the present invention, fig. 4 is a schematic structural diagram of a capping beam according to the present invention, fig. 5 is a schematic physical device diagram of an alignment device according to the present invention, and fig. 6 is a schematic structural diagram of an alignment device according to the present invention. The method is applied to a control module 41 of an alignment device 4, the alignment device 4 further comprises a camera module 42, an angle acquisition module 44 and a distance acquisition module 43, and the control module 41 is respectively connected with the camera module 42, the angle acquisition module 44 and the distance acquisition module 43; the aligning device 4 is arranged at a position which takes the center of the bent cap bolster 6 as a reference datum point and is away from the center of the bent cap bolster 6 by a certain distance, the center of the aligning device 4 is positioned on a connecting line of the center points of the bent cap bolsters 6 of two adjacent bent caps 7, and the distance between the center of the aligning device 4 and the center of the bent cap bolster 6 is a first preset distance; setting an identification mark 3 at a position which is away from the center of the beam bottom steel plate 2 by a certain distance by taking the center of the beam bottom steel plate 2 of the precast beam 1 as a reference datum point, wherein the center of the identification mark 3 is positioned on a connecting line of the center point of the bottom of the precast beam 1 in the width direction, the distance between the center of the identification mark 3 and the center of the beam bottom steel plate 2 is a second preset distance, and the first preset distance is equal to the second preset distance;
the method comprises the following steps:
s11: acquiring a beam body bottom image of the precast beam 1 through a camera module 42;
s12: the inclination angle data of the alignment device 4 is collected through an angle collection module 44;
s13: acquiring a distance measurement value from the alignment device 4 to the bottom of the precast beam through a distance acquisition module 43;
s14: determining the pixel coordinate of the central point of the identification mark 3 according to the beam body bottom image of the precast beam 1 and the inclination angle data of the alignment device 4;
s15: determining depth information of the center of the identification mark 3 relative to the center of the alignment device 4 according to the distance ranging value of the bottom of the precast beam 1 and the inclination angle data of the alignment device 4;
s16: and acquiring position deviation data according to the pixel coordinates and the depth information of the central point of the identification mark 3 and sending the position deviation data to a bridge erecting machine control system so that the bridge erecting machine is controlled by the bridge erecting machine control system to adjust the position of the precast beam to complete beam falling alignment of the precast beam 1 and the cover beam 7.
The aim of the embodiment is to realize the contraposition installation of a precast beam 1 and a bent cap 7, wherein a beam bottom steel plate 2 is arranged at the bottom of the precast beam 1, a bent cap cushion 6 is poured on the upper surface of the bent cap cushion 6, a rubber support 5 is arranged on the upper surface of the bent cap cushion 6, if the bent cap 7 and the precast beam 1 need to be accurately contrapositioned, the center of the bent cap cushion 6, the center of the rubber support 5 and the center of the beam bottom steel plate 2 need to be on the same vertical line, in the embodiment, an identification mark 3 and a contraposition device 4 are introduced, the identification mark 3 is respectively arranged at the bottom of the precast beam 1, the contraposition device 4 is arranged on the upper surface of the bent cap cushion 7, the central point of the bent cap cushion 6 is taken as a reference datum point, the contraposition device 4 is arranged at a certain distance from the central point of the bent cap cushion 6, the center of the contraposition device 4 is arranged on the connecting line of the central points of the bent cap cushions 6 of two adjacent bent caps 7, and the distance between the central point of the contraposition device 4 and the central point of the bent cap cushion 6 is taken as a first preset distance; the center point of the beam bottom steel plate 2 is used as a reference, an identification mark 3 is arranged at a position which is a certain distance away from the center point of the beam bottom steel plate 2, the center point of the identification mark 3 is located on a connecting center line of the width direction center point of the bottom of the precast beam 1, the distance between the center point of the identification mark 3 and the center point of the beam bottom steel plate 2 is a second preset distance, and the first preset distance is equal to the second preset distance, as shown in fig. 2 and 3, the first preset distance and the second preset distance are both represented by d, therefore, the beam falling alignment relation between the precast beam 1 and the cover beam 7 can be obtained by calculating the position deviation data of the center of the identification mark 3 and the center of the alignment device 4 for representation, and the reliability of the scheme is improved.
