CN-121872238-B - Large-span arch steel corrugated plate hoisting alignment method and device

Abstract

The application provides a hoisting alignment method and device for a long-span arch steel corrugated plate, and relates to the field of data processing. The method comprises the steps of carrying out rigid binding on a steel corrugated plate member coordinate system, a splice edge coordinate system and a hole group coordinate system before hoisting alignment, unifying alignment references, introducing impedance controllable hoisting and reversible corridor constraint in the hoisting process, combining interface reversible fingerprints to identify constraint states in real time and avoid irreversible constraint through lateral detouring, determining a stable center gesture of an insertable window by utilizing zero-mean limited perturbation and repeated crossing sampling, and flexibly locking and combining interface fingerprint door control fastening through a flexible guide body on the basis, so that stable high-precision hoisting alignment without integral rollback is realized. By implementing the technical scheme provided by the application, the hoisting alignment accuracy of the long-span arch steel corrugated plate is improved conveniently.

Inventors

• ZHAO WENLONG
• YIN XUDONG
• WANG PENGHUI
• PANG RUYI
• FANG GUI
• LI LAIWEI
• Long Yuren
• GAO YAN
• WEI KUIFEI
• MEI JUN
• ZHANG GEPING
• KONG XIANGQUAN
• ZHU HONGTAI
• WEI ZHANHAO
• ZHOU JIANGUO
• CHEN JIAFU

Assignees

• 中铁七局集团广州工程有限公司
• 中铁七局集团有限公司
• 中国铁路郑州局集团有限公司洛阳工程指挥部
• 中铁长江交通设计集团有限公司

Dates

Publication Date

20260508

Application Date

20260318

Claims (10)

