WO2020147190A1 - Surveying robot-based bridge launching automatic monitoring method - Google Patents

Surveying robot-based bridge launching automatic monitoring method Download PDF

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WO2020147190A1
WO2020147190A1 PCT/CN2019/078603 CN2019078603W WO2020147190A1 WO 2020147190 A1 WO2020147190 A1 WO 2020147190A1 CN 2019078603 W CN2019078603 W CN 2019078603W WO 2020147190 A1 WO2020147190 A1 WO 2020147190A1
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robot
bridge
stakeout
monitoring
point
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PCT/CN2019/078603
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French (fr)
Chinese (zh)
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罗桑
殷俊
王新明
张征宇
周军
周锦森
黄浩
刘诗城
田佳昊
刘子铭
魏小皓
李想
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东南大学
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Priority to GB2013186.8A priority Critical patent/GB2585534B8/en
Publication of WO2020147190A1 publication Critical patent/WO2020147190A1/en

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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

Definitions

  • the invention relates to the field of measurement technology and BIM technology, in particular to an automatic monitoring method for bridge push based on a lofting robot.
  • the bridge jacking method refers to a method in which when the bridge crosses an existing line, the beam is built in sections on one side of the line, and then pushed by a jack to make it cross the line.
  • the advantage of jacking construction is that it does not require large-scale machinery, and only needs to push the built beam section along the axis through the jack cyclically. Therefore, the key to the quality control of the bridge jacking construction is to ensure that the lateral deviation of the bridge during the jacking process is within the allowable error range.
  • the traditional method of bridge push monitoring is the total station measurement method, which is divided into two types: relative method and absolute method.
  • the relative measurement method of the total station is to fix the ruler at the end of the bridge, and fix the total station in front of the bridge. The distance between the cross wire in the eyepiece of the total station and the origin of the ruler is observed in real time during the pushing process to obtain the pushing deviation.
  • Total station absolute measurement method is to set up a station in the construction coordinate system, collect the coordinates of points on the push bridge through the total station, and then compare with the theoretical coordinates to calculate the error.
  • the above two methods have their own shortcomings. Although the relative method is intuitive, the total station installation point must be at the same height as the bridge. The high-altitude observation operation is dangerous, and once the observation point is occupied, the work must be suspended; although the absolute method can measure any position Coordinates, but must be calculated and compared with theoretical points, and cannot reflect the deviation of the jacking in real time.
  • the stakeout robot is an automatic stakeout measuring instrument. It can import the BIM model and stake out the points in the BIM model into the actual construction coordinate system. At the same time, it automatically tracks the target, compares the theoretical position with the actual position, and gives the stakeout deviation .
  • the advantage of using lofting robots in bridge push monitoring over traditional monitoring methods is that the lofting robots can set up stations at any position, and once they aim at the reflective stickers, they can automatically track and observe. The operator only needs to select the stakeout process point in the handbook and observe the error value to know whether the deviation is out of limit and give an early warning.
  • the monitoring method of the lofting robot combines measurement technology and BIM technology, breaking through the limitations of the traditional total station monitoring method and improving the intelligence of monitoring. How to convert the deviation of the bridge push into the error displayed by the lofting robot measurement and realize real-time monitoring are key issues to be solved by the present invention.
  • the technical problem to be solved by the present invention is to provide an automatic monitoring method for bridge pushing based on a lofting robot, which simplifies working procedures and reduces labor costs.
  • the present invention provides an automatic monitoring method for bridge pushing based on a lofting robot, which includes the following steps:
  • the stakeout robot sets up a station on the construction coordinate system and aims at the reflective patch to stake out;
  • a monitoring point is selected on the side of the bridge.
  • step (2) import the BIM model into the lofting robot, and select a number of lofting process points according to the monitoring points.
  • the specific steps are: establishing the push BIM model of the bridge, drawing the horizontal and vertical lines of the bridge in the Bentley software, and then importing it The cross section of the bridge in the two-dimensional CAD drawing is scanned between different stake numbers to create a solid command to convert the two-dimensional cross section of the bridge into a three-dimensional BIM solid model.
  • the BIM model has the same three-dimensional size and spatial coordinate system as the construction site, which can accurately guide the bridge construction setting out; export the model to dwg format, and then open it with a CAD equipped with a TFP plug-in; according to the start and end positions of the monitoring points, The bridge pushing distance is divided into several stages. The corresponding stakeout process points are selected in CAD and exported to the stakeout robot handbook.
  • the stakeout robot sets up a station on the construction coordinate system and targets the reflective patch for stakeout.