Specifically, when the lifting beam body is lifted to a certain position above the cover beam 7, a camera module 42 is used for photographing to obtain a beam body bottom image of the prefabricated beam 1, an angle acquisition module 44 is used for acquiring inclination angle data of an alignment device 4, a distance acquisition module 43 is used for acquiring a distance measurement value from the alignment device 4 to the bottom of the prefabricated beam 1, pixel coordinates of a beam bottom identification mark 3 under a coordinate system of the alignment device 4 parallel to a geographic horizontal reference coordinate system with the center of the alignment device 4 as an original point are obtained after calculation processing according to the beam body bottom image and the inclination angle data through a control module 41, further pixel coordinates of a central point of the beam bottom identification mark 3 are obtained, meanwhile, the control module 41 is used for obtaining position data of the center of the identification mark 3 relative to the center of the alignment device 4 according to the distance measurement value and the inclination angle data of the beam bottom of the prefabricated beam 1 in the elevation direction of the geographic horizontal reference coordinate system, depth information of the identification mark 3 relative to the alignment device 4 is obtained after calculation processing, finally, the pixel coordinates of the identification mark 3 relative to the depth information of the alignment mark 3 relative to the alignment device 4 according to the pixel coordinates of the central point of the beam bottom identification mark 3, the communication module 41 in the alignment device, the bridge beam is sent to a control module, the bridge erecting data of the bridge erecting machine control system, and the prefabricated beam control system of the bridge, and the bridge erecting control system, and the prefabricated beam control system of the bridge.
It should be noted that, the bottom of the beam body of the single precast beam 1 is provided with two steel plates, which are respectively located at the front end and the rear end of the beam bottom, a marking pen is used to draw a connecting line of the center points of the front and rear end beam bottom steel plates 2, the center of the beam bottom steel plate 2 is used as a reference datum point, the position of the identification mark 3 is respectively set at a first preset distance from the center of the front and rear beam bottom steel plates 2, and the position of the identification mark 3 is adjusted to enable the center point of the identification mark 3 to be located on the connecting line of the center points of the beam bottom steel plates 2 in the width direction. The value of the first preset distance is determined according to the design size of the bridge in the actual construction process, and the requirement that the value of the first preset distance is larger than the sum of the half width of the bottom steel plate 2 and the half width of the identification mark 3 and smaller than the difference between the vertical distance from the center of the identification mark 3 to the side line of the wide edge of the prefabricated beam 1 in the same side direction and the half width of the bottom steel plate 2 is met.
It should be noted that, taking the center of the capping bolster 6 as a reference datum point, the aligning device 4 is arranged at a position which is a second preset distance away from the center of the capping bolster 6, the aligning device 4 is installed near the capping bolster 6 of each two adjacent capping beams 7, the center of the aligning device 4 is located on a connecting line of the center points of the capping bolster 6 of each two adjacent capping beams 7, wherein the second preset distance is a distance between the center point of the aligning device 4 and the center point of the capping bolster 6, the value of the second preset distance is determined according to the design size of the capping beam in the actual construction process, and the value of the second preset distance is greater than the sum of the half width of the capping bolster 6 and the half width of the aligning device 4, and is smaller than the difference between the vertical distance from the center of the capping bolster 6 to the same side line of the long edge of the capping beam 7 in the direction and the half width of the aligning device 4. Before the positioning device 4 is installed, the casting burr near the bolster stone 6 needs to be removed.
The alignment device 4 includes a control module 41, a camera module 42, a distance acquisition module 43, and an angle acquisition module 44. The camera module 42 is located in the center of the alignment device 4 and is disposed on the cover beam along with the alignment device, and is used for taking a picture to obtain an image of the beam bottom identification mark in the beam falling process, and other modules may be set in positions according to actual situations without additional limitations.
