A method for measuring and hoisting the relative posture of bridge tower segments in space

Abstract

The present invention discloses a method for measuring and hoisting the relative posture of a bridge tower segment in space, including step S1, integration of monocular vision measurement and laser ranging equipment; step S2, layout of monocular vision measurement and laser ranging equipment; step S3, selection and layout of targets; step S4, establishment of a spatial coordinate system; step S5, target pixel coordinate measurement, calculation of the pixel difference between the average pixel coordinates of the marker points of camera A1 and camera A2 and the image optical center; step S6, conversion of the pixel difference to the actual distance difference; step S7, acquisition of the distance value acquired by the laser rangefinder B1 and the laser rangefinder B2; step S8, assembly of bridge tower segments. The present invention is based on the hoisting and splicing of bridge tower segments based on dual-camera monocular vision, and replaces manual experience judgment by high-precision industrial cameras and laser rangefinders, thereby realizing the automation of posture measurement and reducing the risk of the construction process; and realizing high-precision and real-time measurement of spatial posture measurement.

Description

Technical Field

[0001] The present invention relates to the field of bridge tower segment spatial relative posture measurement and hoisting assembly method. More specifically, the present invention relates to a bridge tower segment spatial relative posture measurement and hoisting assembly method integrating machine vision and laser ranging. Background Art

[0002] Prefabricated bridge towers are the core components of super-long span bridges. The construction of prefabricated bridge towers is completed by hoisting and splicing prefabricated bridge tower segments in sections through tower cranes. At present, the process of hoisting and splicing bridge tower segments is mainly completed by building a construction platform between different bridge tower segments. Multiple construction workers manually monitor the posture of the segments to be assembled on the construction platform, and continuously communicate the manual monitoring results with the crane operator through walkie-talkies to complete the continuous assembly of bridge tower segments. Due to the large size of bridge tower segments, high splicing precision requirements and high-altitude operations, the current method has the defects of low efficiency of bridge tower assembly, excessive reliance on manual experience, large number of participants, and high risk. Summary of the invention

[0003] In order to achieve these purposes and other advantages according to the present invention, a preferred embodiment of the present invention provides a method for measuring the spatial relative posture of a bridge tower segment and hoisting and assembling the same, comprising the following steps:

[0004] Step S1, integration of monocular vision measurement and laser ranging equipment;

[0005] Integrate power supply A, camera A, camera head, and data processing and analysis module A to obtain device A; integrate power supply B, camera B, laser rangefinder B, and data processing and analysis module B to obtain device B;

[0006] Step S2, deployment of monocular vision measurement fusion laser ranging equipment;

[0007] Two sets of the equipment A and two sets of the equipment B are respectively installed on the construction work platform, wherein the two sets of equipment A are equipment A1 and equipment A2, which respectively include camera A1 and camera A2, and the two sets of equipment B are equipment B1 and equipment B2, which respectively include laser rangefinder B1 and laser rangefinder B2;

[0008] Step S3, target selection and layout;

[0009] Step S4: Establishing a spatial coordinate system

[0010] The bridge tower segment is hoisted into the positioning range of camera A1 and camera A2. Camera A1 and camera A2 track the target in real time. According to the spatial relationship between cameras A1 and A2, which are perpendicular to each other, a spatial coordinate system XYZ is established with the optical axis of camera A1 as the X-axis, the optical axis of camera A2 as the Y-axis, and the Z-axis perpendicular to the XY plane.

[0011] Step S5, measuring the target pixel coordinates, calculating the pixel difference between the average pixel coordinates of the marker points acquired by camera A1 and camera A2 and the optical center of the image;

[0012] Step S6, converting the pixel difference into an actual distance difference;

[0013] Step S7, obtaining the distance measurement value D-1 of the laser rangefinder B1, and the distance value obtained by the laser rangefinder B2 is D-2;

[0014] Step S8: assembling bridge tower segments.