  • the lofting robot needs to be set up in the construction coordinate system; in order to ensure the accuracy of the lofting robot measurement, a suitable observation position should be selected and the construction coordinate points should be surveyed so that the incident angle of the lofting robot observation is greater than 60°.
  • step (4) during the pushing process, observe the lateral deviation displayed by the handbook of the stakeout robot.
  • the warning is given as follows: the plane error displayed in the handbook of the stakeout robot is respectively The two values ⁇ x and ⁇ y that are perpendicular and parallel to the observation direction of the instrument host, and the direction of the pusher lateral offset ⁇ t is perpendicular to the pusher axis, so the two must be converted to compare the actual deviation with the allowable deviation ;
  • the allowable error of the lateral offset ⁇ t is L.
  • the host of the lofting robot is aimed at the reflective patch and continues to track, and the operator continuously observes the error value of the handbook;
  • the beneficial effects of the present invention are: the present invention automatically tracks the bridge pushing trajectory through the BIM model and the lofting robot, and monitors the pushing deviation; the error conversion between the lateral deviation and the lofting robot handbook solves the problem of determining the limit value; By dividing the jacking distance and marking several process points, the purpose of real-time monitoring of jacking deviation is achieved; the lofting robot is used in the bridge jacking monitoring, which realizes the integration of measurement technology and BIM technology, breaking through the traditional total station
  • the limitations of the monitoring method and the improvement of the intelligence of monitoring conform to the current development trend of "smart transportation", simplify work procedures and reduce labor costs.
  • Fig. 1 is a schematic diagram of the method of the present invention.
  • Figure 2 is a schematic diagram of the reflective patch fixed at the bridge monitoring point of the present invention.
  • Figure 3 is a schematic diagram of a bridge BIM model established by the present invention.
  • Fig. 4 is a schematic diagram of dividing stakeout process points according to monitoring points according to the present invention.
  • Figure 5 is a schematic diagram of the lofting robot of the present invention aiming at the reflective patch and automatically tracking.
  • Fig. 6 is a schematic diagram of process point observation of the lofting robot of the present invention.
  • Fig. 7 is a schematic diagram of the observation error of the lofting robot displayed by the handbook of the present invention.
  • Fig. 8 is a schematic diagram showing the transformation relationship between ⁇ x perpendicular to the observation direction and the lateral offset ⁇ t displayed by the handbook of the present invention.
  • an automatic monitoring method for bridge push based on a lofting robot includes the following steps: (1) Select a monitoring point of the bridge and fix a reflective patch at this point;
  • the stakeout robot sets up a station on the construction coordinate system and aims at the reflective patch to stake out;
  • FIG. 3 it is the established bridge BIM model.
  • the picture shows a BIM model of a 180m steel box girder superstructure.
  • the stakeout process points are divided according to the monitoring points.
  • the pushing distance of steel box girder is 70m.
  • FIG. 5 a schematic diagram of the lofting robot aiming at the reflective patch and automatically tracking.
  • aim the stakeout robot at the corresponding monitoring point select the first push process point on the handbook for stakeout, and the stakeout robot can enter the automatic tracking state.
  • FIG. 6 it is a schematic diagram of the process point observation of the stakeout robot.
  • the lowercase letters (such as a) in the figure represent n specific stakeout monitoring points divided according to the monitoring point and the pushing distance; A13 and 2 represent 2 stakeout robots
  • the coordinates of the observation point conform to the construction coordinate system, and the two stakeout robots work independently; the angle ⁇ between the connection line between the observation point and the stakeout process point and the axis is required to be greater than 60°.
  • FIG 7 it is a schematic diagram of the observation error of the stakeout robot displayed by the handbook.
  • the error interface is divided into two parts: horizontal error and elevation error. Since the vertical error is easier to control during the push process, only the horizontal error on the left is concerned; the horizontal error is divided into two values, ⁇ x and ⁇ y, and the direction of ⁇ x is parallel.
  • the observation direction of the stakeout robot that is, the connection direction between the observation point and the stakeout process point, such as the A13-a direction, the direction of ⁇ y is perpendicular to the direction of ⁇ x.
  • FIG 8 it is a schematic diagram of the conversion relationship between the ⁇ x perpendicular to the observation direction and the lateral offset ⁇ t displayed by the handbook.
  • the invention uses the BIM model and the lofting robot to automatically track the trajectory of the bridge jacking, and monitors the deviation of the jacking; through the error conversion between the lateral deviation and the lofting robot's handbook, the problem of determining the limit value is solved; by dividing the jacking distance, marking Several process points have realized the purpose of real-time monitoring of the push offset; the lofting robot is used in the bridge push monitoring, which realizes the integration of measurement technology and BIM technology, breaking through the limitations and improvements of traditional total station monitoring methods The intelligence of monitoring is in line with the current development trend of "smart transportation", which simplifies work procedures and reduces labor costs.

