CN115928580A - Intelligent monitoring and automatic posture adjusting method for hydraulic creeping formwork - Google Patents
Intelligent monitoring and automatic posture adjusting method for hydraulic creeping formwork Download PDFInfo
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Abstract
A method for intelligently monitoring hydraulic creeping formwork and automatically adjusting posture comprises the steps of establishing a Beidou satellite base station in a template positioning setting step, arranging Beidou satellite base stations at fixed positions unchanged, arranging Beidou mobile stations at points to be measured on a template, monitoring the geodetic coordinates of the points to be measured of the template in real time through the Beidou satellite, calculating the Gaussian projection coordinates of the points to be measured and a base line point on a first base line by taking a bridge center line or a parallel line of the bridge center line according to the geodetic coordinates by a data processing unit of a cloud server, calculating the distance from the points to be measured to the base line and the distance from the points to be measured to the bridge center line in a Gaussian plane coordinate system, and controlling the template climbing step, the transverse formwork supporting step and the formwork stripping step to finish the intelligent creeping formwork monitoring and the automatic posture adjustment. The method has the advantages that all-weather real-time measurement is realized, the method is not limited by environment, climate and personnel, no accumulated error exists, and the measurement precision is high; the automatic adjustment and the accurate positioning of the template posture are realized, the efficiency is high, the labor cost is low, and the safety is good.
Description
Technical Field
The invention relates to the technical field of construction of high-rise buildings such as main towers, piers and piers of bridges, in particular to an intelligent monitoring and automatic posture adjusting method for a hydraulic creeping formwork.
Background
In the construction of high-rise buildings such as bridge towers, piers and the like, a creeping formwork construction technology is often applied, and the creeping formwork construction technology has the characteristics of lightness, rapidness, easy control of a central line, simple operation, low construction cost and the like, and is generally applied to bridge engineering, particularly the construction of super bridge engineering. In the high pier creeping formwork construction, the high pier linear control is very important, if the control is not good, the appearance of the pier body is ugly if the control is not good, and the stress safety of the structure is influenced if the control is heavy. The accurate positioning of the template is critical to realize the accurate control of the high pier line shape, and the accurate positioning of the template depends on the accuracy of the measurement lofting.
The conventional measurement method mostly adopts a total station instrument to carry out positioning measurement, needs a plurality of measurement and recording personnel, has high labor cost and low efficiency, is greatly influenced by the factors of communication, operation environment and climate, can not be monitored in real time all day long, has discontinuous and lagging data, and is difficult to provide guide parameters for construction in real time.
In addition, the current template adjustment is mainly carried out by the manual work according to the monitoring result, and is carried out through the manual work of rotating adjusting screw, and efficiency is slower, and the cost of labor is high.
Disclosure of Invention
The invention aims to provide a hydraulic climbing formwork intelligent monitoring and posture automatic adjusting method capable of realizing automatic adjustment and accurate positioning of the posture of a template.
