GB2585534A - Surveying robot-based bridge launching automatic monitoring method - Google Patents

Surveying robot-based bridge launching automatic monitoring method Download PDF

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Publication number
GB2585534A
GB2585534A GB2013186.8A GB202013186A GB2585534A GB 2585534 A GB2585534 A GB 2585534A GB 202013186 A GB202013186 A GB 202013186A GB 2585534 A GB2585534 A GB 2585534A
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bridge
total station
pushing
robotic total
monitoring
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GB202013186D0 (en
GB2585534B (en
GB2585534B8 (en
Inventor
Luo Sang
Yin Jun
Wang Xinming
Zhang Zhengyu
Zhou Jun
Zhou Jinsen
Huang Hao
Liu Shicheng
Tian Jiahao
Liu Ziming
Wei Xiaohao
Li Xiang
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Southwest University
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Southwest University
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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
    • E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
    • E01D21/06—Methods or apparatus specially adapted for erecting or assembling bridges by translational movement of the bridge or bridge sections
    • E01D21/065—Incremental launching
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
    • E01D21/06—Methods or apparatus specially adapted for erecting or assembling bridges by translational movement of the bridge or bridge sections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G01C1/02—Theodolites
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/02—Means for marking measuring points
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Theoretical Computer Science (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

Disclosed in the present invention is a surveying robot-based bridge launching automatic monitoring method, comprising the following steps: selecting a bridge monitoring point, and fixing a reflective sheet to said point; importing a BIM model into a surveying robot, and selecting multiple surveying process points according to the monitoring point; the surveying robot creating a station on a construction coordinate system, and sighting the reflective sheet and performing surveying; during a launching process, monitoring a horizontal position change displayed on a notebook of the surveying robot, and when the position change exceeds a limit, issuing a warning. The present invention monitors a launching position change situation by means of a BIM model and a surveying robot automatically tracking a bridge launching track; the problem of limit value determination is solved by means of horizontal position change and surveying robot notebook error conversion; the goal of real-time monitoring of launching position change is realized by means of dividing a launching distance, and labeling multiple process points; using a surveying robot in bridge launching monitoring realizes integration of measurement technology and BIM technology, simplifying a work process and lowering labor costs.