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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

一种基于放样机器人的桥梁顶推自动监控方法Automatic monitoring method of bridge pushing based on lofting robot 技术领域Technical field
本发明涉及测量技术和BIM技术领域，尤其是一种基于放样机器人的桥梁顶推自动监控方法。The invention relates to the field of measurement technology and BIM technology, in particular to an automatic monitoring method for bridge push based on a lofting robot.
背景技术Background technique
桥梁顶推法是指当桥梁跨越既有线路时，在该线路一侧将梁体分段建成，再用千斤顶顶推，使之穿过线路的方法。顶推施工的优点在于不需要大型机械，只需通过千斤顶循环往复地将建成的梁段沿轴线顶推即可。因此，桥梁顶推施工质量控制的关键在于保证桥梁在顶推过程中的横向偏位在允许误差范围内。The bridge jacking method refers to a method in which when the bridge crosses an existing line, the beam is built in sections on one side of the line, and then pushed by a jack to make it cross the line. The advantage of jacking construction is that it does not require large-scale machinery, and only needs to push the built beam section along the axis through the jack cyclically. Therefore, the key to the quality control of the bridge jacking construction is to ensure that the lateral deviation of the bridge during the jacking process is within the allowable error range.
传统的桥梁顶推监控方法是全站仪测量法，又分为相对法与绝对法两种。全站仪相对测量法是指在桥梁的端头固定标尺，前面固定全站仪，通过在顶推过程中实时观测全站仪目镜中的叉丝与标尺原点的距离，获得顶推偏位情况；全站仪绝对测量法是指在施工坐标系下设站，通过全站仪采集顶推桥梁上点的坐标，然后与理论坐标对比，计算出误差。上述两种方法各有不足，相对法虽然直观，但是全站仪架设点位要和桥梁同高，高空观测作业危险，而且一旦观测点被占用，工作必须暂停；绝对法虽然可以测量任意位置的坐标，但是要通过与理论点计算对比，不能实时反映顶推的偏位情况。The traditional method of bridge push monitoring is the total station measurement method, which is divided into two types: relative method and absolute method. The relative measurement method of the total station is to fix the ruler at the end of the bridge, and fix the total station in front of the bridge. The distance between the cross wire in the eyepiece of the total station and the origin of the ruler is observed in real time during the pushing process to obtain the pushing deviation. ; Total station absolute measurement method is to set up a station in the construction coordinate system, collect the coordinates of points on the push bridge through the total station, and then compare with the theoretical coordinates to calculate the error. The above two methods have their own shortcomings. Although the relative method is intuitive, the total station installation point must be at the same height as the bridge. The high-altitude observation operation is dangerous, and once the observation point is occupied, the work must be suspended; although the absolute method can measure any position Coordinates, but must be calculated and compared with theoretical points, and cannot reflect the deviation of the jacking in real time.
于是提出了一种基于放样机器人的桥梁顶推自动监控方法。放样机器人是一种自动放样的测量仪器，它能够导入BIM模型，并将BIM模型中的点放样到实际的施工坐标系中，同时自动追踪目标，将理论位置与实际位置比较，给出放样偏差。将放样机器人用于桥梁顶推监控中，相对于传统监控方法的优势在于放样机器人能够在任意位置设站，而且一旦瞄准反光贴即可自动追踪观测。操作人员只需要选择手簿中的放样过程点，并观察误差数值即可知道偏位是否超限，给出预警。放样机器人的监控方法结合了测量技术和BIM技术，突破了传统全站仪监控方法的局限性以及提升了监控的智能性。如何将桥梁顶推的偏位转换成为放样机器人测量所显示的误差以及实现实时监控是本发明要解决的关键问题。Therefore, an automatic monitoring method of bridge push based on lofting robot is proposed. The stakeout robot is an automatic stakeout measuring instrument. It can import the BIM model and stake out the points in the BIM model into the actual construction coordinate system. At the same time, it automatically tracks the target, compares the theoretical position with the actual position, and gives the stakeout deviation . The advantage of using lofting robots in bridge push monitoring over traditional monitoring methods is that the lofting robots can set up stations at any position, and once they aim at the reflective stickers, they can automatically track and observe. The operator only needs to select the stakeout process point in the handbook and observe the error value to know whether the deviation is out of limit and give an early warning. The monitoring method of the lofting robot combines measurement technology and BIM technology, breaking through the limitations of the traditional total station monitoring method and improving the intelligence of monitoring. How to convert the deviation of the bridge push into the error displayed by the lofting robot measurement and realize real-time monitoring are key issues to be solved by the present invention.