The technical scheme disclosed by the invention is as follows:
1. a hydraulic creeping formwork intelligent monitoring and automatic posture adjusting method comprises the following steps:
(1) Template positioning and setting:
1) The Beidou satellite base station setting step: building a Beidou satellite base station, and arranging the Beidou satellite base station at a fixed position to be unchanged;
2) The Beidou rover station comprises the following steps: the Beidou rover station is arranged at a point to be measured on the template, and the coordinates of the earth of the template are monitored in real time through the Beidou satellite;
3) A cloud server setting step: the cloud server is provided with a data processing unit and a data storage unit; the data processing unit calculates a Gaussian projection coordinate with a parallel line of the point to be measured and the bridge center line or the bridge center line as a base line point on a first base line according to the geodetic coordinates, calculates a linear equation of the base line according to the Gaussian projection coordinate, further calculates the distance from the point to be measured to the base line and the distance from the point to be measured to the bridge center line in a Gaussian plane coordinate system, and the data storage unit is used for storing data;
(2) The control center sets up the step: the control center is provided with:
1) A data input unit: the device is used for inputting parameters including a base line point coordinate, an offset value between a base line and a bridge center line, a horizontal design distance from a point to be measured to the bridge center line, a horizontal design distance from the point to be measured to the base line and a variable cross-section pier elevation design inclination angle;
2) The data reading and processing unit is used for reading and processing Beidou positioning data on the cloud server and data of the tilt angle sensor in real time and making a decision on system action;
3) The template gradient adjustment control unit: sending a signal according to the decision, controlling the action of a gradient adjusting mechanism, and completing the vertical angle adjustment work of the template;
4) The template transverse adjustment control unit: sending a signal according to the decision, controlling the action of a transverse adjusting mechanism, and completing formwork supporting and demoulding work;
(3) A positioning reference setting step including:
a. establishing a Beidou base station, and setting a baseline point, wherein the first baseline point and the second baseline point are arranged on a bridge central line or a parallel line of a bridge central line 7, and if the first baseline point and the second baseline point are arranged on the bridge central line, the bridge central line is the first baseline; if the straight line is arranged on a parallel line such as the bridge center line 7, the straight line is a first base line, and the offset value between the straight line and the bridge center line is d 0 (ii) a Taking a normal of the first baseline point as a second baseline, and taking an alternative point on the second baseline as a third baseline point; measuring three-dimensional coordinates of the three baseline points by using a Beidou positioning terminal, and inputting the three-dimensional coordinates into a control center;
b. according to the design distance between the pier and the center line of the bridge, the horizontal design distance d from the point to be measured of the side formwork of the pier to the center line of the bridge after the formwork is installed in place is calculated in advance by combining the installation position (the point to be measured) of the Beidou rover s1 The horizontal design distance d from the point to be measured of the front template to the second base line s2 Inputting data into a control center;
(4) A template climbing step: installing a bearing frame, a cross beam, a vertical enclosing purlin, a front template, a side template and related equipment facilities, and after a section on a poured pier integrally climbs to a section to be poured, beginning to perform gradient adjustment;
(5) And (3) transverse formwork supporting: after the gradient is adjusted in place, the gradient adjusting mechanism stops, the transverse adjusting mechanism starts, formwork erecting is started, the Beidou rover station monitors the geodetic coordinates of the points to be measured in real time and transmits the geodetic coordinates to the cloud server, and the cloud server calculates the Gaussian projection coordinates of the points to be measured and the base line points in real time according to the geodetic coordinate informationThen, calculating the real-time distance d from each point to be measured of the side template to the center line 7 of the bridge in the Gaussian plane coordinate system m And the real-time distance d from each point to be measured of the front template to the second base line 2 The control center reads the data of the cloud server in real time through the network and sends the data to the server m And design value d s1 Comparison, d 2 And design value d s2 Comparing, sending out command to the transverse regulating mechanism, the servo speed reducing motor driving the gear to move and driving the template to move to the target position, when d m =d s1 When the side form is in place, stopping when d 2 =d s2 Stopping when the front template is in place;
(6) A step of demoulding: after the concrete meets the strength requirement, the related reinforcing member is removed, and then the transverse adjusting mechanism can be started to perform demolding, and the working cycle of the next section is performed.
