CN-122020777-A - Digital construction method and system for special-shaped steel cross beam based on virtual assembly

CN122020777ACN 122020777 ACN122020777 ACN 122020777ACN-122020777-A

Abstract

The invention discloses a digital construction method and a digital construction system for a special-shaped steel beam based on virtual assembly, wherein the method comprises the steps that after a processing plant completes the manufacture of a steel beam section, an integral and detail point cloud model is obtained and fused through multi-scale three-dimensional laser scanning, the digital assembly is realized through an improved ICP method, and deviation is compared with a design model and adjusted; the method comprises the steps of casting a main tower to the design elevation of an anchoring section, lifting the anchoring section to be in place, continuing casting the main tower after positioning and fixing by a laser tracker, splicing steel beam sections by a hydraulic synchronous jacking system on site, performing multi-scale three-dimensional laser scanning and rechecking to be qualified, entering hoisting preparation, scanning and collecting relevant point clouds and coordinate data, fusing and registering to construct a construction scene digital twin model, simulating hoisting to optimize parameters and avoid risks, selecting adaptive hoisting equipment and corresponding hoisting tools, deploying a monitoring system comprising detection equipment and targets, guiding hoisting in real time, and adjusting to be fixed after matching a butt joint. The invention improves the construction precision and safety.

Inventors

ZHAO XUNGANG
SHI JING
YAO JINXIN
WANG WEI
CHENG KANGNING
CHEN ZHIFEI
ZHANG GAOWEI
YU SHUO
CHEN XIN
QU JINYU
ZHONG JIWEI
HUANG XIAOHANG
SUN WENSHU
LI YI
CHEN YUFENG
Zheng Dangxin
FU BAILIN

Assignees

中铁大桥局集团有限公司
中铁大桥科学研究院有限公司
中铁桥研科技有限公司
中国建筑第四工程局有限公司

Dates

Publication Date: 20260512
Application Date: 20251226

Claims (10)

