Tower column inclination judgment method based on intelligent robot

Abstract

The invention provides a tower column inclination judgment method based on an intelligent robot. The method comprises: using an intelligent robot and a remote control platform, establishing a Cartesian coordinate system, setting pier column measuring point layout parameters by equally dividing the pier height and the section perimeter; when the intelligent robot sequentially moves upwards along the pier to the height of the inclination measuring section, the remote control platform obtaining coordinates of interpolation points of the cross section through a Cartesian space method to control the horizontal movement of the cross section of the intelligent robot; calculating the coordinates of each section center point according to the three-dimensional coordinates of the section measuring points, fitting each section center point by taking the theoretical center line of the pier stud as an optimal fitting target to obtain the most probable value of the pier center point, further calculating to obtain the inclination angle and inclination of the pier, and judging whether the inclination of the pier stud exceeds the limit or not by combining an inclination threshold value. The method has the advantages that compared with a traditional method, the provided inclination judgment method reflects the inclination of the tower column more accurately, and a more reliable judgment basis isprovided for judgment of the construction quality and the operation health condition of the tower column.

Description

technical field [0001] The invention belongs to the field of structure measurement, in particular to a method for judging the inclination of a tower column based on an intelligent robot. Background technique [0002] For bridge piers and bridge tower structures built under special environmental conditions, due to the limitations of terrain and geological conditions, super-high piers and cable-stayed bridges and suspension bridge towers with increased tower heights have to be used to reduce the tension of the zipper. Whether it is in the construction stage or in the later operation stage, the inclination measurement of super-high bridge piers and bridge towers is one of the necessary tasks to ensure the quality and safety of bridge structures. The existing measurement methods mostly use pre-embedded inclination sensors. Or the traditional measurement method to measure the inclination. Considering that the local concavity and convexity of the cast-in-place reinforced concrete...

AI Technical Summary

Problems solved by technology

Considering that the local unevenness of the cast-in-place reinforced concrete pier column due to the impact of running the mold during the construction period is likely to cause measurement deviations, it is easy to form inaccurate out-of-limit results according to the traditional calculation method of inclination

If it is determined that the quality of the project under construction is not up to standard or that the structure of the bridge in operation is found to be diseased, on the one hand, it will affect the construction process of the project under construction and the reputation of the construction unit, and on the other hand, it will cause a decision-making error, which will eventually lead to unsatisfactory construction. essential property damage

Images