1. 1. The method for hoisting and aligning the large-span arched steel corrugated plate is characterized by comprising the following steps of: Before hoisting alignment begins, a steel corrugated plate component coordinate system, a seam edge coordinate system and a hole group coordinate system for representing the relative assembly relation of the large-span arched steel corrugated plates to be spliced are obtained, and the steel corrugated plate component coordinate system, the seam edge coordinate system and the hole group coordinate system are rigidly bound to obtain a binding result, wherein micro-vibration patches and micro-displacement targets are arranged at the seam edge of the large-span arched steel corrugated plates to be spliced in advance; in the hoisting process, configuring a hoisting system into an impedance controllable hoisting state, constructing reversible corridor constraint in the impedance controllable hoisting state, and enabling the large-span arched steel corrugated plate to be spliced to maintain reversible sliding capacity in the tangential direction of the edge coordinate system of the splice through the binding result and the reversible corridor constraint so as to enable a safe gap interval to be maintained in the normal direction of the edge coordinate system of the splice; Outputting a sweep frequency micro-vibration through the micro-vibration patch, acquiring an interface reversibility fingerprint, wherein the interface reversibility fingerprint is formed by the amplitude-frequency response and the phase response of the edge of the seam under the excitation of the sweep frequency micro-vibration, comparing the interface reversibility fingerprint with a baseline interface reversibility fingerprint, when the interface reversibility fingerprint is judged to migrate from a first constraint state to a second constraint state, driving the impedance controllable hoisting state to execute lateral detour correction so as to enable the edge of the splice to return to the first constraint state, wherein the constraint force of the first constraint state is smaller than that of the second constraint state; Under the condition of keeping the reversible corridor constraint, introducing zero-mean limited perturbation to carry out multi-pass sampling on the relative gesture of the edge of the splice, acquiring a hole group deviation mode and port dislocation distribution based on the micro-displacement target in each pass sampling, and when the hole group deviation mode is consistent and the port dislocation distribution is not overturned in the pass sampling, and the interface reversibility fingerprint maintains the first constraint state, determining the corresponding relative gesture as an insertable window center gesture, and locking the center of the zero-mean limited perturbation in a preset range of the insertable window center gesture; Based on the central gesture of the insertable window, controlling an insertion system to synchronously insert a flexible guide body to form flexible locking, monitoring the interface reversibility fingerprint in the insertion process of the flexible guide body, triggering the flexible guide body to automatically retract and execute the zero mean value limited perturbation by controlling the insertion system when the interface reversibility fingerprint migrates to the second constraint state so as to capture a new central gesture of the insertable window, wherein the flexible guide body is configured to be axially limited in force and radially retracted and has automatic retract capability, and can be inserted into a characteristic hole site with a mutual distance larger than a preset distance in a hole group; After the flexible locking is completed, the interface fingerprint gate fastening is executed, and the verification result is obtained by alternately applying pre-tightening increments and carrying out consistency verification based on the interface reversibility fingerprint, the hole group deviation mode and the port dislocation distribution after each pre-tightening increment, so that the hoisting alignment of the large-span arched steel corrugated plates to be spliced is completed under the condition of independent integral backspacing according to the verification result, the impedance controllable hoisting state and the zero mean limited perturbation.
2. 2. The method for hoisting and aligning a large span arch-shaped steel corrugated plate according to claim 1, wherein before the hoisting and aligning are started, a steel corrugated plate member coordinate system, a seam edge coordinate system and a hole group coordinate system for representing a relative assembly relation of the large span arch-shaped steel corrugated plate to be spliced are obtained, and the steel corrugated plate member coordinate system, the seam edge coordinate system and the hole group coordinate system are rigidly bound to obtain a binding result, and the method specifically comprises the following steps: the method comprises the steps of establishing a steel corrugated plate member coordinate system based on a design model and a processing entity, taking the steel corrugated plate member coordinate system as an upper reference standard, extracting a boundary curve along the edge of a splice of the large-span arched steel corrugated plate to be spliced to establish the edge coordinate system of the splice, and simultaneously establishing the hole group coordinate system based on the geometric center distribution of connecting hole sites in a splice area; Uniformly mapping the edge coordinate system of the joint and the hole group coordinate system under the steel corrugated plate component coordinate system through a geometric mapping relation to form a binding result, wherein the binding result is used for limiting the spatial positions and postures of the edge coordinate system of the joint and the hole group coordinate system relative to the steel corrugated plate component coordinate system to keep consistent and follow-up; and carrying out synchronous zero calibration on the micro-vibration patch and the micro-displacement target so as to enable the steel corrugated plate member coordinate system, the edge coordinate system of the joint and the hole group coordinate system to form a unified alignment reference state in an initial state.