发明内容Summary of the invention
本发明所要解决的技术问题在于，提供一种基于放样机器人的桥梁顶推自动监控方法，简化了工作程序、降低了人工成本。The technical problem to be solved by the present invention is to provide an automatic monitoring method for bridge pushing based on a lofting robot, which simplifies working procedures and reduces labor costs.
为解决上述技术问题，本发明提供一种基于放样机器人的桥梁顶推自动监控方法， 包括如下步骤：In order to solve the above technical problems, the present invention provides an automatic monitoring method for bridge pushing based on a lofting robot, which includes the following steps:
(1)选取桥梁的监控点，并在该点固定反光贴片；(1) Select the monitoring point of the bridge and fix the reflective patch at this point;
(2)将BIM模型导入放样机器人中，并根据监控点选取若干放样过程点；(2) Import the BIM model into the stakeout robot, and select several stakeout process points according to the monitoring points;
(3)放样机器人在施工坐标系上设站，并瞄准反光贴片进行放样；(3) The stakeout robot sets up a station on the construction coordinate system and aims at the reflective patch to stake out;
(4)顶推过程中，观察放样机器人的手簿所显示的横向偏位，当偏位超限时发出预警。(4) During the pushing process, observe the lateral deviation displayed by the handbook of the stakeout robot, and give an early warning when the deviation exceeds the limit.
优选的，步骤(1)中，在桥梁的侧面选取监控点。Preferably, in step (1), a monitoring point is selected on the side of the bridge.
优选的，步骤(2)中，将BIM模型导入放样机器人中，并根据监控点选取若干放样过程点具体为：建立桥梁的顶推BIM模型，在Bentley软件中绘制桥梁的平纵线形，然后导入二维CAD图纸中的桥梁横断面，在不同桩号之间通过扫描创建实体的命令，将桥梁的二维横断面转化为三维BIM实体模型。BIM模型具有和施工现场一致的三维尺寸和空间坐标系，能够精确地指导桥梁施工放样；将模型导出dwg格式，然后用装有TFP插件的CAD打开；根据监控点的起始和终点位置，将桥梁顶推距离划分为若干个阶段，在CAD中选取相应的放样过程点，导出到放样机器人手簿中。Preferably, in step (2), import the BIM model into the lofting robot, and select a number of lofting process points according to the monitoring points. The specific steps are: establishing the push BIM model of the bridge, drawing the horizontal and vertical lines of the bridge in the Bentley software, and then importing it The cross section of the bridge in the two-dimensional CAD drawing is scanned between different stake numbers to create a solid command to convert the two-dimensional cross section of the bridge into a three-dimensional BIM solid model. The BIM model has the same three-dimensional size and spatial coordinate system as the construction site, which can accurately guide the bridge construction setting out; export the model to dwg format, and then open it with a CAD equipped with a TFP plug-in; according to the start and end positions of the monitoring points, The bridge pushing distance is divided into several stages. The corresponding stakeout process points are selected in CAD and exported to the stakeout robot handbook.
优选的，步骤(3)中，放样机器人在施工坐标系上设站，并瞄准反光贴片进行放样具体为：为保持BIM模型中的放样过程点和实际桥梁上的反光贴片位置能够匹配，需在施工坐标系下进行放样机器人设站；为保证放样机器人测量的准确性，应选取合适的观测位置，并勘察其施工坐标点位，使得放样机器人观测的入射角大于60°。Preferably, in step (3), the stakeout robot sets up a station on the construction coordinate system and targets the reflective patch for stakeout. Specifically, in order to keep the stakeout process points in the BIM model and the actual location of the reflective patch on the bridge matching, The lofting robot needs to be set up in the construction coordinate system; in order to ensure the accuracy of the lofting robot measurement, a suitable observation position should be selected and the construction coordinate points should be surveyed so that the incident angle of the lofting robot observation is greater than 60°.
