Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Segmental beam automatic grabbing method and system based on photogrammetry system
The invention provides a segmental beam automatic grabbing method based on a photogrammetry system. The segmental beam automatic grabbing method comprises the steps that S1, a lifting appliance is moved to the position above a segmental beam; s2, a plurality of photogrammetry units respectively obtain the center three-dimensional coordinates of the corresponding suspender and the lifting hole, and coarse positioning is carried out on the suspender according to the center three-dimensional coordinates of the suspender and the lifting hole; s3, whether coarse positioning of the suspender is completed or not is detected; s4, a plurality of photogrammetry units respectively obtain the center two-dimensional coordinates of the corresponding suspender and the lifting hole, and the suspender is precisely positioned according to the center two-dimensional coordinates of the suspender and the lifting hole; s5, whether fine positioning of the suspender is completed or not is detected; and S6, the lifting appliance is lowered to enable the lifting rod to be completely in butt joint with the lifting hole, and automatic grabbing of the segmental beam is achieved. The suspender and the lifting hole are measured by using the photogrammetry unit, and at least one coarse positioning and at least one fine positioning are respectively performed on the suspender according to the measurement result, so that the butt joint precision of the suspender and the lifting hole can be improved, the complete butt joint of the suspender and the lifting hole is realized, and the influence on the service life of the suspender and the segmental beam is avoided.
本发明提供一种基于摄影测量系统的节段梁自动抓取方法，包括：S1、移动吊具至节段梁上方；S2、多个摄影测量单元分别获取对应的吊杆和吊孔的中心三维坐标，根据吊杆和吊孔的中心三维坐标，对吊杆进行粗定位；S3、检测吊杆是否完成粗定位；S4、多个摄影测量单元分别获取对应的吊杆和吊孔的中心二维坐标，根据吊杆和吊孔的中心二维坐标，对吊杆进行精定位；S5、检测吊杆是否完成精定位；S6、下放吊具使吊杆与吊孔完全对接，实现节段梁的自动抓取。利用摄影测量单元对吊杆和吊孔进行测量，根据测量结果分别对吊杆进行至少一次粗定位和至少一次精定位，能够提高吊杆与吊孔的对接精度，从而实现吊杆与吊孔完全对接，避免影响吊杆和节段梁的使用寿命。
Segmental beam automatic grabbing method and system based on photogrammetry system
The invention provides a segmental beam automatic grabbing method based on a photogrammetry system. The segmental beam automatic grabbing method comprises the steps that S1, a lifting appliance is moved to the position above a segmental beam; s2, a plurality of photogrammetry units respectively obtain the center three-dimensional coordinates of the corresponding suspender and the lifting hole, and coarse positioning is carried out on the suspender according to the center three-dimensional coordinates of the suspender and the lifting hole; s3, whether coarse positioning of the suspender is completed or not is detected; s4, a plurality of photogrammetry units respectively obtain the center two-dimensional coordinates of the corresponding suspender and the lifting hole, and the suspender is precisely positioned according to the center two-dimensional coordinates of the suspender and the lifting hole; s5, whether fine positioning of the suspender is completed or not is detected; and S6, the lifting appliance is lowered to enable the lifting rod to be completely in butt joint with the lifting hole, and automatic grabbing of the segmental beam is achieved. The suspender and the lifting hole are measured by using the photogrammetry unit, and at least one coarse positioning and at least one fine positioning are respectively performed on the suspender according to the measurement result, so that the butt joint precision of the suspender and the lifting hole can be improved, the complete butt joint of the suspender and the lifting hole is realized, and the influence on the service life of the suspender and the segmental beam is avoided.
本发明提供一种基于摄影测量系统的节段梁自动抓取方法，包括：S1、移动吊具至节段梁上方；S2、多个摄影测量单元分别获取对应的吊杆和吊孔的中心三维坐标，根据吊杆和吊孔的中心三维坐标，对吊杆进行粗定位；S3、检测吊杆是否完成粗定位；S4、多个摄影测量单元分别获取对应的吊杆和吊孔的中心二维坐标，根据吊杆和吊孔的中心二维坐标，对吊杆进行精定位；S5、检测吊杆是否完成精定位；S6、下放吊具使吊杆与吊孔完全对接，实现节段梁的自动抓取。利用摄影测量单元对吊杆和吊孔进行测量，根据测量结果分别对吊杆进行至少一次粗定位和至少一次精定位，能够提高吊杆与吊孔的对接精度，从而实现吊杆与吊孔完全对接，避免影响吊杆和节段梁的使用寿命。
Segmental beam automatic grabbing method and system based on photogrammetry system
一种基于摄影测量系统的节段梁自动抓取方法及系统
ZHAO ZHANGYAN (Autor:in) / WANG CHENGHAO (Autor:in) / WANG GUOXIAN (Autor:in) / HE BIN (Autor:in) / ZHAO CHENGLI (Autor:in) / ZHANG CHENGHUA (Autor:in)
19.09.2023
Patent
Elektronische Ressource
Chinesisch
Quick grabbing lifting appliance for prefabricated segmental beam
| Europäisches Patentamt | 2024
Segmental beam splicing construction linear control method based on photogrammetry
| Europäisches Patentamt | 2023
Hydraulic control system on underwater hydraulic automatic grabbing beam
| Europäisches Patentamt | 2015
Mechanical automatic beam grabbing device and using method thereof
| Europäisches Patentamt | 2021