In general, the present application provides a method for controlling the alignment of a precast beam 1 and a capping beam 7. Taking the center of the beam bottom steel plate 2 and the center of the bent cap cushion stone 6 as reference datum points, respectively arranging an identification mark 3 and an alignment device 4 at positions which are at a certain distance from the center of the beam bottom steel plate 2 and the center of the bent cap cushion stone 6, and enabling the distance from the center of the identification mark 3 to the center of the beam bottom steel plate 2 to be equal to the distance from the center of the alignment device 4 to the center of the bent cap cushion stone 6; photographing through the camera module 42 to obtain a bottom image of the precast beam 1; the inclination angle data of the alignment device 4 is collected through an angle collection module 44; acquiring a distance measurement value from the alignment device 4 to the beam bottom of the precast beam 1 through a distance acquisition module 43; determining the pixel coordinate of the central point of the beam bottom identification mark 3 according to the image and the inclination angle data of the bottom of the beam body of the precast beam 1; determining the depth information of the center of the beam bottom identification mark 3 relative to the center of the aligning device 4 according to the distance measurement value and the inclination angle data; this application replaces manual operation through automatic control, according to the pixel coordinate of 3 central points of bottom of a beam identifying mark, the depth information at bottom of a beam identifying mark 3 center for aligning device 4 center, after contrasting with the coordinate at aligning device 4 center, obtain position deviation data, with data transmission to bridge girder erection machine's control system, bridge girder erection machine control system control precast beam 1 with bent cap 7 carries out the installation of counterpointing, only uses an identifying mark 3 to replace a plurality of survey marks of prior art, and the installation is simple and convenient with the dismantlement process, and in addition, camera module 42 is located aligning device 4's centre and installs the upper surface at bent cap 7 along with aligning device 4, has avoided the machine girder to appear warping or phenomenon such as vibration and lead to camera module 42 to shoot the condition that the precision greatly reduced because of receiving the influence of the roof beam body dead weight for the precision of counterpointing obtains improving.
On the basis of the above-described embodiment:
as a preferred embodiment, the determining the pixel coordinates of the center point of the identification mark 3 according to the bottom image of the beam body of the precast beam 1 and the inclination data of the alignment device 4 includes:
according to the image of the bottom of the beam body of the precast beam 1 and the inclination angle data of the alignment device 4, obtaining the pixel coordinates of the identification mark 3 under the coordinate system of the alignment device 4 which takes the center of the alignment device as the origin and is parallel to the geographic horizontal reference coordinate system;
and obtaining the pixel coordinate of the central point of the beam bottom identification mark 3 according to the pixel coordinate of the identification mark 3.
In this embodiment, the key point is to obtain the pixel coordinate of the center point of the beam bottom identification mark according to the pixel coordinate of the identification mark 3, once the pixel coordinate of the identification mark is determined, the center point can be found according to the structure of the identification mark 3, the pixel coordinate of the center point is determined, when the pixel coordinate of the identification mark is obtained, the pixel coordinate of the alignment device 4 in the coordinate system needs to be obtained according to the image of the beam bottom of the precast beam 1 and the inclination angle data of the alignment device 4, the coordinate of the camera in the coordinate system needs to be converted into the pixel coordinate of the alignment device 4 in the coordinate system, and the process is executed by the control module 41, so that the degree of automation of the scheme is improved.
As a preferred embodiment, the system further comprises a communication module, wherein the communication module is connected with the control module 41;
sending the position deviation data to a bridge girder erection machine control system so that the bridge girder erection machine control system controls the bridge girder erection machine to adjust the position of the precast beam 1 and then complete the beam falling alignment of the precast beam 1 and the cover beam 7, and the method comprises the following steps:
and establishing communication connection between the alignment device and a bridge girder erection machine control system through the communication module, and sending the position deviation data to a bridge girder erection machine control system so that the bridge girder erection machine control system controls the bridge girder erection machine to adjust the position of the precast beam 1 to complete beam falling alignment of the precast beam 1 and the cover beam 7.
The control module 41 can also be connected with a communication module, the communication module can send the position deviation data to the bridge girder erection machine control system, the communication module can be but not limited to an antenna module, or other modes capable of sending the position deviation data to the bridge girder erection machine control system in a remote mode, the bridge girder erection machine control system can adjust the position of the precast beam correspondingly after receiving the position deviation data, and then the beam falling alignment of the precast beam and the cover beam is completed, the whole process is carried out automatically, and the automation degree of the scheme is improved.
The control module 41 can be provided with a communication module, can establish connection communication with the bridge crane control system through a local area network, is not limited to be connected with an additional communication module, and can be set by a user according to actual conditions and requirements, so that the flexibility of the scheme is improved.
Meanwhile, the communication between the control module 41 and the bridge girder erection machine control system can also be realized by wired connection, and is not limited to wireless connection, so that additional selection space is added for users.
As a preferred embodiment, before the distance measurement value from the aligning device 4 to the bottom of the precast beam 1 is obtained by the distance collecting module 43, the method further includes:
periodically judging whether a signal which is sent by the distance acquisition module 43 and represents a distance measurement value from the alignment device 4 to the bottom of the precast beam 1 is received;
if so, sending a precise alignment signal to a bridge girder erection machine control system so that the bridge girder erection machine can precisely fall the precast beam 1 for alignment;
and if not, sending a rough alignment signal to a bridge girder erection machine control system so that the bridge girder erection machine performs rough girder falling alignment on the precast girder 1.
