Method for connecting an assembled truss to a concrete structure

Abstract

The application provides an assembled truss and concrete structure connecting construction method, and belongs to the technical field of building construction. The assembled truss and concrete structure connecting construction method is to respectively weld and fix balance supports at positions where the assembled truss and the corresponding concrete structure are connected, and to mutually adapt the connection positions of the assembled truss and the concrete structure by adjustment. The connection positions of the assembled truss and the concrete structure are positioned by a positioning device. The bottom of the assembled truss is moved to the position where the corresponding concrete structure is connected by a crane. The bottom of the assembled truss is installed on the balance support, so that the bottom of the assembled truss is fixedly connected with the concrete structure. The assembled truss is fixed in sequence to form a complete truss structure. The connecting construction method can solve the problem that the common truss and the concrete structure are not connected enough in degree, which causes the stability of the assembled truss to be insufficient and the safety to be low.

Description

Technical Field

[0001] This invention belongs to the field of building construction technology, and more specifically, relates to a construction method for connecting assembled trusses to concrete structures. Background Technology

[0002] In existing technologies, for cantilevered building structures, the main structural system is mostly a frame system or a shear wall system. Cantilevered trusses are installed at the cantilever locations, and these cantilever structures are mostly steel truss systems. The upper and lower chords of each truss cantilever to the outside of two adjacent main structural floors, characterized by large size, complex structure, high construction precision requirements, and high construction risk. To facilitate installation, increase stability, and eliminate additional bending moments in directly load-bearing members, trusses are often designed as composite structures, using statically determinate and geometrically indeformable smaller trusses to replace one or more members of the original truss, resulting in a structurally complex truss.

[0003] The installation of prefabricated trusses on concrete structures usually involves pre-embedding steel bars in the concrete structure and then fixing the prefabricated truss to the concrete structure by welding. However, this method results in insufficient fit between the prefabricated truss and the concrete structure, leading to insufficient stability and low safety of the prefabricated truss. Summary of the Invention

[0004] In view of this, the present invention provides a construction method for connecting assembled trusses to concrete structures, which can solve the problem that insufficient closure when connecting commonly used trusses to concrete structures will result in insufficient stability and low safety of the assembled trusses.

[0005] This invention is implemented as follows:

[0006] This invention provides a construction method for connecting an assembled truss to a concrete structure, wherein the specific operation steps include:

[0007] S10: Weld and fix the balance brackets to the connection positions of the assembled truss and the corresponding concrete structure respectively, and adjust them so that the connection positions of the assembled truss and the concrete structure are compatible with each other.

[0008] S20: The connection position between the assembled truss and the concrete structure is located using a positioning device;

[0009] S30: Move the bottom of the assembled truss to the position where it is connected to the corresponding concrete structure using a crane;

[0010] S40: Connect the bottom balance bracket of the assembled truss to the top balance bracket of the concrete structure, so that the bottom of the assembled truss is fixedly connected to the concrete structure.

[0011] S50: The assembled trusses are fixed in sequence to form a complete truss structure.

[0012] The technical advantages of the construction method for connecting an assembled truss to a concrete structure provided by this invention are as follows: By setting a balancing bracket between the concrete structure and the connection position of the assembled truss, the connection angle is adjusted, resulting in higher closing accuracy between the assembled truss and the concrete structure, and increasing the stability of the assembled truss installation; by setting a positioning device, the position between the assembled truss and the concrete structure is positioned, facilitating the rapid installation of the assembled truss and the concrete structure.

[0013] Based on the above technical solution, the construction method for connecting the assembled truss to the concrete structure of the present invention can be further improved as follows:

[0014] The balancing support includes a truss adjustment device and a concrete adjustment device. The truss adjustment device is welded and fixed to one side of the assembled truss, and the concrete adjustment device is fixedly installed at the connection point between the concrete structure and the assembled truss. The truss adjustment device and the concrete adjustment device are used to adjust the angle of the connection point between the assembled truss and the concrete structure, facilitating the connection between the assembled truss and the concrete structure. A balancing fixing node is fixedly provided between the truss adjustment device and the concrete adjustment device, and the balancing fixing node is welded to the truss adjustment device and the concrete adjustment device respectively.