优选的，步骤(4)中，顶推过程中，观察放样机器人的手簿所显示的横向偏位，当偏位超限时发出预警具体为：由于放样机器人手簿中所显示的平面误差分别为垂直和平行于仪器主机观测方向的两个数值Δx和Δy，而顶推横向偏位Δt的方向为垂直于顶推轴向，故须将二者进行转换，才能将实际偏差与容许偏差进行比较；Preferably, in step (4), during the pushing process, observe the lateral deviation displayed by the handbook of the stakeout robot. When the deviation exceeds the limit, the warning is given as follows: the plane error displayed in the handbook of the stakeout robot is respectively The two values Δx and Δy that are perpendicular and parallel to the observation direction of the instrument host, and the direction of the pusher lateral offset Δt is perpendicular to the pusher axis, so the two must be converted to compare the actual deviation with the allowable deviation ；
根据顶推过程的技术要求，横向偏位Δt的允许误差为L，预先计算反光贴片经过每个过程点时，手簿所显示的误差值Δx i是否满足该方向的允许误差值l i； According to the technical requirements of the pushing process, the allowable error of the lateral offset Δt is L. When the reflective patch passes through each process point, whether the error value Δx i displayed by the handbook meets the allowable error value l i of the direction is calculated in advance;
在监控过程中，将放样机器人的主机瞄准反光贴片并持续追踪，操作人员持续观察手簿的误差数值；During the monitoring process, the host of the lofting robot is aimed at the reflective patch and continues to track, and the operator continuously observes the error value of the handbook;
由于手簿中选定某个过程点i后，桥梁的反光贴在顶推工程中必然先靠近该点，然后远离该点，故当Δy i＝0时，比较∣Δx i∣与l i，若超过允许误差值则进行报警； Since a certain process point i is selected in the handbook, the reflective sticker of the bridge must first approach this point and then move away from this point in the push project. Therefore, when Δy i = 0, compare ∣Δx i ∣ with l i , If it exceeds the allowable error value, it will alarm;
当Δy i正负号改变后，在手簿中选取下一个过程点i+1，再次观测并比较Δy i+1＝0时 的∣Δx i+1∣与l i+1，重复这个过程，即可实现实时监控，直至顶推结束。 When the sign of Δy i changes, select the next process point i+1 in the handbook, observe again and compare ∣Δx i+1 ∣ and l i+1 when Δy i+1 = 0, repeat this process, Real-time monitoring can be achieved until the end of the push.
本发明的有益效果为：本发明通过BIM模型和放样机器人自动追踪桥梁顶推轨迹，监控顶推偏位情况；通过横向偏位与放样机器人手簿的误差转换，解决了界限值的确定问题；通过划分顶推距离，标记若干个过程点，实现了实时监控顶推偏位的目的；将放样机器人用于桥梁顶推监控中，实现了测量技术和BIM技术的融合，突破了传统全站仪监控方法的局限性以及提升了监控的智能性，顺应了当前“智慧交通”的发展趋势，简化了工作程序、降低了人工成本。The beneficial effects of the present invention are: the present invention automatically tracks the bridge pushing trajectory through the BIM model and the lofting robot, and monitors the pushing deviation; the error conversion between the lateral deviation and the lofting robot handbook solves the problem of determining the limit value; By dividing the jacking distance and marking several process points, the purpose of real-time monitoring of jacking deviation is achieved; the lofting robot is used in the bridge jacking monitoring, which realizes the integration of measurement technology and BIM technology, breaking through the traditional total station The limitations of the monitoring method and the improvement of the intelligence of monitoring conform to the current development trend of "smart transportation", simplify work procedures and reduce labor costs.
附图说明BRIEF DESCRIPTION
图1为本发明的方法流程示意图。Fig. 1 is a schematic diagram of the method of the present invention.
图2为本发明在桥梁监控点固定的反光贴片示意图。Figure 2 is a schematic diagram of the reflective patch fixed at the bridge monitoring point of the present invention.
图3为本发明建立的桥梁BIM模型示意图。Figure 3 is a schematic diagram of a bridge BIM model established by the present invention.
图4为本发明根据监控点划分放样过程点的示意图。Fig. 4 is a schematic diagram of dividing stakeout process points according to monitoring points according to the present invention.
图5为本发明放样机器人瞄准反光贴片并自动追踪示意图。Figure 5 is a schematic diagram of the lofting robot of the present invention aiming at the reflective patch and automatically tracking.
图6为本发明放样机器人的过程点观测示意图。Fig. 6 is a schematic diagram of process point observation of the lofting robot of the present invention.
图7为本发明手簿所显示的放样机器人观测误差示意图。Fig. 7 is a schematic diagram of the observation error of the lofting robot displayed by the handbook of the present invention.
图8为本发明手簿所显示的垂直于观测方向的Δx与和横向偏位Δt转化关系示意图。Fig. 8 is a schematic diagram showing the transformation relationship between Δx perpendicular to the observation direction and the lateral offset Δt displayed by the handbook of the present invention.