As a preferable scheme, in the step (6), the cloud server calculates the distance from each point to be measured to the bridge center line 7 or the second base line by using the following method:
1) Calculating Gaussian projection coordinates of the point to be measured by using a Gaussian projection formula according to the geodetic coordinates of the point to be measured monitored by the Beidou rover station and the geodetic coordinates of the first baseline point, the second baseline point and the third baseline point which are measured
0 ,/>
0 ) First baseline point Gaussian projection coordinates->
1 ,/>
1 ) Based on the first baseline point, based on the second baseline point, based on the first baseline point and based on the second baseline point>
2 ,/>
2 ) The Gaussian projection coordinate of the third baseline point->
3 ,/>
3 )；
2) Calculating a linear equation of the first base line in the Gaussian projection plane according to the Gaussian projection coordinates of the first base line point and the second base line point:
and calculating a linear equation of a second baseline 8.2 in the Gaussian projection plane according to the Gaussian projection coordinates of the first baseline point and the third baseline point:
3) Calculating the distance d from the point to be measured to the first base line 8.1 by using a formula of the distance from the point to the straight line in the plane 1 The distance d from the point to be measured to the second base line 8.2 2 、
4) If the parallel line of the bridge center line is taken as the first base line, the distance between the point to be measured and the first base line is subtracted by the horizontal offset value d between the base line and the bridge center line 0 The distance from the point to be measured to the center line of the bridge, namely
=/>
-d 0 (ii) a If the bridge center line 7 is taken as the first base line, then ^ is determined>
=/>
After the transverse formwork supporting is completed, concrete pouring can be carried out after the inner formwork and the related reinforcing members are installed.
Preferably, in the step (3), if the pier is a variable cross-section pier and the side surface generates a slope, the design value alpha of the vertical surface inclination angle of the side surface of the pier is input into the control center.
Preferably, the pier is a variable-section pier, and the method further comprises a template gradient adjusting step before the transverse formwork erecting step (5): and starting the system, sending an instruction by the control center, driving the hydraulic cylinder 4.1 to stretch the cylinder by the hydraulic pump station, pushing the side template enclosing purlin to rotate by taking a hinge point of the side template enclosing purlin and the front support as a circle center, reading data of the inclination angle sensor in real time by the inclination angle sensor and transmitting the data to the control center, comparing the real-time size of the inclination angle with a design inclination angle alpha by the control center, and stopping when the real-time size of the inclination angle reaches a standard value.
The invention has the advantages of realizing all-weather real-time measurement, being not limited by environment, climate and personnel, having no accumulated error and high measurement precision; the automatic adjustment and the accurate positioning of the template posture are realized, the efficiency is high, the labor cost is low, and the safety is good.
Drawings
FIG. 1 is a system block diagram of one embodiment of a method of the present invention.
Fig. 2 is a layout diagram of a template positioning detection apparatus according to an embodiment of the present invention.
FIG. 3 is a layout diagram of a Beidou rover station (measuring station) and a template adjusting mechanism in the embodiment of the invention
FIG. 4 is a schematic view of a template adjustment mechanism according to an embodiment of the invention
FIG. 5 is a detailed structural view of part A in FIG. 4
The parts of the drawings are detailed as follows: 1. template detection positioning device, 1.1, a Beidou base station, 1.2, a Beidou mobile station, 2, a cloud server, 3, a control center, 4, a template adjusting device, 4.1, a hydraulic cylinder, 4.2, a hydraulic pump station, 4.3, an inclination angle sensor, 4.4, a rack, 4.5, a gear, 4.6, a servo speed-down motor, 4.7, a front support, 4.8, a rear support, 5, a display device, 6, a bridge pier, 7, a bridge center line, 8.1 a first base line, 8.2, a second base line, 9, a first base point, 10, a second base point, 11, a third base point, 12, a support vertical enclosing purlin, 13.1, a front template, 13.2, a side template, 14, a construction platform, 15, a support horizontal enclosing purlin, 16, a cross beam, 17, a main beam, 18, a climbing frame, 19, a bearing frame support, 20, a bearing frame support, a mechanism, 21 and a poured bridge pier segment.
Detailed Description
The invention will be further elucidated and described with reference to the embodiments and drawings of the specification:
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Referring to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, in an embodiment of the present invention, the template positioning detection apparatus 1, the cloud server 2, the control center 3, the template adjustment apparatus 4 and the display apparatus 5 are included.