Because distance acquisition module 43 has an acquirable distance range, when precast beam 1 moves to the bent cap 7 top through the bridge crane, distance acquisition module 43 probably can't acquire the distance range finding value of precast beam 1 roof beam body bottom to bent cap 7, when bridge crane control system did not receive corresponding signal, bridge crane control system continues to control the bridge crane and falls the roof beam to precast beam 1, until after bridge crane control system can receive corresponding signal, the roof beam process that falls gets into aligning device control mode, control the bridge crane through aligning device 4 and fall the roof beam, this step has increased automatic control again, user's experience has been improved.
It should be noted that, when a signal of a distance measurement value from the alignment device 4 to the bottom of the precast beam 1 is collected by a token sent by the distance collection module 43, an accurate alignment signal is sent to the bridge girder erection machine control system so that the bridge girder erection machine performs accurate girder falling alignment on the precast beam 1, the accurate girder falling at this time can enter a step of beam falling alignment, if a signal of a distance measurement value from the alignment device 4 to the bottom of the precast beam 1 can be collected by a token sent by the distance collection module 43 is not received, a coarse alignment signal is sent to the bridge girder erection machine control system so that the bridge girder erection machine performs coarse girder falling alignment on the precast beam 1, and the girder falling is controlled for a certain distance until a signal of a distance measurement value from the alignment device 4 to the bottom of the precast beam 1 can be collected by a token sent by the distance collection module 43 can be received.
The roof beam distance and the speed of falling of thick counterpoint process need not meticulous regulation and control very much, only need fall the roof beam certain distance, then make satisfy in the meticulous demand that falls the roof beam counterpoint can, when the meticulous roof beam that falls, fall the roof beam according to the mode that the roof beam falls the substep, make the accuracy nature of counterpoint higher, carry out thick counterpoint and meticulous counterpoint respectively in the stage of difference, improved the comprehensive and the feasibility of scheme.
As a preferred embodiment, the process of determining the completion of the beam drop alignment includes:
judging whether the depth information of the center of the beam bottom identification mark 3 relative to the center of the aligning device 4 is not greater than a preset fitting threshold value, wherein the preset fitting threshold value is a preset threshold value for representing the condition that the beam bottom steel plate 2 and the rubber support 5 are fitted, and the rubber support 5 is positioned on the upper portion of the bent cap base stone 6;
and when the depth information is not greater than the preset fitting threshold value, determining that the beam falling alignment is completed and sending a beam falling stopping instruction to a control system of the bridge girder erection machine so as to stop the beam falling of the bridge girder erection machine.
Along with the beam falling process, the distance measuring value between the precast beam 1 and the cover beam 7 is gradually reduced, when the distance is not greater than the preset fitting threshold value, the fact that the beam bottom steel plate 2 and the rubber support 5 are fitted is indicated, a beam falling stopping instruction is sent to a control system of the bridge girder erection machine, the beam falling is stopped, the fact that the beam falling alignment of the precast beam 1 is completed at the moment is indicated, the whole process is carried out automatically, and the automation degree of the scheme is enhanced.
The process that the bridge girder erection machine controls the precast girder 1 to fall can be carried out step by step, so that the alignment of the center of the girder bottom steel plate 2 and the center of the rubber support 2 can be more accurate, the alignment installation accuracy of the precast girder 1 and the cover girder 7 is high, the single girder falling height is set from the angle of a control system of the bridge girder erection machine, after the single girder falling is finished, the control system of the bridge girder erection machine sends a single girder falling completion instruction to the alignment device 4, at the moment, the camera module 42, the angle acquisition module 44 and the distance acquisition module 43 respectively obtain an image, an angle and a distance measurement value again, after the calculation processing of the control module 41, new position deviation data is obtained, and the new position deviation data is sent to the control system of the bridge girder erection machine, the control system of the bridge girder erection machine adjusts the position of the precast girder 1 according to the new position deviation data, after the position adjustment is finished, the next girder falling process is carried out, and then the girder falling step is carried out in a circulating reciprocating mode until the girder falling is finally finished.
As a preferred embodiment, the identification mark 3 is an identification code.