具体实施方式detailed description
如图1所示，一种基于放样机器人的桥梁顶推自动监控方法，包括如下步骤：(1)选取桥梁的监控点，并在该点固定反光贴片；As shown in Figure 1, an automatic monitoring method for bridge push based on a lofting robot includes the following steps: (1) Select a monitoring point of the bridge and fix a reflective patch at this point;
(2)将BIM模型导入放样机器人中，并根据监控点选取若干放样过程点；(2) Import the BIM model into the stakeout robot, and select several stakeout process points according to the monitoring points;
(3)放样机器人在施工坐标系上设站，并瞄准反光贴片进行放样；(3) The stakeout robot sets up a station on the construction coordinate system and aims at the reflective patch to stake out;
(4)顶推过程中，观察放样机器人的手簿所显示的横向偏位，当偏位超限时发出预警。(4) During the pushing process, observe the lateral deviation displayed by the handbook of the stakeout robot, and give an early warning when the deviation exceeds the limit.
如图2所示，在桥梁的监控点固定反光贴片。由于具体工程为直线顶推，故仅在端头和端尾的右侧挑臂下共设置两个监控点，因此假设两台放样机器人仪器对其分别进行监控；为使观测视图更加清晰，反光贴片的尺寸选定为6cm×6cm。As shown in Figure 2, fix the reflective patch at the monitoring point of the bridge. Since the specific project is a linear pusher, only two monitoring points are set under the right arm of the end and the end. Therefore, it is assumed that two lofting robot instruments monitor them separately; in order to make the observation view clearer, reflective The size of the patch is selected as 6cm×6cm.
如图3所示，为建立的桥梁BIM模型。图为长为180m的钢箱梁上部结构BIM模型。As shown in Figure 3, it is the established bridge BIM model. The picture shows a BIM model of a 180m steel box girder superstructure.
如图4所示，为根据监控点划分的放样过程点。钢箱梁顶推距离为70m，为实现实 时观测，缩小观测单元，故将放样过程点的间距选择为0.5m，即放样过程点的数量n＝D÷d＝70÷0.5＝140个。As shown in Figure 4, the stakeout process points are divided according to the monitoring points. The pushing distance of steel box girder is 70m. In order to realize real-time observation and reduce the observation unit, the spacing of stakeout process points is selected as 0.5m, that is, the number of stakeout process points is n=D÷d=70÷0.5=140.
如图5所示，为放样机器人瞄准反光贴片并自动追踪示意图。在顶推开始时，将放样机器人瞄准相应的监控点，在手簿上选择第一个顶推过程点进行放样，放样机器人即可进入自动追踪状态。As shown in Figure 5, a schematic diagram of the lofting robot aiming at the reflective patch and automatically tracking. At the beginning of the push, aim the stakeout robot at the corresponding monitoring point, select the first push process point on the handbook for stakeout, and the stakeout robot can enter the automatic tracking state.
如图6所示，为放样机器人的过程点观测示意示意图，图中小写字母(如a)表示根据监控点和顶推距离划分得到的n个具体放样监控点；A13和2代表2个放样机器人观测点，其坐标符合施工坐标系，两台放样机器人是独立工作的；观测点与放样过程点的连线与轴线的夹角α要求大于60°。As shown in Figure 6, it is a schematic diagram of the process point observation of the stakeout robot. The lowercase letters (such as a) in the figure represent n specific stakeout monitoring points divided according to the monitoring point and the pushing distance; A13 and 2 represent 2 stakeout robots The coordinates of the observation point conform to the construction coordinate system, and the two stakeout robots work independently; the angle α between the connection line between the observation point and the stakeout process point and the axis is required to be greater than 60°.
如图7所示，为手簿所显示的放样机器人观测误差示意图。误差界面分为水平误差和高程误差两个部分，由于顶推过程中竖向误差较容易控制，故只关注左侧的水平误差；水平误差分为Δx和Δy两个值，Δx的方向为平行于放样机器人观测方向，即观测点与放样过程点的连线方向，如A13-a方向，Δy的方向垂直于Δx的方向。As shown in Figure 7, it is a schematic diagram of the observation error of the stakeout robot displayed by the handbook. The error interface is divided into two parts: horizontal error and elevation error. Since the vertical error is easier to control during the push process, only the horizontal error on the left is concerned; the horizontal error is divided into two values, Δx and Δy, and the direction of Δx is parallel The observation direction of the stakeout robot, that is, the connection direction between the observation point and the stakeout process point, such as the A13-a direction, the direction of Δy is perpendicular to the direction of Δx.