1. A digital construction method of a special-shaped steel beam based on virtual assembly is characterized by comprising the following steps: s1, after manufacturing each section of a steel beam in a processing plant, acquiring an integral and detail point cloud model through multi-scale three-dimensional laser scanning, and fusing to generate a whole point cloud model of each section; S2, after the main tower is poured to the designed elevation of the anchoring section, the anchoring section is lifted to the installation position, positioning is completed through a laser tracker, and the main tower is continuously poured after fixing; s3, assembling the steel beam sections by adopting a hydraulic synchronous jacking system on site, performing multi-scale three-dimensional laser scanning reinspection, and entering hoisting preparation after the deviation is qualified; s4, acquiring a related point cloud model and coordinate data through scanning, and constructing a construction scene digital twin model through fusion registration, wherein a steel beam hoisting process is simulated in the model, so that hoisting parameters are optimized, and potential risks are avoided; s5, the selected adaptive hoisting equipment is provided with a corresponding lifting appliance, a monitoring system comprising detection equipment and a target is deployed, the steel cross beam is guided to hoist in real time through the system, and the steel cross beam is adjusted to be matched with the interface to finish fixation.
2. The digital construction method of the special-shaped steel cross beam based on virtual assembly according to claim 1, wherein the improved ICP method in S1 is specifically as follows: let the point cloud set acquired by multi-scale scanning be For any point Define it as at least the center and radius of sphere And comprises a neighborhood of at least 15 neighborhood points , Representing the total number of points in the point cloud set, calculating the neighborhood center point Wherein For the number of neighborhood points, constructing a neighborhood covariance matrix: , Wherein, the Representing a neighborhood The first of (3) A point, which is a point in three-dimensional space, in the form of ; Representing a neighborhood Center points of all points in the inner part; For a pair of Decomposing the characteristic value to obtain Definition of curvature , Three characteristic values obtained by decomposing characteristic values of a point cloud neighborhood covariance matrix are set, and curvature threshold values matched with geometric characteristics of key parts of the steel cross beam are set Screening out Point composition feature point set of (a) : , Wherein, the Representation points Is a curvature of (2); Theoretical feature point set of design model The method comprises the following steps: , Wherein, the Representing the first in the collection The number of design points is a number of design points, Representing the total number of points in the design feature point set; Two points 、 The inter-Euclidean distance is: , For a pair of And Respectively constructing 4-neighbor graphs, and defining topological similarity : , Wherein, the A set of point cloud feature points is represented, Representing a collection The first of (3) Feature points; Representation of The first in the neighborhood A plurality of points; to respectively represent the design model and the design model Corresponding theoretical design points; Is that Is the number of points of (a); iteratively optimizing matching point pairs to Obtaining an initial rotation matrix And translation vector I.e. initial transformation matrix ; The fine registration stage is based on the initial transformation matrix, constructs an objective function and adopts a quasi-Newton method to solve the objective function to output a final transformation matrix And (3) digital assembly is completed, and the out-of-tolerance part is adjusted according to the deviation result.
3. The digital construction method of the special-shaped steel cross beam based on virtual assembly according to claim 2, wherein the process of constructing the objective function and solving the objective function by adopting the quasi-Newton method is as follows: The objective function is constructed as follows: , Wherein, the A 3 x 3 rotation matrix; Is a 3 x 1 translation vector; representing point cloud feature points Transformed into Then, corresponding to the design point Is the euclidean distance of (2); Representing a design model And (3) with Is the euclidean distance of (2); The topological consistency penalty term is introduced if the difference between the average distance of the neighborhood after transformation and the topological distance of the design end is positive, so as to ensure that the topological structure of the point cloud after registration is consistent with the design model; the number of neighborhood points is consistent with that of the feature extraction stage; Solving the objective function by adopting a quasi-Newton method, and changing the values of the objective function before and after iteration Mean registration deviation of scan point cloud from design model Maximum registration deviation of key point position Iterative convergence is performed; Wherein, the Representing the difference in objective function values for two adjacent iterations, Is the first The objective function value of the next iteration, Is the first Objective function values of the secondary iterations; representing point cloud feature point sets Transformed and then corresponding to the design point An average euclidean distance of (a); Is a collection Is a radix of (2); is the transformed distance of a single feature point; representing point cloud feature point sets After transformation, the maximum Euclidean distance from the corresponding design point.
4. The digital construction method of the special-shaped steel cross beam based on virtual assembly of claim 1, wherein the measurement precision of the laser tracker in the step S2 is not lower than +/-0.1 mm, and the deviation of the coordinates of the key point of the anchoring section and the design value is controlled within 1 mm.
5. The digital construction method of the special-shaped steel beam based on virtual assembly according to claim 4, wherein the key points comprise a flange plate bolt hole center for butt joint of the anchoring section and the middle section of the steel beam, a circumferential characteristic inflection point of a butt joint end surface, a stressed main rib anchoring end point for embedding the anchoring section into a concrete main tower part, and a symmetrical datum point corresponding to a main tower design axis.