The identification mark 3 may be, but not limited to, an identification code, and may also be a two-dimensional code, a bar code, or the like, which is specifically set according to actual conditions, as a mark for aligning the precast beam 1 and the capping beam 7, and no additional limitation is made herein.
The identification mark 3 only needs to be attached to the bottom of the beam body of the precast beam 1, the whole process is very simple, and the processing efficiency of workers is improved.
As a preferred embodiment, the distance acquisition module 43 is a laser range finder;
obtain the distance range finding value of aligning device 4 to precast beam 1 bottom through distance acquisition module 43, include:
and acquiring a distance measurement value from the alignment device 4 to the bottom of the precast beam 1 through a laser distance measuring instrument.
Obtain the distance range finding value of aligning device 4 to 1 roof beam body bottom of precast beam through laser range finder, be a technology operation commonly used for the scheme more is close to the in-service use condition, and in addition, distance acquisition module 43 can but not be limited to laser range finder, can also be other distance acquisition device, has improved the flexibility of scheme.
The invention also provides an alignment control system of the precast beam and the capping beam, which comprises the following components:
the image acquisition unit is used for acquiring a beam body bottom image of the precast beam through the camera module;
the inclination angle acquisition unit is used for acquiring inclination angle data of the alignment device through the angle acquisition module;
the distance measurement acquisition unit is used for acquiring a distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module;
the pixel coordinate determination unit is used for determining the pixel coordinate of the central point of the identification mark according to the beam body bottom image of the precast beam and the inclination angle data of the alignment device;
the depth information determining unit is used for determining the depth information of the center of the identification mark relative to the center of the alignment device according to the distance ranging value of the bottom of the precast beam and the inclination angle data of the alignment device;
and the beam falling control unit is used for acquiring position deviation data according to the pixel coordinates and the depth information of the central point of the identification mark and sending the position deviation data to the bridge erecting machine control system so that the bridge erecting machine is controlled by the bridge erecting machine to adjust the position of the precast beam and further complete beam falling alignment of the precast beam and the cover beam.
Wherein, pixel coordinate determination unit includes:
the pixel coordinate determination unit of the identification mark is used for obtaining the pixel coordinate of the identification mark under an alignment device coordinate system which takes the center of the alignment device as an origin and is parallel to the geographic horizontal reference coordinate system according to the image of the bottom of the beam body of the precast beam and the inclination angle data of the alignment device;
and the pixel coordinate determining unit of the central point of the identification mark is used for obtaining the pixel coordinate of the central point of the beam bottom identification mark according to the pixel coordinate of the identification mark.
The device also comprises a communication module, wherein the communication module is connected with the control module;
the roof beam control unit that falls includes:
and establishing communication connection between the alignment device and the bridge girder erection machine control system through the communication module, and sending the position deviation data to the bridge girder erection machine control system so that the bridge girder erection machine is controlled by the bridge girder erection machine control system to adjust the position of the precast beam to complete beam falling alignment of the precast beam and the cover beam.
Wherein, before the range finding acquisition element, still include:
the first judgment unit is used for periodically judging whether a signal which is sent by the distance acquisition module and is used for representing that the distance measurement value from the alignment device to the bottom of the precast beam can be acquired is received or not, if yes, the accurate alignment unit is triggered, and if not, the coarse alignment unit is triggered;
the accurate alignment unit is used for sending an accurate alignment signal to the bridge girder erection machine control system so that the bridge girder erection machine can accurately drop the precast girder to be aligned;
and the rough alignment unit is used for sending a rough alignment signal to the bridge girder erection machine control system so that the bridge girder erection machine performs rough girder falling alignment on the precast girder.
Wherein, roof beam the control unit falls includes:
the second judging unit is used for judging whether the depth information of the center of the beam bottom identification mark relative to the center of the aligning device is not larger than a preset laminating threshold value or not, if so, the beam falling stopping instruction sending unit is triggered, the preset laminating threshold value is a preset threshold value for representing the condition that a beam bottom steel plate and a rubber support are laminated, and the rubber support is positioned on the upper part of the bent cap pad;
and the beam falling stopping instruction sending unit is used for determining that the beam falling alignment is completed and sending a beam falling stopping instruction to a control system of the bridge girder erection machine so as to stop the beam falling of the bridge girder erection machine.
Wherein, the identification mark is an identification code.
Wherein, the distance acquisition module is a laser range finder.