[0015] Preferably, the step S2, the deployment of monocular vision measurement fusion laser ranging equipment, specifically includes the following operations:

[0016] S21, the construction work platform and the tower segment to be installed are vertically coaxial, and the construction work platform is installed on the tower segment to be installed;

[0017] The optical axes of the cameras A1 and A2 are parallel to the horizontal section plane of the assembled bridge tower segment and perpendicular to the vertical boundary of the assembled bridge tower segment;

[0018] The optical axes of camera A1 and camera A2 are perpendicular to each other, and camera A1 and camera A2 are located in the same XY plane. The distance between the corresponding targets of camera A1 and camera A2 on the tower segment to be installed in the X-axis direction is Dx, and the distance between the corresponding targets of camera A1 and camera A2 on the Y-axis direction is Dy;

[0019] The ray directions of the laser rangefinders B1 and B2 are parallel to the optical axis of the camera A1;

[0020] S22, installing a wireless transmitter at any two junctions of the construction platform, the wireless transmitter being connected to the data processing and analysis module A in device A and the data processing and analysis module B in device B;

[0021] Step S23: A wireless receiver is installed in the tower crane operating room, and the wireless receiver is connected to the attitude display system.

[0022] Preferably, step S3, selecting and arranging targets, specifically includes the following operations:

[0023] S31. Use multi-point targets, each with 5 marking points, namely A, B, C, D, E, which are the four end points and the center point A of the cross, and the target length is one tenth of the width of the bridge tower segment;

[0024] S32, installing the target on the bridge tower segment to be assembled, the installation position is at the bottom of the bridge tower segment to be assembled, and determining that the center position of the target corresponds to the optical center coordinates of the camera corresponding to each target.

[0025] Preferably, step S5, measuring the target pixel coordinates, calculating the pixel difference between the average pixel coordinates of the marker points respectively acquired by camera A1 and camera A2 and the optical center of the image, specifically includes the following operations:

[0026] S51, hoist the bridge tower segment into the camera field of view, and the camera A1 obtains the pixel value of the i-th marker point in the target as (u 1i , v 1i ), the optical center of the image acquired by camera A1 is (u 1o , v 1o ), the pixel value of the i-th marker point in the target obtained by camera A2 is (u 2i , v 2i ), the optical center of the image acquired by camera A2 is (u 2o , v 2o ), the optical center of the image acquired by the device A2 camera is (u 2o , v 2o );

[0027] S52, select the center of the image obtained by camera A1 as the origin, establish the target uv coordinate system with the two adjacent sides parallel to the image as u and v axes, extract the coordinates of points B, C, D, and E on the target (u1b, v1b), (u1c, v1c), (u1d, v1d), (u1e, v1e), and calculate the pixel difference between the average pixel coordinates (u1a, v1a) of the marker point obtained by camera A1 and the optical center of the image, that is, (u1_co, v1_co);

[0028] The center of the image obtained by camera A2 is selected as the origin, and the target uv coordinate system is established with the two adjacent sides parallel to the image as u and v axes respectively. The coordinates of points B, C, D, and E on the target are extracted (u2b, v2b), (u2c, v2c), (u2d, v2d), (u2e, v2e), and the pixel difference between the average pixel coordinate A (u2a, u2a) of the marker point obtained by camera A1 and the optical center of the image, that is, (v2_co, v2_co).

[0029] Preferably, the step S6, converting the pixel difference in the above S52 into an actual distance difference, specifically includes the following operations:

[0030] S61, based on the pixel distance between point B and point D on the target, the pixel distance between point C and point E on the target, the pixel distance between the center point of the image acquired by camera A1 and point A of the target, the actual distance between point B and point D on the target, and the actual distance between point C and point E on the target, it is possible to derive the actual distance between the center of the image acquired by camera A1 and the center point A of the target;

[0031] S62. Repeat the above step S61 to determine the actual distance (Du2co, Dv2co) of the pixel difference between the average pixel coordinates of the marker point in the image acquired by camera A2 and the optical center.