The template adjusting device and a cross beam 16 supported on a bearing frame 18 are provided with guide rails to form a sliding moving pair, the moving end of the sliding moving pair is fixed with a front support 4.7 and a rear support 4.8, the front support 4.7 is hinged with a support vertical enclosing purlin 12, a hydraulic cylinder 4.2 is arranged between the rear support 4.8 and the support vertical enclosing purlin 12, the cylinder end of the hydraulic cylinder 4.1 is hinged with the support vertical enclosing purlin 12, and the piston end is hinged with the rear support 4.8; the bracket vertical enclosing purlin 12 is driven to rotate through the hydraulic cylinder 4.2, the front face template 13.1 is fixed on the bracket vertical enclosing purlin 12, and the inclination angle sensors 4.3 are arranged on the side faces of the front face template 13.1 and the side face template 13.2; a servo deceleration motor 4.6 is arranged on the sliding pair, the sliding pair is driven to move through the servo deceleration motor 4.6 to form a transverse adjusting mechanism, and the transverse adjusting mechanism comprises a gear 4.5, a rack 4.4, a servo deceleration motor 4.6, a front support 4.7 and a rear support 4.8; one end of a rack 4.4 is fixedly connected with a front support 4.7, the other end of the rack is fixedly connected with a rear support 4.8, and the whole bottom of the front support 4.7 and the bottom of the rear support 4.8 form a sliding mechanism with a cross beam 17 and can slide back and forth along the cross beam; the hydraulic cylinder 4.2 and the servo speed reducing motor 4.6 are connected with the control center 3, and receive a signal instruction of the control center 3 to drive the gear 4.4 to transversely adjust the template.
The points to be measured arranged on the template positioning detection device are arranged on the front template 13.1 and the side template 13.2, and the Beidou rover station is arranged at the points to be measured.
The points to be measured arranged on the template positioning detection device are arranged at positions, close to two ends, of the top surfaces of the front template 13.1 and the side template 13.2, each template is provided with 2 points to be measured, the Beidou rover station 1.2 is arranged at the points to be measured, four templates are arranged on four sides of the template, and 8 Beidou rover stations 1.2 are arranged.
This embodiment is the variable cross section pier, and the pier openly is the trapezoidal variable cross section.
According to this embodiment, the steps of the present invention are as follows:
template positioning and setting:
1) The Beidou satellite base station setting step: the Beidou satellite base station 1.1 is set up, the Beidou satellite base station 1.1 can flexibly select the installation position (the distance between the Beidou satellite base station 1.2 and the Beidou mobile station is within 30 km) according to the construction conditions, and the position of the Beidou satellite base station is not changed once the Beidou satellite base station is installed in the whole engineering construction period;
2) The big dipper rover station is arranged as follows: the Beidou rover station is arranged at a point to be measured on the template, and the coordinates of the earth of the template are monitored in real time through the Beidou satellite; the Beidou satellite base station 1.1 is used for continuously receiving Beidou satellite signals for a long time and sending the station measurement information of the Beidou satellite base station and positioning information obtained according to the satellite signals to the mobile station 1.2; the Beidou rover station 1.2 simultaneously receives the information of the Beidou satellite base station 1.1 and Beidou satellite signals, realizes accurate positioning through a network real-time kinematic (RTK) technology, obtains geodetic coordinates of a point to be measured, and transmits coordinate information to the cloud server 2 through a wireless network;
3) The cloud server 2 is provided with a data processing unit and a data storage unit; the data processing unit calculates a Gaussian projection coordinate of a base line point on a first base line by taking a parallel line of a point to be measured and a bridge center line or the bridge center line as a geodetic coordinate according to the geodetic coordinate, calculates a linear equation of the base line according to the Gaussian projection coordinate, further calculates the distance from the point to be measured to the base line and the distance from the point to be measured to the bridge center line in a Gaussian plane coordinate system, and the data storage unit is used for storing data; the calculation method comprises the following steps:
calculating Gaussian projection coordinates of the Beidou rover station 1.2 and the first baseline point 9, the second baseline point 10 and the third baseline point 11 according to geodetic coordinates, and calculating a linear equation of a first baseline 8.1 where the first baseline point 9 and the second baseline point 10 are located and a linear equation of a second baseline 8.2 where the first baseline point 9 and the third baseline point 11 are located in a Gaussian plane coordinate system, wherein the second baseline 8.2 is a normal line of the first baseline 8.1; and calculating the distance from each measuring point of the side template to the first base line 8.1, the distance from each measuring point of the front template to the second base line 8.2 and the distance from each measuring point of the side template to the middle line 7 of the bridge according to an equation from the point in the plane to the straight line.