Wherein, range finding acquisition unit includes:
and acquiring a distance measuring value from the alignment device to the bottom of the precast beam through the laser range finder.
For the introduction of the alignment control system for the precast beam and the capping beam provided by the present invention, reference is made to the above embodiment of the alignment control method for the precast beam and the capping beam, which is not described herein again.
The invention also provides an aligning device, comprising:
a memory 40 for storing a computer program;
a control module 41 connected to a memory for executing a computer program to implement the steps of the alignment control method for the precast beam 1 and the capping beam 7;
the device further comprises a camera module 42, an angle acquisition module 44 and a distance acquisition module 43, wherein the control module 41 is respectively connected with the camera module 42, the angle acquisition module 44 and the distance acquisition module 43.
For the description of the alignment device provided by the present invention, please refer to the above embodiment of the alignment control method for the precast beam and the capping beam, which is not described herein again.
As a preferred embodiment, the device further includes a power module 46 and a fixing module 45, the power module 46 is respectively connected to the memory 40, the control module 41, the camera module 42, the angle collecting module 44 and the distance collecting module 43, and the fixing module 45 is disposed outside the aligning device 4;
the power module 46 is used for supplying power;
the fixing module 45 is used for fixing the aligning device 4 at a preset position.
The aligning device 4 of the application can further comprise a power supply module 46 and a fixing module 45, power supply of the aligning device 4 can be provided for the aligning device, the aligning device 4 is fixed at a preset position, the power supply module 46 can be a battery, and can also be directly connected with other power supplies, a user can select according to actual requirements, and user experience and scheme flexibility are improved.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Claims (10)
1. The alignment control method for the precast beam and the bent cap is characterized in that the alignment control method is applied to a control module of an alignment device, the alignment device further comprises a camera module, an angle acquisition module and a distance acquisition module, and the control module is respectively connected with the camera module, the angle acquisition module and the distance acquisition module;
the alignment device is arranged at a position which takes the center of the bent cap bolster as a reference datum point and is away from the center of the bent cap bolster by a certain distance, the center of the alignment device is positioned on a connecting line of the center points of the bent cap bolsters of two adjacent bent caps, and the distance between the center of the alignment device and the center of the bent cap bolster is a first preset distance; setting an identification mark at a position which is away from the center of a beam bottom steel plate of a precast beam by a certain distance by taking the center of the beam bottom steel plate of the precast beam as a reference datum point, wherein the center of the identification mark is positioned on a connecting line of the center point of the bottom of the precast beam in the width direction, the distance between the center of the identification mark and the center of the beam bottom steel plate is a second preset distance, and the first preset distance is equal to the second preset distance;
the alignment control method of the precast beam and the bent cap comprises the following steps:
acquiring a beam body bottom image of the precast beam through the camera module;
acquiring inclination angle data of the alignment device through the angle acquisition module;
acquiring a distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module;
determining the pixel coordinate of the central point of the identification mark according to the beam body bottom image of the precast beam and the inclination angle data of the alignment device;
determining depth information of the center of the identification mark relative to the center of the alignment device according to the distance ranging value of the bottom of the precast beam and the inclination angle data of the alignment device;
and acquiring position deviation data according to the pixel coordinates of the central point of the identification mark and the depth information, and sending the position deviation data to a bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam to complete beam falling alignment of the precast beam and the cover beam.
2. The alignment control method of the precast beam and the cap beam according to claim 1, wherein determining the pixel coordinates of the center point of the recognition mark according to the beam body bottom image of the precast beam and the tilt angle data of the alignment device comprises:
obtaining the pixel coordinates of the identification mark under an alignment device coordinate system which takes the center of the alignment device as an origin and is parallel to a geographic horizontal reference coordinate system according to the image of the bottom of the beam body of the precast beam and the inclination angle data of the alignment device;
and obtaining the pixel coordinate of the central point of the identification mark at the bottom of the beam according to the pixel coordinate of the identification mark.
3. The alignment control method of the precast beam and the capping beam according to claim 1, further comprising a communication module connected to the control module;
sending the position deviation data to a bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam and further complete beam falling alignment of the precast beam and the capping beam, and the method comprises the following steps of:
and establishing communication connection between the alignment device and the bridge girder erection machine control system through the communication module, and sending the position deviation data to the bridge girder erection machine control system so that the bridge girder erection machine control system controls the bridge girder erection machine to adjust the position of the precast beam to complete beam falling alignment of the precast beam and the cover beam.