3. 3. The method for hoisting and aligning the large-span arched steel corrugated plates according to claim 1, wherein in the hoisting process, a hoisting system is configured into an impedance controllable hoisting state, a reversible corridor constraint is constructed in the impedance controllable hoisting state, and the large-span arched steel corrugated plates to be spliced maintain reversible slippage capability in the tangential direction of the edge coordinate system of the splice through the binding result and the reversible corridor constraint, so that a safety gap interval is maintained in the normal direction of the edge coordinate system of the splice, and the method specifically comprises the following steps: In the hoisting process, uniformly mapping motion control coordinates of the hoisting system to the edge coordinate system of the splice, configuring the hoisting system into the impedance controllable hoisting state based on the binding result, and setting different equivalent compliance and equivalent damping for tangential direction, normal direction and transverse direction of the edge coordinate system of the splice respectively so as to enable the tangential direction to have reversible sliding capacity, the normal direction to be limited by a safety clearance interval and the transverse direction to be limited by damping constraint for inhibiting shimmy; Constructing the reversible corridor constraint under the impedance controllable hoisting state, wherein the reversible corridor constraint is formed by the safety clearance interval constraint in the normal direction and the reversible slippage interval constraint in the tangential direction; And on the basis of the micro-displacement target, the gap change in the normal direction and the relative displacement in the tangential direction are monitored in real time, and when a monitoring result deviates from the safe gap interval or the reversible sliding interval, the equivalent compliance and the equivalent damping of the impedance controllable hoisting state are dynamically adjusted, so that the to-be-spliced long-span arched steel corrugated plate keeps the tangential reversible sliding capacity in the hoisting and abutting joint process and is prevented from entering a compaction laminating state in the normal direction.
4. 4. The method for hoisting and aligning a large span arch steel corrugated plate according to claim 1, wherein the outputting of the sweep micro vibration by the micro vibration patch and the obtaining of an interface reversibility fingerprint are performed, the interface reversibility fingerprint is formed by a frequency response and a phase response of a joint edge under the excitation of the sweep micro vibration, the interface reversibility fingerprint is compared with a baseline interface reversibility fingerprint, and when the interface reversibility fingerprint is determined to migrate from a first constraint state to a second constraint state, the impedance controllable hoisting state is driven to perform lateral bypass correction so that the joint edge returns to the first constraint state, and the method specifically comprises: Outputting sweep frequency micro-vibration along the tangential direction of the edge coordinate system of the joint by controlling the micro-vibration patch, and acquiring dynamic response data of the joint edge under the excitation of the sweep frequency micro-vibration based on the micro-displacement target so as to form the reversible fingerprint of the baseline interface; outputting sweep frequency micro-vibration with the same sweep frequency range and excitation direction and acquiring the reversibility fingerprint of the interface in real time in the impedance controllable hoisting state; Comparing the interface reversibility fingerprint with the baseline interface reversibility fingerprint, and when the interface reversibility fingerprint is judged to present migration characteristics from the first constraint state to the second constraint state on response amplitude distribution or response phase continuity, driving the impedance controllable hoisting state to execute lateral bypass correction based on the binding result so as to change the contact path of the edge of the seam; And updating the interface reversibility fingerprint in the process of executing the lateral detour correction, and stopping the lateral detour correction and returning the splice edge to the interface state with the reversible slippage capacity not reduced when the interface reversibility fingerprint is restored to the first constraint state so as to inhibit the formation of the irreversible constraint state.
5. 5. The method for hoisting and aligning the large-span arched steel corrugated plate according to claim 1, wherein under the condition of keeping the reversible corridor constraint, zero-mean limited perturbation is introduced to carry out multi-pass sampling on the relative gesture of the edge of the splice, and a hole group deviation mode and a port dislocation distribution are obtained based on the micro-displacement targets in each pass sampling, when the hole group deviation mode is determined to be consistent and the port dislocation distribution is not overturned in the pass sampling, and an interface reversibility fingerprint is determined to maintain the first constraint state, the corresponding relative gesture is determined to be an insertable window center gesture, and the center of the zero-mean limited perturbation is locked in a preset range of the insertable window center gesture, and the method specifically comprises the following steps: under the condition of keeping the reversible corridor constraint, mapping the zero-mean limited perturbation to a reciprocating translation component in a tangential direction and a reciprocating yaw component around a normal axis under the edge coordinate system of the splice, so that the displacement cumulative amount and the angle cumulative amount of the zero-mean limited perturbation in each perturbation period are zero, and simultaneously, the amplitude and