[0032] Preferably, step S8, assembling the bridge tower segments, specifically includes the following operations:

[0033] First, the rotation of the bridge tower segment to be assembled in the X-axis direction is adjusted, and the adjustment angle is: θ = arcsi((v1c-v1e) / (u1c-u1e)). When θ is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the X-axis. Conversely, the bridge tower segment to be assembled is adjusted clockwise along the X-axis. The rotation angle is checked by arcsin((v1b-v1d) / (u1b-u1d)).

[0034] Secondly, the rotation of the bridge tower segment to be assembled in the Y-axis direction is adjusted, and the adjustment angle is: β = arcsin ((v2c-v2e) / (u2c-u2e)). When β is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the Y-axis. Conversely, the bridge tower segment to be assembled is adjusted clockwise along the Y-axis. The rotation angle is checked by arcsin ((v2b-v2d) / (u2b-u2d)).

[0035] Then, the rotation of the bridge tower segment to be assembled in the Z-axis direction is adjusted, and the adjustment angle is: γ = arctan ((D_2-D_1) / D_J). When γ is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the Z-axis, otherwise, the bridge tower is adjusted clockwise along the Z-axis;

[0036] Further, the translation of the bridge tower segment in the X-axis direction is adjusted to Du2co. When Du2co is a negative value, the bridge segment to be assembled is moved along the positive direction of the X-axis. When Du2co is a positive value, the opposite is true. Further, the translation of the bridge tower segment to be assembled in the Y-axis direction is adjusted to Du1co. When Du1co is a negative value, the bridge segment to be assembled is moved along the positive direction of the Y-axis. When Du1co is a positive value, the opposite is true. Finally, the translation of the bridge tower segment to be assembled in the Z-axis direction is adjusted. At this time, the adjustment size is Du1co=Dv2co.

[0037] Finally, proceed and complete the assembly of the bridge tower segments to be assembled.

[0038] Preferably, the length and width of the target are respectively one tenth of the height and width of the bridge tower segment.

[0039] The present invention has at least the following beneficial effects: The present invention realizes unmanned, low-risk, high-precision, and real-time posture measurement of the segments to be assembled during the assembly of bridge tower segments. The bridge tower segment hoisting and splicing based on dual-camera monocular vision realizes the automation of posture measurement by integrating high-precision industrial cameras with laser rangefinders instead of manual experience judgment, thereby reducing the risk of the construction process; based on visual measurement algorithms and laser ranging, high-precision and real-time measurement of spatial posture measurement is realized.

[0040] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of camera layout in one embodiment of the present invention.

[0042] Figure 2 Schematic diagram of a target in one embodiment of the present invention.

[0043] Figure 3 It is a monocular vision measurement coordinate system in one embodiment of the present invention.

[0044] Figure 4 Graph showing the relationship between pixel coordinates and true distance in one embodiment of the present invention.

[0045] Figure 5 Schematic diagram of solving the Z-axis rotation angle in one embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0047] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0048] Those skilled in the art should understand that, in the disclosure of the present invention, the orientation or position relationship indicated by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0049] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0050] like Figure 1-5 As shown, a preferred embodiment of the present invention provides a method for measuring the spatial relative posture of a bridge tower segment and hoisting and assembling the same, comprising the following steps:

[0051] Step S1, integration of monocular vision measurement and laser ranging equipment;

[0052] Integrate power supply A, camera A, camera head, and data processing and analysis module A to obtain device A; integrate power supply B, camera B, laser rangefinder B, and data processing and analysis module B to obtain device B;

[0053] Step S2, deployment of monocular vision measurement fusion laser ranging equipment;

[0054] Two sets of the equipment A and two sets of the equipment B are respectively installed on the construction work platform 8, wherein the two sets of equipment A are equipment A1 and equipment A2, which respectively include camera A1 1 and camera A2 2, and the two sets of equipment B are equipment B1 and equipment B2, which respectively include laser rangefinder B1 3 and laser rangefinder B2 4;

[0055] Specifically include:

[0056] S21, the construction work platform 8 and the tower segment 5 to be installed are vertically coaxial, and the construction work platform 8 is installed on the tower segment 5 to be installed, and is installed in a circle around the outer periphery of the tower segment 5 to be installed.