如图8所示，为手簿所显示的垂直于观测方向的Δx与和横向偏位Δt转化关系示意图。根据钢箱梁顶推技术指标，偏位的容许值为轴向左右各10mm；图中所示情况为反光贴片刚好经过某个放样过程点，Δy＝0，此时Δx与Δt的夹角即为图6说明中提到的夹角α。As shown in Figure 8, it is a schematic diagram of the conversion relationship between the Δx perpendicular to the observation direction and the lateral offset Δt displayed by the handbook. According to the technical indicators of steel box girder pushing, the allowable value of deflection is 10mm on the left and right of the axis; the situation shown in the picture is that the reflective patch just passed a certain stakeout process point, Δy=0, at this time the angle between Δx and Δt That is the included angle α mentioned in the description of Figure 6.
Δy＝0时，Δx的限位值推导过程，要求横向偏位Δt<10mm，即可推导出顶推至夹角为α时，放样机器人手簿所显示的Δx容许误差值，超过该值时则发出报警；当Δy由负变正之后，即在手簿中选择下一放样过程点，继续进行上述步骤，直至监控点依次经过所有的放样观测点，顶推结束。Δy＝0时，∵Δt＝Δx*cosα，且Δt<10mm，∴Δx<10/cosα，记10/cosα为l。When Δy=0, the derivation process of the limit value of Δx requires the lateral offset Δt<10mm, and it can be deduced that the allowable error value of Δx displayed by the stakeout robot handbook when the pushing angle is α. When the value exceeds this value An alarm is issued; when Δy changes from negative to positive, the next stakeout process point is selected in the handbook, and the above steps are continued until the monitoring point passes through all stakeout observation points in turn, and the jacking ends. When Δy=0, ∵Δt=Δx*cosα, and Δt<10mm, ∴Δx<10/cosα, denote 10/cosα as l.
本发明通过BIM模型和放样机器人自动追踪桥梁顶推轨迹，监控顶推偏位情况；通过横向偏位与放样机器人手簿的误差转换，解决了界限值的确定问题；通过划分顶推距离，标记若干个过程点，实现了实时监控顶推偏位的目的；将放样机器人用于桥梁顶推监控中，实现了测量技术和BIM技术的融合，突破了传统全站仪监控方法的局限性以及提升了监控的智能性，顺应了当前“智慧交通”的发展趋势，简化了工作程序、降低了人工成本。The invention uses the BIM model and the lofting robot to automatically track the trajectory of the bridge jacking, and monitors the deviation of the jacking; through the error conversion between the lateral deviation and the lofting robot's handbook, the problem of determining the limit value is solved; by dividing the jacking distance, marking Several process points have realized the purpose of real-time monitoring of the push offset; the lofting robot is used in the bridge push monitoring, which realizes the integration of measurement technology and BIM technology, breaking through the limitations and improvements of traditional total station monitoring methods The intelligence of monitoring is in line with the current development trend of "smart transportation", which simplifies work procedures and reduces labor costs.

Claims (5)

  1. 一种基于放样机器人的桥梁顶推自动监控方法，其特征在于，包括如下步骤：A method for automatic monitoring of bridge pushing based on a lofting robot is characterized in that it comprises the following steps:
    (1)选取桥梁的监控点，并在该点固定反光贴片；(1) Select the monitoring point of the bridge and fix the reflective patch at this point;
    (2)将BIM模型导入放样机器人中，并根据监控点选取若干放样过程点；(2) Import the BIM model into the stakeout robot, and select several stakeout process points according to the monitoring points;
    (3)放样机器人在施工坐标系上设站，并瞄准反光贴片进行放样；(3) The stakeout robot sets up a station on the construction coordinate system and aims at the reflective patch to stake out;
    (4)顶推过程中，观察放样机器人的手簿所显示的横向偏位，当偏位超限时发出预警。(4) During the pushing process, observe the lateral deviation displayed by the handbook of the stakeout robot, and give an early warning when the deviation exceeds the limit.
  2. 如权利要求1所述的基于放样机器人的桥梁顶推自动监控方法，其特征在于，步骤(1)中，在桥梁的侧面选取监控点。The automatic monitoring method for bridge pushing based on a lofting robot according to claim 1, wherein in step (1), a monitoring point is selected on the side of the bridge.