the speed of the zero-mean limited perturbation are limited not to break through the safety gap interval and the first constraint state; Performing multiple crossing sampling under the effect of the zero mean limited perturbation, and acquiring a hole group deviation mode and port dislocation distribution based on the micro-displacement target in each crossing sampling, wherein the hole group deviation mode is used for representing the combination characteristics of an integral translation component and an integral torsion component of the hole group, and the port dislocation distribution is used for representing the dislocation polarity and the peak position of a joint edge along an arch direction; In the multi-pass sampling, when the dominant deviation direction of the hole group deviation mode is consistent with the dominant deviation type, the port dislocation distribution is not overturned, and the interface reversibility fingerprint maintains the first constraint state, the corresponding relative posture of the edge of the splice is determined to be the center posture of the insertable window, and the center of the zero-mean limited perturbation is locked in the preset range of the center posture of the insertable window, so that the subsequent hoisting alignment operation is performed around the center posture of the insertable window under the condition of keeping the reversibility slippage capability.
6. 6. The method for hoisting and aligning the large span arch-shaped steel corrugated plate according to claim 1, wherein the step of controlling the insertion system to synchronously insert the flexible guide body to form flexible locking based on the central gesture of the insertable window and monitor the reversible fingerprint of the interface in the insertion process of the flexible guide body, when the reversible fingerprint of the interface shifts to the second constraint state, triggering the flexible guide body to automatically yield and execute the zero mean limited perturbation by controlling the insertion system so as to capture the new central gesture of the insertable window specifically comprises the steps of: Mapping a motion control reference of an insertion system to the hole group coordinate system based on the center gesture of the insertable window, and controlling the insertion system to insert the flexible guide body into the characteristic hole positions with mutual distances larger than the preset distance in the hole group in a synchronous insertion mode, wherein the flexible guide body is in a flexible working state and has an axial force limiting characteristic and a radial abdication characteristic so as to integrally translate the hole group and integrally twist the hole group in the insertion process to form flexible constraint; during the insertion process of the flexible guide body, outputting sweep micro vibration through the micro vibration patch and monitoring the interface reversible fingerprint in real time, allowing the flexible guide body to be continuously inserted to form flexible locking when the interface reversible fingerprint maintains a first constraint state, and controlling the insertion system to trigger the flexible guide body to enter an automatic back-off state to cancel the formed local locking when the interface reversible fingerprint shifts to a second constraint state; And executing zero-mean limited perturbation after the flexible guide body completes automatic yielding to capture a new insertable window center gesture, so that the flexible locking process is dynamically coupled with the interface constraint state, and the irreversible constraint state is prevented from being triggered in the insertion stage.
7. 7. The method for hoisting and aligning a large span arch steel corrugated plate according to claim 1, wherein after the flexible locking is completed, performing interface fingerprint gate-control fastening, and performing consistency verification based on the interface reversibility fingerprint, the hole group deviation mode and the port dislocation distribution after each pre-tightening increment to obtain a verification result, and completing hoisting and aligning the large span arch steel corrugated plate to be spliced under the condition of not depending on integral rollback according to the verification result, the impedance controllable hoisting state and the zero mean value limited perturbation, wherein the method comprises the following steps: after the flexible locking is completed, limiting the fastening object to a fastening hole site set bound with a hole group coordinate system, and mapping the fastening hole site set to symmetrical pre-tightening pairs symmetrically distributed around the geometric center of the hole group based on the binding result, and simultaneously keeping the flexible guide body in a flexible working state and providing positioning constraint without providing forced pulling constraint; Performing interface fingerprint gating fastening in the impedance controllable hoisting state, alternately applying pretension increments according to the symmetrical pretension pairs, and entering a steady-state maintaining stage after each pretension increment is applied, wherein the amplitude reciprocating state of zero mean limited perturbation is maintained in the steady-state maintaining stage, and interface reversibility fingerprints, hole group deviation modes and port dislocation distribution are continuously acquired; Performing consistency verification based on the interface reversibility fingerprint, the hole group deviation pattern and the port staggering distribution, and determining a verification result as passing and continuing to apply a next pre-tightening increment when the interface reversibility fingerprint maintains the first constraint state, the dominant deviation direction of the hole group deviation pattern is consistent with the dominant deviation type, and the port staggering distribution is not inverted; When the verification result indicates that the consistency verification is not passed, triggering corresponding gating rollback processing according to the type of the failure, wherein the gating rollback processing comprises rollback of