Description

ROBOTIC TOTAL STATION-BASED AUTOMATIC MONITORING METHOD FOR BRIDGE PUSHING
TECHNICAL FIELD
The present invention relates to the fields of measurement technology and BIM technology, in particular to a robotic total station-based automatic monitoring method for bridge pushing.
BACKGROUND
A bridge pushing construction method refers to a method that when a bridge has to span an existing route, a bridge deck is made in segments on one side of the route and then the segments are pushed through the route with jacks. The advantage of bridge pushing construction is that large machinery is not needed, as long as the jacks cyclically push the bridge deck segments along an axis. Therefore, the key of quality control in bridge pushing lies in ensuring that a lateral offset of the bridge in a pushing process is within an allowable error range.
A conventional monitoring method for bridge pushing is a total station measurement method, which is classified into a relative measurement method with total station and an absolute measurement method with total station. The relative measurement method with total station refers to that with a scale fixed at one end of a bridge and a total station fixed ahead, a pushing offset situation is obtained by observing a distance between a cross hair in the objective lens of the total station and an original point of the scale in real time in the pushing process, and the absolute measurement method with total station refers to that line orientation is achieved under a construction coordinate system, and coordinates of points on a pushed bridge are acquired by a total station and then compared with theoretical coordinates to calculate errors. The aforementioned two methods both have their defects. Although the relative measurement method with total station provides direct perception, the position where the total station is set up has to be as high as the bridge and thus requires dangerous high-altitude observation, and the operation has to be suspended once the observation point is occupied. Although the absolute measurement method with total station can measure the coordinates of any position, a calculative comparison with theoretical points is a necessity, failing to reflect the pushing offset in real time.
Therefore, a robotic total station-based automatic monitoring method for bridge pushing is proposed. A robotic total station (RTS) is an automatic setting out measurement instrument into which a BIM model can be imported and which can then set out points in the BIM model -t -into an actual construction coordinate system, automatically track a target and compare a theoretical position with an actual position to give a setting out offset. Compared with the conventional monitoring methods, the use of the robotic total station in the monitoring of bridge pushing has the advantage that the robotic total station can be set at any position and can perform automatic tracking and observation once it aims at a reflective patch. An operator can know whether an offset exceeds a limit and issue an alarm if it does, as long as the operator selects setting out process points in a data recorder and observes the error value. The robotic total station-based monitoring method integrates the measurement technology and the BIM technology, breaks through the limitations of the conventional total station monitoring methods and improves the intelligence of monitoring. How to convert an offset in bridge pushing into an error shown in the measurements acquired by the robotic total station and realize real-time monitoring are key problems to be solved by the present invention.
SUMMARY
The technical problem to be solved by the present invention is to provide a robotic total station-based automatic monitoring method for bridge pushing, which simplifies work procedure and reduces labor costs.
In order to solve the aforementioned technical problem, the present invention provides a robotic total station-based automatic monitoring method for bridge pushing, which comprises the following steps: (1) selecting a monitoring point of a bridge, and fixing a reflective patch at the monitoring point; (2) importing a BIM model into a robotic total station, and selecting several setting out process points according to the monitoring point; (3) the robotic total station achieving line orientation on a construction coordinate system and aiming at the reflective patch for setting out; and (4) in a pushing process, observing a lateral offset displayed in a data recorder of the robotic total station, and issuing an alarm when the offset exceeds a limit.
Preferably, in step (t), the monitoring point is selected on the side of the bridge.
Preferably, in step (2), importing a BIM model into a robotic total station and selecting several setting out process points according to the monitoring point is specifically as follows: creating a pushing BIM model for the bridge and drawing alignments of the bridge in Bentley BIM software; importing cross sections of the bridge of CAD drawing and converting the two-dimensional cross sections of the bridge into a three-dimensional BIM entity model by a command of scanning and creating an entity among different pier numbers, the BIM model having a three-dimensional size and a spatial coordinate system consistent with those in a construction site, thus being able to precisely guide the setting-out survey of bridge construction; exporting the BIM model in a dwg model and then opening the model using CAD with a TFP plug-in; and dividing a bridge pushing distance into several segments according to an initial position and a final position of the monitoring point, and selecting corresponding setting out process points in the CAD and exporting them into a data recorder of the robotic total station.
Preferably, in step (3), the robotic total station achieving line orientation on a construction coordinate system and aiming at the reflective patch for setting out is specifically as follows: in order to keep the setting out process points in the BIM model matched with the position of the reflective patch on an actual bridge, the robotic total station needs to achieve line orientation under a construction coordinate system; and in order to ensure the accuracy of measurement by the robotic total station, an appropriate observation position should be selected, and its construction coordinate point is surveyed, so that an angle of incidence for observation by the robotic total station is greater than 60°.
Preferably, in step (4), in a pushing process observing a lateral offset displayed in a data recorder of the robotic total station and issuing an alarm when the offset exceeds a limit is specifically as follows: because planar errors displayed in the data recorder of the robotic total station are different values as Ax and Ay respectively perpendicular to and parallel to an observation direction while a direction of a lateral offset of pushing At is perpendicular to an axial direction of pushing, the conversion from the lateral offset to the planar errors is required to compare an actual deviation with an allowable deviation; according to technical requirements for the pushing process, an allowable error of the lateral offset At is L, and it should be calculated in advance to see whether an error value Axi is within an allowable error li in that direction, produced when the reflective patch passes by every single process point, in the process of monitoring, the objective lens of the robotic total station is aimed at the reflective patch and keeps tracking, and an operator keeps observing error values in the data recorder; the reflective patch of the bridge inevitably first gets close to a process point i and then gets away from it in the pushing process after the process point i is selected in the data recorder, and therefore an alarm will be issued if Ax, exceeds the allowable error value li when Ay, = 0; and after a plus-minus sign of Ay, gets changed, a next process point i+1 is selected in the data recorder and I Ax;-i and 1,-I when Ay,-,1 = 0 are observed and compared with each other again, and this process is repeated to realize real-time monitoring until pushing ends.