[0015] The truss adjustment device includes a first connecting plate and a first fixed column. A first hydraulic cylinder is provided between the first fixed column and the assembled truss. There are multiple first fixed columns and first hydraulic cylinders. The first hydraulic cylinders are uniformly fixed on the connection end between the assembled truss and the concrete structure. The output shaft of the first hydraulic cylinder is fixedly connected to the bottom of the first fixed column. The top of the first fixed column is welded to the bottom of the first connecting plate. A first Hall angle sensor is provided on the surface of the first connecting plate. The first Hall angle sensor is used to monitor the angle of the first connecting plate.

[0016] The concrete adjusting device includes a second connecting plate and a second fixed column. A second hydraulic cylinder is installed between the second fixed column and the concrete structure. There are multiple second fixed columns and second hydraulic cylinders. The second hydraulic cylinders are evenly fixed at the connection positions between the concrete structure and the assembled truss. The output shaft of the second hydraulic cylinder is fixedly connected to the bottom of the second fixed column. The top of the second fixed column is welded to the bottom of the second connecting plate. A second Hall angle sensor is installed on the surface of the second connecting plate to monitor the angle of the second connecting plate.

[0017] The balancing fixing nodes are multiple, respectively fixed on the first fixing column and the second fixing column, and pass through the first connecting plate and the second connecting plate to connect the concrete structure and the assembled truss.

[0018] The beneficial effects of adopting the above-mentioned improved scheme are as follows: by setting the first fixed column and the first hydraulic cylinder, the angle of the first connecting plate can be adjusted; by setting the first Hall angle sensor, the angle of the first connecting plate can be detected; by setting the second fixed column and the second hydraulic cylinder, the angle of the second connecting plate can be adjusted; by setting the second Hall angle sensor, the angle of the second connecting plate can be detected; by setting the balance fixed node, the truss adjustment device and the concrete adjustment device can be fixedly connected, so that the assembled truss and the concrete structure are fixed.

[0019] The balancing fixing node includes a longitudinal H-beam, a bend plate, a transverse H-beam, and a vertical plate. The longitudinal H-beam is fixed to the assembled truss, and the transverse H-beam is fixed to the structure. The positions of the longitudinal and transverse H-beams are mutually coordinated. The longitudinal H-beam has symmetrical tapered sliding grooves on both sides. Two transverse H-beams are fixed to the sides of the longitudinal H-beam, respectively. The vertical plate is fixed to the inner end of the transverse H-beam, and a slider is fixed in the middle of the vertical plate, the slider being adapted to the sliding groove. The longitudinal H-beam and the transverse H-beam are slidably connected by the sliding groove and the slider; the lower ends of the two transverse H-beams are fixed with abutment plates, and the upper end surface of each abutment plate abuts against the lower end of the longitudinal H-beam, the abutment plates being used to restrict the downward movement of the transverse H-beams; the upper end of the transverse H-beam is provided with an insert post, the insert post being inserted into the transverse H-beam, and a positioning groove is provided on the side plate of the angle plate, the upper end of the insert post passing through the positioning groove, the insert post and the positioning groove being used to stably place the middle part of the angle plate inside the longitudinal H-beam;

[0020] The first connecting plate, the first fixing column, the second connecting plate, the second fixing column, and the balance fixing node are all composed of manganese steel layer, tungsten steel fiber layer, high carbon steel layer, titanium steel layer and silicon steel layer.

[0021] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: by setting the first connecting plate, the first fixed column, the second connecting plate, the second fixed column, and the balance fixing node to be composed of manganese steel layer, tungsten steel fiber layer, high carbon steel layer, titanium steel layer and silicon steel layer, the strength of the balance support is higher, and the stability of the connection between the assembled truss and the concrete structure is increased.