The control center 3 is integrated on the hydraulic pump station 4.2, the control center 3 is used for reading and processing data of the cloud server 2, and the template posture adjusting device is controlled to adjust the template posture.
A control center setting step:
(1) A data input unit: for inputting a first baseline point 9, a second baseline point 10,The coordinate of the third baseline point 11 and the horizontal design distance d from the point to be measured of the side template to the center line 7 of the bridge S1 And the offset value d of the 1 st base line 8.1 to the bridge central line 7 0 And the horizontal design distance d from the point to be measured of the front template to the second baseline 8.2 S2 And parameters such as the angle alpha of the vertical surface of the bridge pier and the like;
(2) The data reading and processing unit is used for reading and processing Beidou positioning data on the cloud server and data of the tilt angle sensor in real time and making a decision on system action;
(3) The template gradient adjusting and controlling unit: sending a signal according to the decision, controlling the action of a gradient adjusting mechanism, and completing the vertical angle adjustment work of the template;
(4) The template transverse adjustment control unit: and sending a signal according to the decision, and controlling the action of the transverse adjusting mechanism to complete the work of supporting and withdrawing the formwork.
(1) A positioning reference setting step including:
a. establishing a Beidou base station 1.1, setting baseline points, wherein a first baseline point 9 and a second baseline point 10 are arranged on a bridge central line 7 or a parallel line 8.1 of the bridge central line 7; if the bridge center line 7 is arranged on the bridge center line 7, the bridge center line 7 is a first base line; if the straight line 8.1 is arranged on a parallel line 8.1 such as the bridge center line 7, the straight line 8.1 is a first base line and has an offset value d with respect to the bridge center line 7 0 (ii) a Taking the normal line of the first baseline point 9 as a second baseline 8.2, and taking an alternative point on the second baseline 8.2 as a third baseline point 11; measuring three-dimensional coordinates of the three baseline points by using a Beidou positioning terminal, and inputting the three-dimensional coordinates into a control center;
b. according to the design distance between the bridge pier and the center line of the bridge, the horizontal design distance d from the point to be measured of the side template 13.2 of the bridge pier to the center line 7 of the bridge after the template is installed in place is calculated in advance by combining the installing position (namely the point to be measured) of the Beidou rover station s1 The horizontal design distance d from the point to be measured of the front template 13.1 to the second base line 8.2 s2 And inputting the data into the control center.
c. The embodiment is a variable-section bridge pier, the front surface of the bridge pier is in a trapezoidal variable-section shape, and therefore the side surface of the bridge pier is sloped. And inputting the design value alpha of the inclination angle of the vertical surface of the side surface of the pier into a control center.
A template climbing step: and (3) installing a bearing frame 18, a cross beam 16, a vertical surrounding purlin 12, a front template 13.1, a side template 13.2 and related equipment facilities, and after a section on the poured pier integrally climbs to a section to be poured, performing slope adjustment.
And (3) adjusting the gradient of the template: and starting the system, sending an instruction by the control center 3, driving the hydraulic cylinder 4.1 to extend the cylinder by the hydraulic pump station 4.2, pushing the side formwork surrounding purlin 12 to rotate by taking a hinge point between the side formwork surrounding purlin and the front support 4.7 as a circle center, reading data of the inclination angle sensor 4.3 in real time by the inclination angle sensor 4.3 and transmitting the data to the control center 3, comparing the real-time size of the inclination angle with a designed inclination angle alpha by the control center, and stopping after the real-time size of the inclination angle reaches a standard value.