  3. 如权利要求1所述的基于放样机器人的桥梁顶推自动监控方法，其特征在于，步骤(2)中，将BIM模型导入放样机器人中，并根据监控点选取若干放样过程点具体为：建立桥梁的顶推BIM模型，在Bentley软件中绘制桥梁的平纵线形，然后导入二维CAD图纸中的桥梁横断面，在不同桩号之间通过扫描创建实体的命令，将桥梁的二维横断面转化为三维BIM实体模型，BIM模型具有和施工现场一致的三维尺寸和空间坐标系；将模型导出dwg格式，然后用装有TFP插件的CAD打开；根据监控点的起始和终点位置，将桥梁顶推距离划分为若干个阶段，在CAD中选取相应的放样过程点，导出到放样机器人手簿中。The automatic monitoring method for bridge pushing based on a lofting robot according to claim 1, wherein in step (2), importing the BIM model into the lofting robot, and selecting a number of lofting process points according to the monitoring points is specifically: building a bridge Draw the horizontal and vertical line shape of the bridge in Bentley software, and then import the bridge cross section in the two-dimensional CAD drawing. Scan the command to create the entity between different pile numbers to convert the two-dimensional cross section of the bridge It is a three-dimensional BIM solid model. The BIM model has the same three-dimensional size and spatial coordinate system as the construction site; export the model to dwg format, and then open it with a CAD equipped with TFP plug-in; according to the start and end positions of the monitoring point, the bridge top The pushing distance is divided into several stages. The corresponding stakeout process points are selected in CAD and exported to the stakeout robot handbook.
  4. 如权利要求1所述的基于放样机器人的桥梁顶推自动监控方法，其特征在于，步骤(3)中，放样机器人在施工坐标系上设站，并瞄准反光贴片进行放样具体为：为保持BIM模型中的放样过程点和实际桥梁上的反光贴片位置能够匹配，需在施工坐标系下进行放样机器人设站；为保证放样机器人测量的准确性，应选取合适的观测位置，并勘察其施工坐标点位，使得放样机器人观测的入射角大于60°。The automatic monitoring method for bridge pushing based on a lofting robot according to claim 1, characterized in that, in step (3), the lofting robot sets up a station on the construction coordinate system and aims at the reflective patch for lofting specifically as follows: The stakeout process points in the BIM model can match the position of the reflective patch on the actual bridge. The stakeout robot needs to be set up in the construction coordinate system; to ensure the accuracy of the stakeout robot measurement, a suitable observation position should be selected and surveyed. The construction coordinate point position makes the incident angle observed by the lofting robot greater than 60°.
  5. 如权利要求1所述的基于放样机器人的桥梁顶推自动监控方法，其特征在于，步骤(4)中，顶推过程中，观察放样机器人的手簿所显示的横向偏位，当偏位超限时发出预警具体为：由于放样机器人手簿中所显示的平面误差分别为垂直和平行于仪器主机观测方向的两个数值Δx和Δy，而顶推横向偏位Δt的方向为垂直于顶推轴向，故须将二者进行转换，才能将实际偏差与容许偏差进行比较；The automatic monitoring method for bridge pushing based on a lofting robot according to claim 1, characterized in that, in step (4), during the pushing process, observe the lateral deviation displayed by the handbook of the lofting robot, and when the deviation exceeds The time-limited warning is specifically: because the plane error displayed in the stakeout robot's handbook is two values Δx and Δy, which are perpendicular and parallel to the observation direction of the instrument host, and the direction of the lateral offset Δt of the thrust is perpendicular to the thrust axis Therefore, the two must be converted to compare the actual deviation with the allowable deviation;
    根据顶推过程的技术要求，横向偏位Δt的允许误差为L，预先计算反光贴片经过每个过程点时，手簿所显示的误差值Δx i是否满足该方向的允许误差值l i； According to the technical requirements of the pushing process, the allowable error of the lateral offset Δt is L. When the reflective patch passes through each process point, whether the error value Δx i displayed by the handbook meets the allowable error value l i of the direction is calculated in advance;
    在监控过程中，将放样机器人的主机瞄准反光贴片并持续追踪，操作人员持续观察 手簿的误差数值；During the monitoring process, the host of the lofting robot is aimed at the reflective patch and continues to track, and the operator continuously observes the error value of the handbook;
    由于手簿中选定某个过程点i后，桥梁的反光贴在顶推工程中必然先靠近该点，然后远离该点，故当Δy i＝0时，比较∣Δx i∣与l i，若超过允许误差值则进行报警； Since a certain process point i is selected in the handbook, the reflective sticker of the bridge must first approach this point and then move away from this point in the push project. Therefore, when Δy i = 0, compare ∣Δx i ∣ with l i , If it exceeds the allowable error value, it will alarm;
    当Δy i正负号改变后，在手簿中选取下一个过程点i+1，再次观测并比较Δy i+1＝0时的∣Δx i+1∣与l i+1，重复这个过程，即可实现实时监控，直至顶推结束。 When the sign of Δy i changes, select the next process point i+1 in the handbook, observe again and compare ∣Δx i+1 ∣ and l i+1 when Δy i+1 = 0, repeat this process, Real-time monitoring can be achieved until the end of the push.
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