[0057] Wherein, the optical axes of the camera A1 1 and the camera A2 2 are parallel to the horizontal section surface of the assembled bridge tower segment, and perpendicular to the vertical boundary of the assembled bridge tower segment;

[0058] The optical axes of camera A1 1 and camera A2 2 are perpendicular to each other, and camera A1 1 and camera A2 2 are in the same XY plane.

[0059] The ray directions of the laser rangefinder B1 3 and the laser rangefinder B2 4 are parallel to the optical axis of the camera A1 1;

[0060] S22, installing a wireless transmitter 6 at any two junctions of the construction platform 8, the wireless transmitter 6 being connected to the data processing and analysis module A in the device A and the data processing and analysis module B in the device B;

[0061] Step S23: A wireless receiver is installed in the tower crane operating room to receive the digital signal carrying the attitude information transmitted by the wireless transmitter 6, and the wireless receiver is connected to the attitude display system.

[0062] Step S3, selection and layout of the target 10;

[0063] S31. Each target is provided with 5 marking points, namely A, B, C, D, and E, which are the four end points of the cross and the center point A. The length of the target is one tenth of the width of the bridge tower segment, and the width of the target is one tenth of the height of the bridge tower segment.

[0064] S32, installing the target 10 on the bridge tower segment 5 to be assembled, the installation position is at the bottom of the bridge tower segment 5 to be assembled, and determining that the center position of the target 10 corresponds to the optical center coordinates of the cameras corresponding to the targets 10. Each camera corresponds to one target 10.

[0065] The distance between the camera A1 1 and the camera A2 2 on the corresponding targets 10 of the tower segment 5 to be installed in the X-axis direction is Dx, and the distance on the Y-axis is Dy;

[0066] Step S4: Establishing a spatial coordinate system

[0067] The bridge tower segment is hoisted into the positioning range of the camera A1 1 and the camera A2 2. The camera A1 1 and the camera A2 2 track the corresponding target 10 in real time. According to the spatial relationship between the cameras A1 1 and A2 2 which are perpendicular to each other, a spatial coordinate system XYZ is established with the optical axis of the camera A1 1 as the X-axis, the optical axis of the camera A2 2 as the Y-axis, and the Z-axis perpendicular to the XY plane.

[0068] Step S5: measuring the target 10 pixel coordinates.

[0069] Calculate the pixel difference between the average pixel coordinates of the marker point 7 obtained by the camera A1 1 and the camera A2 2 and the optical center of the image;

[0070] Specifically include:

[0071] S51, hoist the bridge tower segment into the camera field of view, and the camera A1 1 obtains the pixel value of the i-th marker point 7 in the target 10 as (u 1i , v1i ), the optical center of the image acquired by camera A1 1 is (u 1o , v 1o ), the camera A2 2 obtains the pixel value of the i-th marker point 7 in the target 10 as (u 2i , v 2i ), the optical center of the image acquired by camera A2 2 is (u 2o , v 2o ), the optical center of the image acquired by the device A2 camera is (u 2o , v 2o ); The pixel coordinates and real distance relationship diagrams of cameras A1 and A2 are all referenced Figure 4 , Figure 4 The diagram shows the relationship between the pixel coordinates in the camera A1 and the real distance.

[0072] S52, select the center of the image acquired by camera A1 1 as the origin, establish the target uv coordinate system with the two adjacent sides parallel to the image as u and v axes, extract the coordinates (u1b, v1b), (u1c, v1c), (u1d, v1d), (u1e, v1e) of points B, C, D, and E on the target 10, and calculate the pixel difference between the average pixel coordinates (u1a, v1a) of the marker point 7 acquired by camera A1 1 and the optical center of the image, that is, (u1_co, v1_co);

[0073] Select the center of the image acquired by camera A2 2 as the origin, establish the target uv coordinate system with the two adjacent sides parallel to the image as u and v axes, extract the coordinates of points B, C, D, and E on the target 10 (u2b, v2b), (u2c, v2c), (u2d, v2d), (u2e, v2e), and calculate the pixel difference between the average pixel coordinate A (u2a, v2a) of the marker point 7 acquired by camera A1 1 and the optical center of the image, that is, (u2_co, v2_co).