[0022] The balance support is also equipped with a balance controller, which is electrically connected to the first hydraulic cylinder, the first Hall angle sensor, the second hydraulic cylinder, and the second Hall angle sensor.

[0023] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: by setting up a balance controller to control the first hydraulic cylinder to adjust the angle of the first connecting plate and the second hydraulic cylinder to adjust the angle of the second connecting plate, the closing accuracy of the connection between the assembled truss and the concrete structure is higher, and the stability of the assembled truss installation is increased.

[0024] The positioning device includes a satellite positioning device, a visual positioning device, a safety control device, a visual alignment device, and an alignment control terminal, wherein the alignment control terminal is electrically connected to the satellite positioning device, the visual positioning device, the safety control device, and the visual alignment device.

[0025] The satellite positioning device includes a first satellite positioning device mounted on the assembled truss and a second satellite positioning device mounted on the concrete structure.

[0026] The visual positioning device is a visual positioning camera, which is set near the concrete structure to measure the position of the assembled truss and the concrete structure in real time.

[0027] The safety control device includes millimeter-wave radar anti-collision and mechanical limit sensors. The millimeter-wave radar and the mechanical limit sensors are mounted on the assembled truss and are used to collect the size and position of objects near the assembled truss.

[0028] The visual alignment device is a high-definition camera, used to be positioned at the connection location of the assembled truss and to acquire image data at the connection point of the assembled truss.

[0029] The alignment control terminal includes: a satellite positioning module, a visual positioning module, a safety management module, a path planning module, and a visual alignment module.

[0030] The satellite positioning module is used to acquire data collected by the first satellite positioning device and the second satellite positioning device. It adopts the real-time dynamic carrier phase differential technology (RTK) from the surveying and mapping industry to accurately locate the assembled truss and the connection position of the concrete structure and send the positioning data to the path planning module.

[0031] The visual positioning module is used to acquire the position of the assembled truss and the position of the concrete structure collected by the visual positioning device, establish a spatial rectangular coordinate system, calculate the spatial coordinates of the assembled truss and the concrete structure through deep learning algorithm and stereo vision algorithm, and send them to the path planning module.

[0032] The safety management module is used to obtain the size and position of objects near the assembled truss, calculate and process the occlusion coordinate range data, and send it to the path planning module.

[0033] The vision alignment module is used to calculate the precise deviation data between the assembled truss and the concrete structure connection based on the image data of the connection point of the concrete structure and send it to the path planning module;

[0034] The path planning module is used to establish a unified rectangular coordinate system, plan the path of the assembled truss, and send the planned path of the assembled truss to the crane, so that the crane can move the assembled truss to the position of the concrete structure.

[0035] The specific operational steps of "positioning the connection position between the assembled truss and the concrete using a positioning device" include:

[0036] The first step is to acquire positioning data, spatial coordinate data of the assembled truss, spatial coordinate data of the concrete structure, and occlusion coordinate range data through satellite positioning device, visual positioning device, and safety control device.

[0037] The second step involves using a path planning algorithm to plan the path of the assembled truss and sending the planned path to the crane. The crane then moves the assembled truss quickly to a position around the concrete structure.

[0038] The third step is to obtain precise deviation data for the assembled truss and the concrete structure.

[0039] The fourth step involves using a visual algorithm to determine whether the assembled truss and the concrete structure are aligned, and then slowly starting the assembled truss to align and fix it with the concrete structure.

[0040] The specific operational steps of "connecting the bottom balance support of the assembled truss to the top balance support of the concrete structure, so that the bottom of the assembled truss is fixedly connected to the concrete structure" include:

[0041] The first step is to insert the slider into the groove, with the slider and the groove cooperating with each other;

[0042] The second step is to insert the insert into the positioning groove so that the longitudinal H-shaped steel plate and the transverse H-shaped steel plate are engaged and connected.

[0043] The third step is to pour concrete at the balanced fixed node to fix the assembled truss to the concrete structure.