The beneficial effects of the present invention are as follows: the present invention automatically tracks a bridge pushing trajectory by means of the BIM model and the robotic total station, and monitors pushing offset situation; the problem of determining a limit value is solved by means of error conversion of the lateral offset and the data recorder of the robotic total station; several process points are marked by means of dividing a pushing distance, thereby achieving real-time monitoring of the pushing offset; and the use of the robotic total station in bridge pushing monitoring achieves integration of measurement technology and BIM technology, breaks through the limitations of the conventional total station monitoring methods and improves the intelligence of monitoring, conforms to the current development trend of "intelligent transportation", and simplifies work procedure and reduces labor costs.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic diagram of a procedure of a method according to the present invention.
FIG. 2 is a schematic diagram of a reflective patch fixed at a monitoring point of a bridge according to the present invention.
FIG. 3 is a schematic diagram of a bridge BIM model created according to the present invention.
FIG. 4 is a schematic diagram of setting out process points divided according to a monitoring point according to the present invention.
FIG. 5 is a schematic diagram of a robotic total station aiming at the reflective patch and automatically tracking according to the present invention.
FIG. 6 is a schematic diagram of process point observation by the robotic total station according to the present invention.
FIG. 7 is a schematic diagram of errors observed by the robotic total station and displayed in a data recorder according to the present invention.
FIG. 8 is a schematic diagram of conversion relationship of Ax perpendicular to an observation direction and displayed in the data recorder with a lateral offset At according to the present invention.
DETAILED DESCRIPTION
As shown in FIG. 1, a robotic total station-based automatic monitoring method for bridge pushing comprises the following steps: (1) selecting a monitoring point of a bridge, and fixing a reflective patch at the monitoring point; (2) importing a BIM model into a robotic total station, and selecting several setting out process points according to the monitoring point; (3) the robotic total station achieving line orientation on a construction coordinate system and aiming at the reflective patch for setting out; (4) in a pushing process, observing a lateral offset displayed in a data recorder of the robotic total station, and issuing an alarm when the offset exceeds a limit.
As shown in FIG. 2, the reflective patch is fixed at the monitoring point of the bridge. Because specific construction is linear pushing, only two monitoring points are arranged under right cantilevers at the head and the tail, and therefore it is assumed that two robotic total station instruments respectively monitor the monitoring points. To make observation views clearer, the reflective patch is sized as 6 cm x6 cm.
FIG. 3 shows a created bridge BIM model. The drawing is a BIM model of an upper structure of a 180 m long steel box girder.
FIG. 4 shows setting out process points divided according to a monitoring point. The pushing distance of the steel box girder is 70 m, and in order to realize real-time observation and reduce the observation unit, the distance between the setting out process points is selected as 0.5 m, that is, the number of the setting out process points is n = D d = 70 ± 0.5 = 140.
FIG. 5 shows a schematic diagram of a robotic total station aiming at the reflective patch and automatically tracking. At the beginning of pushing, the robotic total stations are aimed at the corresponding monitoring points, and the first pushing process point is selected on the data recorder for setting out and then the robotic total stations can enter an automatic tracking state.
FIG. 6 shows a schematic diagram of process point observation by the robotic total station. In the drawing, the lowercase letters (such as a) represent n specific setting out monitoring points divided according to the monitoring point and the pushing distance; A13 and 2 represent observation points of two robotic total stations, the coordinates of which conform to a construction coordinate system, and the two robotic total stations operate independently; the observation points and the setting out process points are connected into lines, and the angle a between the lines and the axis is required to be greater than 60°.
FIG. 7 shows a schematic diagram of errors observed by the robotic total station and displayed in a data recorder. An error interface is divided into two parts, i.e., horizontal error and vertical error, and since the vertical error can be easily controlled in the pushing process, only the horizontal error on the left is concerned. The horizontal error is divided into two values, i.e., AX and Ay, the direction of Ax being parallel to the observation direction of the robotic total station (i.e., the direction of a connecting line between an observation point and a setting out process point, such as the A13-a direction) and the direction of Ay being perpendicular to the direction of Ax.
FIG. 8 shows a schematic diagram of conversion relationship of Ax perpendicular to an observation direction and displayed in the data recorder with a lateral offset At. According to technical indexes of steel box girder pushing, the allowable value of an offset is 10 mm each in the direction of axially leftward and axially rightward. The case shown in the drawing is that a reflective patch just passes through one setting out process point and Ay = 0, and at this point, the included angle between Ax and At is the included angle a mentioned in the description of FIG. 6.
It is required that the lateral offset At < 10mm. When Ay = 0, it could be inferred that if the allowable error value of Ax, displayed in the data recorder of the robotic total station, exceeds this value of 10mm, an alarm will be issued when the pushing process achieves the value of a. After Ay is changed from negative to positive, a next setting out process point is selected in the data recorder, and the aforementioned steps continue to be carried out until the monitoring points sequentially pass through all the setting out observation points and the pushing ends. When Ay = 0, v At = Ax * cosa, and At < 10 mm, Ax < 10 I cosa, where 10/cosa is recorded as 1.
The present invention automatically tracks a bridge pushing trajectory by means of the BIM model and the robotic total station, and monitors pushing offset situation; the problem of determining a limit value is solved by means of error conversion of the lateral offset and the data recorder of the robotic total station; several process points are marked by means of dividing a pushing distance, thereby achieving real-time monitoring of the pushing offset; and the use of the robotic total station in bridge pushing monitoring achieves integration of measurement technology and BIM technology, breaks through the limitations of the conventional total station monitoring methods and improves the intelligence of monitoring, conforms to the current development trend of "intelligent transportation", and simplifies work procedure and reduces labor costs.