[0074] Step S6, converting the pixel difference in the above S52 into an actual distance difference;

[0075] Specifically:

[0076] S61, based on the pixel distance between point B and point D on the target 10, the pixel distance between point C and point E on the target 10, the pixel distance between the center point of the image acquired by the camera A11 and point A of the target 10, the actual distance between point B and point D on the target 10, and the actual distance between point C and point E on the target 10, it can be obtained that the actual distance between the center of the image acquired by the camera A11 and the center point A of the target 10;

[0077] S62. Repeat the above step S61 to determine the actual distance (Du2co, Dv2co) of the pixel difference between the average pixel coordinates of the marker point 7 of the image acquired by the camera A22 and the optical center.

[0078] Step S7, obtaining the distance measurement value D-1 of the laser rangefinder B1 3, and the distance value obtained by the laser rangefinder B2 4 is D-2;

[0079] Step S8: assembling bridge tower segments.

[0080] The specific steps include:

[0081] First, the rotation of the bridge tower segment to be assembled in the X-axis direction is adjusted, and the adjustment angle is: θ = arcsin((v1c-v1e) / (u1c-u1e)). When θ is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the X-axis. Conversely, the bridge tower segment to be assembled is adjusted clockwise along the X-axis. The rotation angle is checked by arcsin((v1b-v1d) / (u1b-u1d)).

[0082] Secondly, the rotation of the bridge tower segment to be assembled in the Y-axis direction is adjusted, and the adjustment angle is: β = arcsin ((v2c-v2e) / (u2c-u2e)). When β is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the Y-axis. Conversely, the bridge tower segment to be assembled is adjusted clockwise along the Y-axis. The rotation angle is checked by arcsin ((v2b-v2d) / (u2b-u2d)).

[0083] Then, the rotation of the bridge tower segment to be assembled in the Z-axis direction is adjusted, and the adjustment angle is: γ = arctan ((D_2-D_1) / D_J). When γ is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the Z-axis, otherwise, the bridge tower is adjusted clockwise along the Z-axis;

[0084] Further, the translation of the bridge tower segment in the X-axis direction is adjusted to Du2co. When Du2co is a negative value, the bridge segment to be assembled is moved along the positive direction of the X-axis. When Du2co is a positive value, the opposite is true. Further, the translation of the bridge tower segment to be assembled in the Y-axis direction is adjusted to Du1co. When Du1co is a negative value, the bridge segment to be assembled is moved along the positive direction of the Y-axis. When Du1co is a positive value, the opposite is true. Finally, the translation of the bridge tower segment to be assembled in the Z-axis direction is adjusted. At this time, the adjustment size is Du1co=Dv2co.

[0085] Finally, proceed and complete the assembly of the bridge tower segments to be assembled.

[0086] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A method for measuring the spatial relative posture of bridge tower segments and hoisting and assembling them, characterized in that: The following steps are involved: Step S1, integration of monocular vision measurement and laser ranging equipment; The power supply A, the camera A, the camera head, and the data processing and analysis module A are integrated to obtain the device A; the power supply B, the laser rangefinder B, and the data processing and analysis module B are integrated to obtain the device B; Step S2, deployment of monocular vision measurement fusion laser ranging equipment; Two sets of the equipment A and two sets of the equipment B are respectively installed on the construction work platform, wherein the two sets of equipment A are equipment A1 and equipment A2, which respectively include camera A1 and camera A2, and the two sets of equipment B are equipment B1 and equipment B2, which respectively include laser rangefinder B1 and laser rangefinder B2; Step S3, target selection and layout; Step S4: Establishing a spatial coordinate system The bridge tower segment is hoisted into the positioning range of camera A1 and camera A2. Camera A1 and camera A2 track the target in real time. According to the spatial relationship between cameras A1 and A2, which are perpendicular to each other, a spatial coordinate system XYZ is established with the optical axis of camera A1 as the X-axis, the optical axis of camera A2 as the Y-axis, and the Z-axis perpendicular to the XY plane. Step S5, measuring the target pixel coordinates, calculating the pixel difference between the average pixel coordinates of the marker points acquired by camera A1 and camera A2 and the optical center of the image; Step S6, converting the pixel difference into an actual distance difference; Step S7, obtaining the distance measurement value D-1 of the laser rangefinder B1, and the distance value obtained by the laser rangefinder B2 is D-2; Step S8: assembling bridge tower segments.