[0044] The specific operational steps for "sequentially fixing the assembled trusses to form a complete truss structure" include:

[0045] The first step is to divide the upper layer of the assembled truss, starting from the area above the bottom that is connected to the concrete structure, dividing it sequentially. The position directly fixed to the connection area is divided into the first area, and the others are divided into the second area.

[0046] The second step is to set up temporary support below the first area;

[0047] The third step is to assemble the truss of the first area at high altitude on the temporary support.

[0048] The fourth step is to assemble the truss of the second area at the construction location, install lifting supports on the first part of the truss, and lift the truss of the second area using a lifting device;

[0049] The fifth step is to install the truss of the second area with the truss of the first area to complete the construction of the assembled truss.

[0050] Compared with existing technologies, the beneficial effects of the construction method for connecting an assembled truss to a concrete structure provided by this invention are as follows: By setting a balancing support between the concrete structure and the connection position of the assembled truss, the connection angle is adjusted, resulting in higher closing accuracy between the assembled truss and the concrete structure, increasing the stability of the assembled truss installation, and solving the problem that insufficient closing degree when connecting commonly used trusses and concrete structures leads to insufficient stability and low safety of the assembled truss; by setting a positioning device, the position between the assembled truss and the concrete structure is positioned, facilitating the rapid installation of the assembled truss and the concrete structure. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 The specific operational steps are as follows: a construction method for connecting an assembled truss to a concrete structure.

[0053] Figure 2 This is a schematic diagram of the balance support structure;

[0054] Figure 3 A schematic diagram of the structure for balancing fixed nodes;

[0055] Figure 4 Electrical connection diagram for the balance bracket;

[0056] The attached diagram lists the components represented by each number as follows:

[0057] 10. Truss adjustment device; 11. First connecting plate; 12. First fixed column; 13. First hydraulic cylinder; 14. First Hall angle sensor; 20. Concrete adjustment device; 21. Second connecting plate; 22. Second fixed column; 23. Second hydraulic cylinder; 24. Second Hall angle sensor; 30. Balance fixing node; 31. Longitudinal H-beam steel plate; 32. Angle plate; 33. Horizontal H-beam steel plate; 331. Support plate; 34. Vertical plate; 35. Inserted column; 40. Balance controller. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0060] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0061] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0063] like Figure 1-4 The image shown is a first embodiment of a construction method for connecting an assembled truss to a concrete structure provided by the present invention. In this embodiment, the specific operation steps include:

[0064] S10: Weld and fix the balance brackets to the connection positions of the assembled truss and the corresponding concrete structure respectively, and adjust them to make the connection positions of the assembled truss and the concrete structure compatible with each other.

[0065] S20: The connection position between the assembled truss and the concrete structure is located using a positioning device;

[0066] S30: Move the bottom of the assembled truss to the position where it is connected to the corresponding concrete structure using a crane;

[0067] S40: Connect the bottom balance support of the assembled truss to the top balance support of the concrete structure, so that the bottom of the assembled truss is fixedly connected to the concrete structure.

[0068] S50: The assembled trusses are fixed in sequence to form a complete truss structure.

[0069] In the above technical solution, the balance support includes a truss adjustment device 10 and a concrete adjustment device 20. The truss adjustment device 10 is welded and fixed to one side of the assembled truss, and the concrete adjustment device 20 is fixedly installed at the connection position between the concrete structure and the assembled truss. The truss adjustment device 10 and the concrete adjustment device 20 are used to adjust the angle of the connection position between the assembled truss and the concrete structure to facilitate the connection between the assembled truss and the concrete structure. A balance fixing node 30 is fixedly provided between the truss adjustment device 10 and the concrete adjustment device 20, and the balance fixing node 30 is welded to the truss adjustment device 10 and the concrete adjustment device 20 respectively.