And transverse formwork supporting: after the gradient is adjusted in place, the gradient adjusting mechanism stops, the transverse adjusting mechanism starts to support the formwork, the Beidou rover station 1.2 monitors the geodetic coordinates of the points to be measured in real time and transmits the geodetic coordinates to the cloud server 2, the cloud server 2 calculates the Gaussian projection coordinates of the points to be measured and the base line points in real time according to the geodetic coordinate information, and then calculates the real-time distance d from the points to be measured of the side formwork to the central line 7 of the bridge in the Gaussian plane coordinate system m And the real-time distance d from each point to be measured of the front template to the second base line 8.2 2 The control center reads the data of the cloud server 2 in real time through the network and sends the data d m And design value d s1 Comparison, d 2 And design value d s2 Comparing, sending out an instruction to the transverse adjusting mechanism, driving the gear 4.5 to move by the servo reducing motor 4.6, driving the template to move to the target position, and when d is m =d s1 When the side form is in place, stopping when d 2 =d s2 And stopping when the front template is in place.
In the step of transverse formwork erecting, the cloud server 2 calculates the distance from each point to be measured to the bridge center line 7 or the second base line by the following method:
1) According to the geodetic coordinates of the point to be measured monitored by the Beidou rover station 1.2 and the geodetic coordinates of the measured first baseline point 9, the second baseline point 10 and the third baseline point 11, gaussian projection coordinates of the point to be measured are calculated by using a Gaussian projection formula
0 ,/>
0 ) The gaussian projection coordinate of the first base line point 9 ≥>
1 ,/>
1 ) The gaussian projection coordinate of the second baseline point 10->
2 ,/>
2 ) The gaussian projection coordinate ≥ of the third baseline point 11>
3 ,/>
3 )；
2) According to the Gaussian projection coordinates of the first baseline point 9 and the second baseline point 10, a linear equation of the first baseline 8.1 in the Gaussian projection plane is calculated:
and calculating a linear equation of the second baseline 8.2 in the Gaussian projection plane according to the Gaussian projection coordinates of the first baseline point 9 and the third baseline point 11:
3) Calculating the distance d from the point to be measured to the first base line 8.1 by using a formula of the distance from the point to the straight line in the plane 1 To be measuredDistance d from the point to the second base line 8.2 2 、
4) The horizontal offset d of the base line and the bridge center line 7 is subtracted from the distance from the point to be measured to the first base line 8.1 0 To obtain the distance from the point to be measured to the bridge center line 7, i.e.
=/>
-d 0 。
After the transverse formwork supporting is completed, concrete pouring can be carried out after the inner formwork and the related reinforcing members are installed.
A step of demoulding: after the concrete meets the strength requirement, the related reinforcing member is removed, and then the transverse adjusting mechanism can be started to perform demolding, and the working cycle of the next section is performed.