the current pre-tightening increment, maintenance of the flexible guide body not to withdraw, adjustment of the damping level of the impedance controllable hoisting state and execution of zero mean limited perturbation or lateral detour correction so as to enable the interface reversibility fingerprint, the hole group deviation mode and the port dislocation distribution to return to the state meeting the consistency verification; After the consistency verification reaches the target pre-tightening state, gradually reducing the amplitude of the zero-mean limited perturbation and keeping the impedance controllable hoisting state in the target damping maintaining mode, so that the edge of the splice is smoothly transited from the reversible sliding state to the stable attaching state, and the hoisting alignment of the large-span arched steel corrugated plates to be spliced is completed under the condition of not depending on the integral rollback.
8. 8. A large span arch steel corrugated plate lifting and aligning device, which is characterized in that the device is used for executing the large span arch steel corrugated plate lifting and aligning method according to any one of claims 1 to 7, the device comprises an acquisition module and a processing module, wherein, The acquisition module is used for acquiring a steel corrugated plate member coordinate system, a seam edge coordinate system and a hole group coordinate system for representing the relative assembly relation of the large-span arched steel corrugated plates to be spliced before hoisting alignment begins, and rigidly binding the steel corrugated plate member coordinate system, the seam edge coordinate system and the hole group coordinate system to obtain a binding result, wherein a micro-vibration patch and a micro-displacement target are arranged at the seam edge of the large-span arched steel corrugated plates to be spliced in advance; The processing module is used for configuring a hoisting system into an impedance controllable hoisting state in the hoisting process, constructing reversible corridor constraint in the impedance controllable hoisting state, and enabling the large-span arched steel corrugated plates to be spliced to maintain reversible sliding capacity in the tangential direction of the edge coordinate system of the splice through the binding result and the reversible corridor constraint so as to enable the normal direction of the edge coordinate system of the splice to maintain a safe gap interval; The processing module is further used for outputting sweep frequency micro-vibration through the micro-vibration patch and obtaining an interface reversibility fingerprint, the interface reversibility fingerprint is formed by amplitude-frequency response and phase response of the edge of the splice under the excitation of the sweep frequency micro-vibration, the interface reversibility fingerprint is compared with a baseline interface reversibility fingerprint, and when the interface reversibility fingerprint is judged to migrate from a first constraint state to a second constraint state, the impedance controllable hoisting state is driven to execute lateral bypass correction so that the edge of the splice returns to the first constraint state, and the constraint force of the first constraint state is smaller than that of the second constraint state; The processing module is further configured to introduce a zero-mean limited perturbation to perform multiple crossing sampling on the relative gesture of the edge of the splice under the condition of maintaining the reversible corridor constraint, obtain a hole group deviation mode and port dislocation distribution based on the micro-displacement target in each crossing sampling, and determine the corresponding relative gesture as an insertable window center gesture and lock the center of the zero-mean limited perturbation within a preset range of the insertable window center gesture when it is determined that the hole group deviation mode is consistent and the port dislocation distribution is not inverted in the crossing sampling and the interface reversibility fingerprint maintains the first constraint state; The processing module is further configured to control the insertion system to synchronously insert the flexible guide body to form flexible locking based on the central gesture of the insertable window, monitor the reversible fingerprint of the interface during the insertion process of the flexible guide body, trigger the flexible guide body to automatically yield and execute the zero-mean limited perturbation by controlling the insertion system when the reversible fingerprint of the interface migrates to the second constraint state, so as to capture a new central gesture of the insertable window, wherein the flexible guide body is configured to be capable of automatically yielding with axial force limitation and radial yield, and can be inserted into a characteristic hole site with a mutual distance larger than a preset distance in a hole group; The processing module is further used for executing interface fingerprint gate fastening after flexible locking is completed, and obtaining a verification result by alternately applying pre-tightening increments and carrying out consistency verification based on the interface reversibility fingerprint, the hole group deviation mode and the port dislocation distribution after each pre-tightening increment, so that the hoisting alignment of the large-span arched steel corrugated plates to be spliced is completed under the condition of independent integral backspacing according to the verification result, the impedance controllable hoisting state and the zero mean limited perturbation.
9. 9. An electronic device comprising a processor, a memory, a user interface, and a network interface, the memory for storing instructions, the user interface and the network interface each for communicating to other devices, the processor for executing the instructions stored in the memory to cause the electronic device to perform the method of any one of claims 1-7.
10. 10. A non-transitory computer readable storage medium storing instructions which, when executed, perform the method of any one of claims 1 to 7.