[0070] The truss adjustment device 10 includes a first connecting plate 11 and a first fixed column 12. A first hydraulic cylinder 13 is provided between the first fixed column 12 and the assembled truss. There are multiple first fixed columns 12 and first hydraulic cylinders 13. The first hydraulic cylinders 13 are evenly fixed on the connection end between the assembled truss and the concrete structure. The output shaft of the first hydraulic cylinder 13 is fixedly connected to the bottom of the first fixed column 12. The top of the first fixed column 12 is welded to the bottom of the first connecting plate 11. A first Hall angle sensor 14 is provided on the surface of the first connecting plate 11. The first Hall angle sensor 14 is used to monitor the angle of the first connecting plate 11.

[0071] The concrete adjustment device 20 includes a second connecting plate 21 and a second fixed column 22. A second hydraulic cylinder 23 is provided between the second fixed column 22 and the concrete structure. There are multiple second fixed columns 22 and second hydraulic cylinders 23. The second hydraulic cylinders 23 are evenly fixed at the connection positions between the concrete structure and the assembled truss. The output shaft of the second hydraulic cylinder 23 is fixedly connected to the bottom of the second fixed column 22. The top of the second fixed column 22 is welded to the bottom of the second connecting plate 21. A second Hall angle sensor 24 is provided on the surface of the second connecting plate 21. The second Hall angle sensor 24 is used to monitor the angle of the second connecting plate 21.

[0072] There are multiple balancing fixed nodes 30, which are respectively fixed on the first fixed column 12 and the second fixed column 22, and pass through the first connecting plate 11 and the second connecting plate 21 to connect the concrete structure and the assembled truss.

[0073] In use, the first hydraulic cylinder 13 and the second hydraulic cylinder 23 adjust the angle of the first connecting plate 11 and the second connecting plate 21 so that the first connecting plate 11 and the second connecting plate 21 can be tightly fixedly connected; wherein, the first hydraulic cylinder 13 and the second hydraulic cylinder 23 can be hydraulic cylinders of model JB320-1400-MP2-Y produced by Shandong Kewell Automation Equipment Co., Ltd.; the first Hall angle sensor 14 and the second Hall angle sensor 24 can be Hall angle sensors of model WDA-22C-180 produced by Shenzhen Mino Electronics Co., Ltd.

[0074] In the aforementioned technical solution, the balancing fixed node 30 includes a longitudinal H-shaped steel plate 31, a bend plate 32, a transverse H-shaped steel plate 33, and a vertical plate 34. The longitudinal H-shaped steel plate 31 is fixed to the assembled truss, and the transverse H-shaped steel plate 33 is fixed to the structure. The positions of the longitudinal H-shaped steel plate 31 and the transverse H-shaped steel plate 33 are mutually coordinated. The longitudinal H-shaped steel plate 31 has symmetrically arranged tapered grooves on both sides. There are two transverse H-shaped steel plates 33, fixed to both sides of the longitudinal H-shaped steel plate 31 respectively. The vertical plate 34 is fixed to the inner end of the transverse H-shaped steel plate 33, and a slider is fixed in the middle of the vertical plate 34, which is connected to the groove. The longitudinal H-shaped steel plate 31 and the transverse H-shaped steel plate 33 are slidably connected by a sliding groove and a slider; the lower ends of the two transverse H-shaped steel plates 33 are fixed with abutment plates 331, and the upper end surface of each abutment plate 331 abuts against the lower end of the longitudinal H-shaped steel plate 31. The abutment plates 331 are used to restrict the transverse H-shaped steel plates 33 from moving downward; the upper end of the transverse H-shaped steel plate 33 is provided with a post 35, which is inserted into the transverse H-shaped steel plate 33. The side plate of the angle plate 32 is provided with a positioning groove, and the upper end of the post 35 passes through the positioning groove. The post 35 and the positioning groove are used to stably place the middle part of the angle plate 32 inside the longitudinal H-shaped steel plate 31.

[0075] In the above technical solution, the first connecting plate 11, the first fixing column 12, the second connecting plate 21, the second fixing column 22, and the balance fixing node 30 are all composed of manganese steel layer, tungsten steel fiber layer, high carbon steel layer, titanium steel layer and silicon steel layer.