6. The digital construction method of the special-shaped steel cross beam based on virtual assembly according to claim 1, wherein the fusion registration in the step S4 adopts a registration method based on an FPFH feature descriptor and a RANSAC, and a construction scene digital twin model under a unified coordinate system is constructed, specifically as follows: setting a construction scene multi-source point cloud comprising steel beam segment scanning point cloud as The point cloud of the concrete surface of the main tower is The construction site environment point cloud is Firstly, uniformly converting the construction coordinate system into a main tower construction coordinate system, wherein the construction coordinate system takes a central point of a foundation of the main tower as an origin, and the vertical direction is a Z axis; For any point Defining a search radius matching the critical-portion size Determining a set of neighborhood points Calculation points With its neighborhood point Unit normal vector of (2) 、 ; Based on the angle of normal vector Included angle of point-to-point connection line and normal vector Normal vector rotation angle Constructing a three-dimensional histogram, wherein, , Will (i) be 、、 Respectively divided into equal interval sections to generate FPFH characteristic vectors , wherein, The number of the point pairs in the corresponding interval is the ratio; Taking a steel beam design theoretical point cloud as a reference, solving a transformation matrix through feature similarity screening and topology consistency optimization matching pairs, and realizing multi-source points Yun Peizhun through iterative screening of an optimal registration matrix; Thereby calculating registration errors for all matched pairs , wherein, The optimal rotation matrix is represented and, The optimal translation vector is represented as such, Representing corresponding points in the meter model; Requiring average error Maximum error All cooperate with the positioning precision of the digital assembly and anchor country section to pass each source point cloud through the optimal registration matrix Transforming to a unified coordinate system, and fusing to generate a construction scene complete point cloud : , And constructing a digital twin model comprising a steel beam, a main tower and a construction environment by combining the topological structure of the design model.
7. The digital construction method of the special-shaped steel cross beam based on virtual assembly of claim 6, wherein the specific process of the multi-source point cloud registration is as follows: Theoretical point cloud under unified coordinate system by using steel beam design model Defining feature similarity as a benchmark : , Wherein, the The actual point of the point cloud; In order to design the theoretical point of the model, ; Representing point cloud points Is a feature vector of (1); Representing point cloud points Is a feature vector of (1); Representation of A norm; By passing through Norm screening satisfies similarity The required point pair is taken as an initial matching pair , wherein, As a set of actual point clouds, A similarity threshold is preset; calculating any two pairs of matching points 、 Euclidean distance of (c): , , Defining topology consistency metrics : , Wherein, the Is a point in the actual point cloud and, Is the theoretical point corresponding to the design model; Representing a set of matching point pairs Element number of (2) to preserve topology consistency The matching pairs reaching the standard obtain an optimized matching set ; Based on Randomly selecting at least 3 non-collinear matching pairs, and setting a transformation matrix , wherein, Is that The matrix is rotated so that the matrix is rotated, Is that Translation vector, satisfy Solving by least square method , wherein, For the orthogonal matrix obtained by singular value decomposition, , 、 Respectively selecting a center point of the point and a center point of the corresponding design point; setting an interior point judgment threshold value cooperated with the early-stage precision requirement Statistical satisfaction of Number of interior points of (2) According to the iteration times The iteration is performed, wherein, In order for the confidence level to be desirable, Selecting the transformation matrix with the largest number of interior points for presetting the interior point proportion As the optimal registration matrix.
8. The digital construction method and system for the special-shaped steel cross beam based on virtual assembly, which are disclosed in claim 1, are characterized in that the hoisting equipment in the step S5 is provided with a stable hoisting tool with an angle adjusting function, the monitoring system adopts a thunder fusion system, and the real-time data updating frequency is not lower than 10Hz.
9. Digital construction system of dysmorphism steel crossbeam based on virtual assembly, its characterized in that includes: The steel beam segment processing detection and adjustment unit is used for acquiring an integral and detailed point cloud model through multi-scale three-dimensional laser scanning after manufacturing of each segment of the steel beam is completed in a processing plant, and generating a complete point cloud model of each segment in a fusion way; The anchoring section positioning and mounting pouring unit is used for lifting the anchoring section to a mounting position after the main tower is poured to the designed elevation of the anchoring section, positioning is completed through the laser tracker, and the main tower is continuously poured after the main tower is fixed; The on-site assembly and reinspection preparation unit is used for assembling the steel beam sections by adopting a hydraulic synchronous jacking system on site, carrying out reinspection by multi-scale three-dimensional laser scanning, and entering hoisting preparation after the deviation is qualified; The digital twin hoisting previewing unit is used for obtaining a related point cloud model and coordinate data through scanning, constructing a construction scene digital twin model through fusion registration, and simulating a steel beam hoisting process in the model so as to optimize hoisting parameters and avoid potential risks; The monitoring guide hoisting unit is used for selecting adaptive hoisting equipment and is provided with a corresponding hoisting tool, a monitoring system comprising detection equipment and a target is deployed, the steel cross beam is guided to hoist in real time through the monitoring system, and the steel cross beam is adjusted to be matched with the butt joint opening and then fixed.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program is executed by a processor for a virtual assembly-based profiled steel beam digitization construction method according to any one of claims 1-8.