Description

Large-span arch steel corrugated plate hoisting alignment method and device Technical Field The application relates to the technical field of data processing, in particular to a hoisting alignment method and device for a long-span arch steel corrugated plate. Background Along with the wide application of the assembled structure, the assembled construction and the large-span space structure in traffic, municipal and underground engineering, the large-span arch steel corrugated plate is largely used for engineering scenes such as tunnel lining, culvert, arch bridge and underground passage due to light weight, good ductility and high construction speed, and the corresponding hoisting alignment operation is gradually changed from the assembly of small and medium-sized components to the complex space assembly process relying on the multi-degree-of-freedom cooperative control. Under such engineering background, the steel corrugated plate member generally has the characteristics of large scale, strong flexibility, continuous seam and dense hole groups, and the hoisting process needs to finish high-precision alignment in a limited operation space, and meanwhile, the construction safety, the assembly efficiency and the structural stress rationality are also considered. However, the existing hoisting alignment method still uses an empirical geometric alignment and gradual fastening mode, the hoisting alignment is regarded as a continuous process capable of being adjusted repeatedly, and a system modeling and process control means are lacked for a feasible section, constraint state evolution and a degree of freedom reduction mechanism of an assembly path, so that alignment behaviors are highly sensitive to postures, displacement, contact states and fastening sequences under the conditions of large spans, thin walls and flexible components, and the uncertainty of the construction process is obviously increased. Under the complex background, the irreversible problem of the assembly path jointly induced by friction, local contact, temporary constraint and initial fastening in the hoisting alignment process is gradually revealed, and finally the accuracy of the hoisting alignment of the large-span arched steel corrugated plate is obviously reduced. Therefore, a hoisting alignment method and a hoisting alignment device for a long-span arch steel corrugated plate are urgently needed. Disclosure of Invention The application provides a hoisting alignment method and device for a large-span arch-shaped steel corrugated plate, which are convenient for improving the accuracy of hoisting alignment of the large-span arch-shaped steel corrugated plate. The application provides a hoisting alignment method of a large-span arch-shaped steel corrugated plate, which comprises the steps of acquiring a steel corrugated plate member coordinate system, a seam edge coordinate system and a hole group coordinate system for representing the relative assembly relation of the large-span arch-shaped steel corrugated plate to be spliced before the hoisting alignment is started, and integrating the steel corrugated plate member coordinate system, The edge coordinate system of the joint and the hole group coordinate system are rigidly bound to obtain a binding result, wherein micro-vibration patches and micro-displacement targets are arranged in advance at the edge of the joint of the large-span arched steel corrugated plates to be spliced; in the hoisting process, configuring a hoisting system into an impedance controllable hoisting state, constructing reversible corridor constraint in the impedance controllable hoisting state, and enabling the large-span arched steel corrugated plate to be spliced to maintain reversible sliding capacity in the tangential direction of the edge coordinate system of the splice through the binding result and the reversible corridor constraint so as to enable a safe gap interval to be maintained in the normal direction of the edge coordinate system of the splice; outputting a sweep micro-vibration through the micro-vibration patch and obtaining an interface reversibility fingerprint, wherein the interface reversibility fingerprint is formed by the amplitude-frequency response and the phase response of the edge of the splice joint under the excitation of the sweep micro-vibration, the interface reversibility fingerprint is compared with a baseline interface reversibility fingerprint, when the interface reversibility fingerprint is judged to migrate from a first constraint state to a second constraint state, the impedance controllable hoisting state is driven to execute lateral bypass correction so as to enable the edge of the splice joint to return to the first constraint state, the constraint force of the first constraint state is smaller than the constraint force of the second constraint state, under the condition of keeping the constraint of the reversible corridor, zero-mean limited perturbation is introduced to car