[0076] In the above technical solution, the balance support is also equipped with a balance controller 40, which is electrically connected to the first hydraulic cylinder 13, the first Hall angle sensor 14, the second hydraulic cylinder 23, and the second Hall angle sensor 24.

[0077] In use, the first Hall angle sensor 14 and the second Hall angle sensor 24 monitor the angles of the first connecting plate 11 and the second connecting plate 21 in real time and transmit the signals to the balance controller 40. After processing, the balance controller 40 generates control signals to control the first hydraulic cylinder 13 and the second hydraulic cylinder 23 to adjust the angles of the first connecting plate 11 and the second connecting plate 21, so that the first connecting plate 11 and the second connecting plate 21 can be tightly fixedly connected.

[0078] In the above technical solution, the positioning device includes a satellite positioning device, a visual positioning device, a safety control device, a visual alignment device, and an alignment control terminal, and the alignment control terminal is electrically connected to the satellite positioning device, the visual positioning device, the safety control device, and the visual alignment device.

[0079] The satellite positioning device includes a first satellite positioning device mounted on an assembled truss and a second satellite positioning device mounted on a concrete structure;

[0080] The visual positioning device is a visual positioning camera, which is set up near the concrete structure to measure the position of the assembled truss and concrete structure in real time.

[0081] The safety control device includes millimeter-wave radar anti-collision and mechanical limit sensors. The millimeter-wave radar and mechanical limit sensors are installed on the assembled truss to collect the size and position of objects near the assembled truss.

[0082] The vision alignment device is a high-definition camera, which is used to set up at the connection position of the assembled truss and capture image data at the connection point of the assembled truss.

[0083] In the aforementioned technical solution, the alignment control terminal includes: a satellite positioning module, a visual positioning module, a safety management module, a path planning module, and a visual alignment module.

[0084] The satellite positioning module is used to acquire data collected by the first and second satellite positioning devices. It adopts the real-time dynamic carrier phase differential technology (RTK) from the surveying and mapping industry to accurately locate the connection positions of the assembled truss and concrete structure and send the positioning data to the path planning module.

[0085] The visual positioning module is used to acquire the position of the assembled truss and the concrete structure collected by the visual positioning device, establish a spatial rectangular coordinate system, and calculate the spatial coordinates of the assembled truss and the concrete structure through deep learning algorithms and stereo vision algorithms, and send them to the path planning module.

[0086] The safety management module is used to obtain the size and position of objects near the assembled truss, calculate and process the occlusion coordinate range data, and send it to the path planning module.

[0087] The vision alignment module is used to calculate the precise deviation data between the assembled truss and the concrete structure connection based on the image data of the connection point and send it to the path planning module.

[0088] The path planning module is used to establish a unified rectangular coordinate system, plan the path of the assembled truss, and send the planned path of the assembled truss to the crane, which then moves the assembled truss to the concrete structure location.

[0089] Among them, RTK (Real-time kinematic) carrier phase differential technology is a method for real-time processing of carrier phase observations from two measurement stations. It transmits the carrier phase data collected by the base station to the user receiver for differential calculation of coordinates. This is a new and commonly used satellite positioning measurement method. Previous static, rapid static, and dynamic measurements all required post-processing to achieve centimeter-level accuracy, while RTK can achieve centimeter-level positioning accuracy in real-time in the field. It employs a dynamic real-time carrier phase differential method, representing a significant milestone in GPS applications. Its emergence has brought new measurement principles and methods to engineering layout, topographic mapping, and various control surveys, greatly improving operational efficiency.

[0090] In the aforementioned technical solution, the specific operational steps for "positioning the connection between the assembled truss and the concrete using a positioning device" include:

[0091] The first step is to acquire positioning data, spatial coordinate data of the assembled truss, spatial coordinate data of the concrete structure, and occlusion coordinate range data through satellite positioning devices, visual positioning devices, and safety control devices.