2. The method for measuring the spatial relative posture of bridge tower segments and hoisting and assembling them according to claim 1 is characterized in that: The step S2, the deployment of monocular vision measurement fusion laser ranging equipment, specifically includes the following operations: S21, the construction work platform and the tower segment to be installed are vertically coaxial, and the construction work platform is installed on the installed tower segment; The optical axes of the cameras A1 and A2 are parallel to the horizontal section plane of the assembled bridge tower segment and perpendicular to the vertical boundary of the assembled bridge tower segment; The optical axes of camera A1 and camera A2 are perpendicular to each other, and camera A1 and camera A2 are located in the same XY plane. The ray directions of laser rangefinder B1 and laser rangefinder B2 are parallel to the optical axis of camera A1. S22, installing a wireless transmitter at any two junctions of the construction platform, the wireless transmitter being connected to the data processing and analysis module A in device A and the data processing and analysis module B in device B; Step S23: A wireless receiver is installed in the tower crane operating room, and the wireless receiver is connected to the attitude display system.

3. The method for measuring the spatial relative posture of bridge tower segments and hoisting and assembling them according to claim 2 is characterized in that: Step S3, target selection and layout, specifically includes the following operations: S31. Use multi-point targets, each with 5 marking points, namely A, B, C, D, E, which are the four end points and the center point A of the cross, and the target length is one tenth of the width of the bridge tower segment; S32. Install the target on the bridge tower segment to be assembled. The installation position is at the bottom of the bridge tower segment to be assembled, and determine that the center position of the target corresponds to the optical center coordinates of the cameras corresponding to the targets. The distance between the corresponding targets of camera A1 and camera A2 in the tower segment to be installed in the X-axis direction is Dx, and the distance on the Y-axis is Dy.

4. The method for measuring the spatial relative posture of bridge tower segments and hoisting and assembling them according to claim 3 is characterized in that: Step S5, measuring the target pixel coordinates, calculating the pixel difference between the average pixel coordinates of the marker points obtained by camera A1 and camera A2 and the image optical center, specifically including the following operations: S51, hoist the bridge tower segment into the camera field of view, and the camera A1 obtains the pixel value of the i-th marker point in the target as (u 1i , v 1i ), the optical center of the image acquired by camera A1 is (u 1o , v 1o ), the pixel value of the i-th marker point in the target obtained by camera A2 is (u 2i , v 2i ), the optical center of the image acquired by camera A2 is (u 2o , v 2o ), the optical center of the image acquired by the device A2 camera is (u 2o , v 2o ); S52, select the center of the image obtained by camera A1 as the origin, establish the target uv coordinate system with the two adjacent sides parallel to the image as u and v axes, extract the coordinates of points B, C, D, and E on the target (u1b, v1b), (u1c, v1c), (u1d, v1d), (u1e, v1e), and calculate the pixel difference between the average pixel coordinates (u1a, v1a) of the marker point obtained by camera A1 and the optical center of the image, that is, (u1_co, v1_co); Select the center of the image acquired by camera A2 as the origin, establish the target uv coordinate system with the two adjacent sides parallel to the image as u and v axes, extract the coordinates of points B, C, D, and E on the target (u2b, v2b), (u2c, v2c), (u2d, v2d), (u2e, v2e), and calculate the pixel difference between the average pixel coordinate A (u2a, v2a) of the marker point acquired by camera A1 and the optical center of the image, that is, (u2_co, v2_co); Select one of the mark points in the target corresponding to camera A1 as point A, establish the target uv coordinate system with point A as the center, project each mark point of the target onto the u and v axes, establish a fitting cross mark, extract the coordinates of the cross mark boundary points B, C, D, and E (u1b, v1b), (u1c, v1c), (u1d, v1d), (u1e, v1e), and calculate the pixel difference between the average pixel coordinates of the mark point obtained by camera A1 and the optical center of the image, that is, (u1_co, v1_co); Select one of the mark points in the target corresponding to camera A2 as point A, establish the target uv coordinate system with point A as the center, project each mark point of the target onto the u and v axes, establish a fitting cross mark, extract the coordinates of the cross mark boundary points B, C, D, and E (u2b, v2b), (u2c, v2c), (u2d, v2d), (u2e, v2e), and calculate the pixel difference between the average pixel coordinates of the mark points obtained by camera A2 and the optical center of the image, that is, (u2_co, v2_co).