Claims (5)

  1. CLAIMS1. A robotic total station-based automatic monitoring method for bridge pushing, wherein the method comprises the following steps: (1) selecting a monitoring point of a bridge, and fixing a reflective patch at the monitoring point; (2) importing a BIM model into a robotic total station, and selecting several setting out process points according to the monitoring point; (3) the robotic total station achieving line orientation on a construction coordinate system and aiming at the reflective patch for setting out; and (4) in a pushing process, observing a lateral offset displayed in a data recorder of the robotic total station, and issuing an alarm when the offset exceeds a limit.
  2. 2. The robotic total station-based automatic monitoring method for bridge pushing according to claim 1, wherein in step (1), the monitoring point is selected on the side of the bridge.
  3. 3. The robotic total station-based automatic monitoring method for bridge pushing according to claim 1, wherein in step (2), importing a BIM model into a robotic total station and selecting several setting out process points according to the monitoring point is specifically as follows: creating a pushing BIM model for the bridge and drawing alignments of the bridge in Bentley BIM software; importing cross sections of the bridge of CAD drawing and converting the two-dimensional cross sections of the bridge into a three-dimensional BIM entity model by a command of scanning and creating an entity among different pier numbers, the BIM model having a three-dimensional size and a spatial coordinate system consistent with those in a construction site; exporting the model in a dwg format and then opening the model using CAD with a Trimble Field Link (TFP) plug-in; and dividing a bridge pushing distance into several segments according to an initial position and a final position of the monitoring point, and selecting corresponding setting out process points in the CAD and exporting them into a data recorder of the robotic total station.
  4. 4. The robotic total station-based automatic monitoring method for bridge pushing -8 -according to claim 1, wherein in step (3), the robotic total station achieving line orientation on a construction coordinate system and aiming at the reflective patch for setting out is specifically as follows: in order to keep the setting out process points in the BIM model matched with the position of the reflective patch on an actual bridge, the robotic total station needs to achieve line orientation under a construction coordinate system; and in order to ensure the accuracy of measurement by the robotic total station, an appropriate observation position should be selected and its construction coordinate point is surveyed, so that an angle of incidence for observation by the robotic total station is greater than 60°.
  5. 5. The robotic total station-based automatic monitoring method for bridge pushing according to claim 1, wherein in step (4), in a pushing process observing a lateral offset displayed in a data recorder of the robotic total station and issuing an alarm when the offset exceeds a limit is specifically as follows: because planar errors displayed in the data recorder of the robotic total station are different values as Ax and Ay respectively perpendicular to and parallel to an observation direction while a direction of a lateral offset of pushing At is perpendicular to an axial direction of pushing, the conversion from the lateral offset to the planar errors is required to compare an actual deviation with an allowable deviation; according to technical requirements for the pushing process, an allowable error of the lateral offset At is L, and it should be calculated in advance to see whether an error value Axi is within an allowable error li in that direction, produced when the reflective patch passes by every single process point; in the process of monitoring, the objective lens of the robotic total station is aimed at the reflective patch and keeps tracking, and an operator keeps observing error values in the data recorder; the reflective patch of the bridge inevitably first gets close to a process point i and then gets away from it in the pushing process after the process point i is selected in the data recorder, and therefore an alarm will be issued if Axi I exceeds the allowable error value Ii when Ay, = 0; and after a plus-minus sign of Ay, gets changed, a next process point i+1 is selected in the data recorder and I Ax,-1 and li-i when Ayi+1 = 0 are observed and compared with each other again, and this process is repeated to realize real-time monitoring until pushing ends.
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Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910034124.4A CN109826108B (en) 2019-01-15 2019-01-15 Automatic bridge incremental launching monitoring method based on lofting robot
PCT/CN2019/078603 WO2020147190A1 (en) 2019-01-15 2019-03-19 Surveying robot-based bridge launching automatic monitoring method

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CN109826108B (en) 2020-08-11
WO2020147376A1 (en) 2020-07-23
GB2585534B8 (en) 2021-12-15
CN109826108A (en) 2019-05-31

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