4. The method for controlling alignment of a precast beam and a cap beam according to claim 1, wherein before the distance measurement value from the alignment device to the bottom of the precast beam is obtained by the distance acquisition module, the method further comprises:
periodically judging whether a signal which is sent by the distance acquisition module and is used for representing a distance ranging value from the alignment device to the bottom of the precast beam is received or not;
if so, sending a precise alignment signal to the bridge erecting machine control system so that the bridge erecting machine can precisely drop the precast beam for alignment;
and if not, sending a rough alignment signal to the bridge erecting machine control system so that the bridge erecting machine performs rough beam falling alignment on the precast beam.
5. The alignment control method of the precast beam and the capping beam as claimed in claim 1, wherein the determining of the completion of the beam drop alignment comprises:
judging whether the depth information of the center of the beam bottom identification mark relative to the center of the alignment device is not larger than a preset fitting threshold value, wherein the preset fitting threshold value is a preset threshold value representing the condition that the beam bottom steel plate and a rubber support are fitted, and the rubber support is positioned on the upper part of the bent cap pad;
and when the depth information is not greater than the preset fitting threshold value, determining that the beam falling alignment is completed and sending a beam falling stopping instruction to a control system of the bridge girder erection machine so as to stop the beam falling of the bridge girder erection machine.
6. The precast beam and the capping beam aligning control method according to claim 1, wherein the identification mark is an identification code.
7. The alignment control method of the precast beam and the capping beam according to claim 1, wherein the distance collecting module is a laser rangefinder;
through the distance acquisition module acquires the distance measuring value of the aligning device to the bottom of the precast beam, including:
and acquiring a distance measurement value from the alignment device to the bottom of the precast beam through the laser distance meter.
8. The utility model provides a precast beam and bent cap's counterpoint control system which characterized in that includes:
the image acquisition unit is used for acquiring a beam body bottom image of the precast beam through the camera module;
the inclination angle acquisition unit is used for acquiring inclination angle data of the alignment device through the angle acquisition module;
the distance measurement acquisition unit is used for acquiring a distance measurement value from the alignment device to the bottom of the precast beam through the distance acquisition module;
the pixel coordinate determination unit is used for determining the pixel coordinate of the central point of the identification mark according to the beam body bottom image of the precast beam and the inclination angle data of the alignment device;
the depth information determining unit is used for determining the depth information of the center of the identification mark relative to the center of the alignment device according to the distance ranging value of the bottom of the precast beam and the inclination angle data of the alignment device;
and the beam falling control unit is used for acquiring position deviation data according to the pixel coordinates of the central point of the identification mark and the depth information and sending the position deviation data to a bridge erecting machine control system so that the bridge erecting machine control system controls the bridge erecting machine to adjust the position of the precast beam and further complete beam falling alignment of the precast beam and the cover beam.
9. An alignment device, comprising:
a memory for storing a computer program;
a control module, connected to the memory, for executing the computer program to implement the steps of the method for controlling the alignment of the precast beam and the cap beam according to any one of claims 1 to 8;
the device comprises a camera module, an angle acquisition module and a distance acquisition module, wherein the control module is respectively connected with the camera module, the angle acquisition module and the distance acquisition module.
10. The aligning apparatus according to claim 9, further comprising a power module and a fixing module, wherein the power module is respectively connected to the memory, the control module, the camera module, the angle collecting module and the distance collecting module, and the fixing module is disposed outside the aligning apparatus;
the power supply module is used for supplying power;
the fixing module is used for fixing the alignment device at a preset position.
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| CN202211284549.9A CN115559216A (en) | 2022-10-17 | 2022-10-17 | Alignment control method, system and alignment device for precast beam and cover beam |
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| CN202211284549.9A CN115559216A (en) | 2022-10-17 | 2022-10-17 | Alignment control method, system and alignment device for precast beam and cover beam |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117387491A (en) * | 2023-12-11 | 2024-01-12 | 南京理工大学 | Binocular vision marker positioning device and method suitable for bridge girder erection machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117387491A (en) * | 2023-12-11 | 2024-01-12 | 南京理工大学 | Binocular vision marker positioning device and method suitable for bridge girder erection machine |
| CN117387491B (en) * | 2023-12-11 | 2024-04-05 | 南京理工大学 | Binocular vision marker positioning device and method suitable for bridge girder erection machine |
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