The distance calculation from the point to be measured to the first baseline or the second baseline of the bridge is as follows:
known point A
1 ,/>
1 )、B/>
2 ,/>
2 ) Then the equation of a straight line passing through these two points (two-point equation) is
If A is
1 ,/>
1 ) Has an actual coordinate of (1, 7), B->
2 ,/>
2 ) Has the coordinate of (5, 2) and is obtained by substituting the formula
Is simplified to obtain
Equation 2 is the general equation for the straight line, a =5,b =4,c = -33, slope k = -a/B = -5/4 of the straight line, cross-sectional distance a = -C/a =33/5= -6.6, longitudinal intercept B = -C/B =33/4= -8.25
Such as P
0 ,/>
0 ) Is (6, 8), the distance of the point to the straight line AB is:
finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (4)
1. A hydraulic creeping formwork intelligent monitoring and attitude automatic adjusting method is characterized in that: the method comprises the following steps:
(1) Template positioning and setting:
1) The Beidou satellite base station setting step: building a Beidou satellite base station, and setting the Beidou satellite base station at a fixed position to be unchanged;
2) The Beidou rover station comprises the following steps: the Beidou rover station is arranged at a point to be measured on the template, and the coordinates of the earth of the template are monitored in real time through the Beidou satellite;
3) A cloud server setting step: the cloud server is provided with a data processing unit and a data storage unit; the data processing unit calculates a Gaussian projection coordinate with a parallel line of the point to be measured and the bridge center line or the bridge center line as a base line point on a first base line according to the geodetic coordinates, calculates a linear equation of the base line according to the Gaussian projection coordinate, further calculates the distance from the point to be measured to the base line and the distance from the point to be measured to the bridge center line in a Gaussian plane coordinate system, and the data storage unit is used for storing data;
(2) A control center setting step: the control center is provided with:
1) A data input unit: the device is used for inputting parameters including a base line point coordinate, an offset value between a base line and a bridge center line, a horizontal design distance from a point to be measured to the bridge center line, a horizontal design distance from the point to be measured to the base line and a variable cross-section pier elevation design inclination angle;
2) The data reading and processing unit is used for reading and processing Beidou positioning data on the cloud server and data of the tilt angle sensor in real time and making a decision on system action;
3) The template gradient adjustment control unit: sending a signal according to the decision, controlling the action of a gradient adjusting mechanism, and completing the vertical angle adjustment work of the template;
4) The template transverse adjustment control unit: sending a signal according to the decision, controlling the action of a transverse adjusting mechanism, and completing formwork supporting and demoulding work;
(3) A positioning reference setting step including:
a. establishing a Beidou base station 1.1, setting a base line point, wherein a first base line point 9 and a second base line point 10 are arranged on a bridge central line 7 or a parallel line 8.1 of the bridge central line 7; if the bridge center line 7 is arranged on the bridge center line 7, the bridge center line 7 is a first base line; if the straight line 8.1 is arranged on a parallel line 8.1 such as the bridge center line 7, the straight line 8.1 is a first base line and has an offset value d with respect to the bridge center line 7 0 (ii) a Taking the normal line of the first baseline point 9 as a second baseline 8.2, and taking an alternative point on the second baseline 8.2 as a third baseline point 11; measuring three-dimensional coordinates of the three baseline points by using a Beidou positioning terminal, and inputting the three-dimensional coordinates into a control center;
b. according to the design distance between the bridge pier and the center line of the bridge, the horizontal design distance d from the point to be measured of the side template 13.2 of the bridge pier to the center line 7 of the bridge after the template is installed in place is calculated in advance by combining the installing position (namely the point to be measured) of the Beidou rover station s1 And the horizontal design distance d from the point to be measured of the front template 13.1 to the second baseline 8.2 s2 Inputting data into a control center;
(4) A template climbing step: installing a bearing frame 18, a cross beam 16, a vertical surrounding purlin 12, a front template 13.1, a side template 13.2 and related equipment facilities, and after climbing from a section on a poured pier to a section to be poured integrally, starting to perform slope adjustment;
(5) And (3) transverse formwork supporting: after the gradient is adjusted in place, the gradient adjusting mechanism stops, the transverse adjusting mechanism starts to support the formwork, the Beidou rover station 1.2 monitors the geodetic coordinates of the points to be measured in real time and transmits the geodetic coordinates to the cloud server 2, the cloud server 2 calculates the Gaussian projection coordinates of the points to be measured and the base line points in real time according to the geodetic coordinate information and then calculatesIn a Gaussian plane coordinate system, the real-time distance d from each point to be measured of the side template to the center line 7 of the bridge m And the real-time distance d from each point to be measured of the front template to the second base line 8.2 2 The control center reads the data of the cloud server 2 in real time through the network and sends the data d m And design value d s1 Comparison, d 2 And design value d s2 Comparing, sending out an instruction to the transverse adjusting mechanism, driving the gear 4.5 to move by the servo reducing motor 4.6, driving the template to move to the target position, and when d is m =d s1 When the side face template is in place, stopping when d 2 =d s2 Stopping when the front template is in place;
(6) A step of demoulding: after the concrete meets the strength requirement, the related reinforcing member is removed, and then the transverse adjusting mechanism can be started to perform demolding, and the working cycle of the next section is performed.