Description

Digital construction method and system for special-shaped steel cross beam based on virtual assembly Technical Field The invention belongs to the technical field of bridge engineering construction, and particularly relates to a digital construction method and system for a special-shaped steel beam based on virtual assembly. Background In bridge engineering construction, a concrete main tower steel beam is used as a key bearing structure for connecting left and right limbs of a main tower, the installation quality of the concrete main tower steel beam directly determines the safety and long-term stability of a bridge integral structure, and especially in large-span bridge engineering, the construction precision and efficiency of the steel beam are important to the integral progress and quality control of the engineering. However, the traditional steel beam hoisting construction mode faces a plurality of technical bottlenecks for a long time, and the improvement of construction quality and benefit is severely restricted. In the steel beam processing and assembling links, the traditional quality detection relies on a manual spot check mode, only can measure the size of part of key points, is difficult to realize full-size and omnibearing coverage detection, and hidden quality problems such as welding groove size deviation, abnormal curvature of a special-shaped structure and the like are easy to miss, so that potential safety hazards are buried for subsequent installation and construction. Meanwhile, the assembly verification of the steel beam sections depends on field trial assembly, so that time and labor are consumed, the adaptation conflict among the sections cannot be pre-judged in advance, the field adjustment is frequent, and the construction period is greatly prolonged. The anchoring section is used as a core component for connecting the steel beam with the main tower, the positioning accuracy of the anchoring section directly influences the overall installation effect, the traditional manual measurement positioning mode is obviously influenced by environmental factor interference and manual operation errors, the positioning deviation is large, the steel beam section is often caused to be difficult to butt against, and even the installed structure needs to be secondarily modified, so that the construction cost and the safety risk are increased. In the hoisting implementation process, the traditional construction lacks effective prejudging and guiding means, the hoisting path planning relies on experience of constructors, the influence of complex environments on a construction site is difficult to comprehensively consider, and safety accidents of collision of a steel beam and a main tower or peripheral facilities are easy to occur. In the hoisting process, the posture adjustment of the steel beam also depends on manual observation and experience judgment, the matching degree of the butt joint is difficult to accurately control, the butt joint efficiency is low, and the quality stability is poor. In addition, the prior construction technology cannot form a full-flow digital control system from steel beam machining and manufacturing to field hoisting, construction data transmission is not in time, cooperative optimization of each link cannot be realized, and the construction scheme is adjusted with lag, so that the method is difficult to adapt to high requirements of a large-span bridge on construction precision and efficiency. The existence of the problems not only affects the construction quality and safety of the steel beam, but also restricts the development of bridge engineering construction to the high-efficiency, accurate and safe digital direction, so that a novel construction method capable of breaking through the limitation of the traditional technology is needed to solve the above-mentioned practical problems. Disclosure of Invention The invention aims to realize the digital control of the whole process of the steel beam construction and improve the construction precision and safety by integrating the technologies of multi-scale three-dimensional scanning, digital assembly, laser tracking and positioning and thunder vision fusion monitoring. In order to address the above defects or improvement needs of the prior art, as a first aspect of the present invention, the present invention provides a digital construction method for a profiled steel beam based on virtual assembly, including: s1, after manufacturing each section of a steel beam in a processing plant, acquiring an integral and detail point cloud model through multi-scale three-dimensional laser scanning, and fusing to generate a whole point cloud model of each section; S2, after the main tower is poured to the designed elevation of the anchoring section, the anchoring section is lifted to the installation position, positioning is completed through a laser tracker, and the main tower is continuously poured after fixing; s3, assembling the