5. The method for measuring the spatial relative posture of bridge tower segments and hoisting and assembling them according to claim 4 is characterized in that: The step S6, converting the pixel difference in the above S52 into an actual distance difference, specifically includes the following operations: S61, based on the pixel distance between point B and point D on the target, the pixel distance between point C and point E on the target, the pixel distance between the center point of the image acquired by camera A1 and point A of the target, the actual distance between point B and point D on the target, and the actual distance between point C and point E on the target, it is possible to derive the actual distance between the center of the image acquired by camera A1 and the center point A of the target; S62. Repeat the above step S61 to determine the actual distance (Du2co, Dv2co) of the pixel difference between the average pixel coordinates of the marker point in the image acquired by camera A2 and the optical center.

6. The method for measuring the spatial relative posture of bridge tower segments and hoisting and assembling them according to claim 5 is characterized in that: Step S8, assembling the bridge tower segments, specifically includes the following operations: First, the rotation of the bridge tower segment to be assembled in the X-axis direction is adjusted, and the adjustment angle is: θ = arcsin((v1c-v1e) / (u1c-u1e)). When θ is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the X-axis. Conversely, the bridge tower segment to be assembled is adjusted clockwise along the X-axis. The rotation angle is checked by arcsin((v1b-v1d) / (u1b-u1d)). Secondly, the rotation of the bridge tower segment to be assembled in the Y-axis direction is adjusted, and the adjustment angle is: β = arcsin ((v2c-v2e) / (u2c-u2e)). When β is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the Y-axis. Conversely, the bridge tower segment to be assembled is adjusted clockwise along the Y-axis. The rotation angle is checked by arcsin ((v2b-v2d) / (u2b-u2d)). Then, the rotation of the bridge tower segment to be assembled in the Z-axis direction is adjusted, and the adjustment angle is: γ = arctan ((D_2-D_1) / D_J). When γ is a negative value, the bridge tower segment to be assembled is adjusted counterclockwise along the Z-axis, otherwise, the bridge tower is adjusted clockwise along the Z-axis; Further, the translation of the bridge tower segment in the X-axis direction is adjusted to Du2co. When Du2co is a negative value, the bridge segment to be assembled is moved along the positive direction of the X-axis. When Du2co is a positive value, the opposite is true. Further, the translation of the bridge tower segment to be assembled in the Y-axis direction is adjusted to Du1co. When Du1co is a negative value, the bridge segment to be assembled is moved along the positive direction of the Y-axis. When Du1co is a positive value, the opposite is true. Finally, the translation of the bridge tower segment to be assembled in the Z-axis direction is adjusted. At this time, the adjustment size is Du1co=Dv2co. Finally, proceed and complete the assembly of the bridge tower segments to be assembled.

7. The method for measuring the spatial relative posture of bridge tower segments and hoisting and assembling them according to claim 3 is characterized in that: The length and width of the target are respectively one tenth of the height and width of the bridge tower segment.

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