2. The hydraulic climbing form intelligent monitoring and automatic posture adjusting method according to claim 1, characterized in that: in the step (6), the cloud server 2 calculates the distance from each point to be measured to the bridge center line 7 or the second base line by the following method:
1) According to the geodetic coordinates of the point to be measured monitored by the Beidou rover station 1.2 and the geodetic coordinates of the measured first baseline point 9, the second baseline point 10 and the third baseline point 11, gaussian projection coordinates of the point to be measured are calculated by using a Gaussian projection formula
0 ,/>
0 ) First base line point 9 Gaussian projection coordinates->
1 ,/>
1 ) The second base line point 10, the second base line point 10Marking device>
2 ,/>
2 ) The gaussian projection coordinate ≥ of the third baseline point 11>
3 ,/>
3 )；
2) According to the Gaussian projection coordinates of the first baseline point 9 and the second baseline point 10, a linear equation of the first baseline 8.1 in the Gaussian projection plane is calculated:
and calculating a linear equation of the second baseline 8.2 in the Gaussian projection plane according to the Gaussian projection coordinates of the first baseline point 9 and the third baseline point 11:
calculating the distance d from the point to be measured to the first base line 8.1 by using a formula of the distance from the point to the straight line in the plane 1 The distance d from the point to be measured to the second base line 8.2 2 、
If the parallel line 8.1 of the bridge center line 7 is taken as a first base line, the distance from the point to be measured to the first base line 8.1 is subtracted by the horizontal offset value d between the base line and the bridge center line 7 0 The distance from the point to be measured to the center line 7 of the bridge, namely
=/>
-d 0 (ii) a If the bridge center line 7 is taken as the first base line, then ^ is determined>
=/>
And after the transverse formwork is completed, concrete pouring can be carried out after the inner formwork and the related reinforcing members are installed.
3. The hydraulic climbing form intelligent monitoring and automatic posture adjusting method according to claim 1, characterized in that: in the step (3), if the bridge pier is a variable-section bridge pier and the side surface of the bridge pier generates a slope, inputting a design value alpha of the inclination angle of the side surface of the bridge pier into a control center.
4. The hydraulic climbing form intelligent monitoring and automatic posture adjusting method according to claim 3, characterized in that: and (3) for the bridge pier with the variable cross section, before the step (5) of transversely erecting the formwork, the method also comprises the step of adjusting the gradient of the formwork: and starting the system, sending an instruction by the control center 3, driving the hydraulic cylinder 4.1 to extend the cylinder by the hydraulic pump station 4.2, pushing the side formwork surrounding purlin 12 to rotate by taking a hinge point between the side formwork surrounding purlin and the front support 4.7 as a circle center, reading data of the inclination angle sensor 4.3 in real time by the inclination angle sensor 4.3 and transmitting the data to the control center 3, comparing the real-time size of the inclination angle with a designed inclination angle alpha by the control center, and stopping after the real-time size of the inclination angle reaches a standard value.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211481936.1A CN115928580A (en) | 2022-11-24 | 2022-11-24 | Intelligent monitoring and automatic posture adjusting method for hydraulic creeping formwork |
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|---|---|---|---|
| CN202211481936.1A CN115928580A (en) | 2022-11-24 | 2022-11-24 | Intelligent monitoring and automatic posture adjusting method for hydraulic creeping formwork |
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| CN202211481936.1A Pending CN115928580A (en) | 2022-11-24 | 2022-11-24 | Intelligent monitoring and automatic posture adjusting method for hydraulic creeping formwork |
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