[0092] The second step involves using a path planning algorithm to plan the path of the assembled truss and sending the planned path to the crane. The crane then moves the assembled truss quickly to a position around the concrete structure.

[0093] The third step is to obtain precise deviation data for the current assembled truss and concrete structure.

[0094] The fourth step involves using a visual algorithm to determine whether the assembled truss and the concrete structure are aligned, and then slowly starting the assembled truss to align and fix it with the concrete structure.

[0095] The specific steps for calculating the spatial coordinates of the concrete structure connection using a stereo vision algorithm for moving assembled trusses are as follows:

[0096] Step 1: The image processor acquires an image of the environment through the camera, thus obtaining the image. ,in and These are pixel coordinates;

[0097] Step 2: The pan-tilt camera rotates horizontally. degrees, radius of rotation is The image processor acquires images of the environment through the camera to obtain images. ;

[0098] Step 3: Transfer the image and Perform image matching and calculate disparity. ,

[0099] For images Establish the scale based on the geometric relationship of the image. ,

[0100] For images Establish the scale based on the geometric relationship of the image. ,

[0101] in , The pixel coordinates of the imaging point. , The spatial coordinates of the projection point, , The depth of the projection point;

[0102] Will and Perform approximate equality processing and combine the expressions as follows: ,

[0103] but ,

[0104] Subtracting the two equations, we get ;

[0105] Will Approximate length According to the principle of approximate triangles,

[0106] ,and ,

[0107] Substitute

[0108] get ,

[0109] Organized .

[0110] In the aforementioned technical solution, the specific operational steps for "connecting the bottom balance support of the assembled truss to the top balance support of the concrete structure, thereby fixing the bottom of the assembled truss to the concrete structure" include:

[0111] The first step is to insert the slider into the groove, so that the slider and the groove cooperate with each other;

[0112] The second step is to insert the insert post 35 into the positioning groove so that the longitudinal H-shaped steel plate 31 and the transverse H-shaped steel plate 33 are engaged and connected.

[0113] The third step is to pour concrete at the balance fixing node 30 to fix the assembled truss to the concrete structure.

[0114] In the above technical solution, the specific operational steps of "fixing the assembled trusses sequentially to form a complete truss structure" include:

[0115] The first step is to divide the upper layer of the assembled truss, starting from the area above the bottom that is connected to the concrete structure. The area directly fixed to the connection area is designated as the first area, and the rest are designated as the second area.

[0116] The second step is to set up temporary support below the first area;

[0117] The third step is to assemble the trusses in the first area at high altitude on temporary supports;

[0118] The fourth step is to assemble the truss of the second area at the construction location, install lifting supports on the first part of the truss, and lift the truss of the second area using a lifting device;

[0119] The fifth step is to install the truss of the second area with the truss of the first area to complete the construction of the assembled truss.

[0120] Specifically, the principle of this invention is as follows: Balance supports are welded and fixed to the connection points between the assembled truss and the corresponding concrete structure; adjustments are made to ensure the connection points of the assembled truss and the concrete structure are compatible; the connection points between the assembled truss and the concrete structure are positioned using a positioning device; the bottom of the assembled truss is moved to the connection point with the corresponding concrete structure using a crane; the bottom of the assembled truss is installed on the balance supports, thus fixing the bottom of the assembled truss to the concrete structure; and the assembled trusses are fixed sequentially to form a complete truss structure.

[0121] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A construction method for connecting an assembled truss to a concrete structure, characterized in that, The specific operating steps include: S10: Weld and fix the balance brackets to the connection positions of the assembled truss and the corresponding concrete structure respectively, and adjust them so that the connection positions of the assembled truss and the concrete structure are compatible with each other. S20: The connection position between the assembled truss and the concrete structure is located using a positioning device; S30: Move the bottom of the assembled truss to the position where it is connected to the corresponding concrete structure using a crane; S40: Connect the bottom balance bracket of the assembled truss to the top balance bracket of the concrete structure, so that the bottom of the assembled truss is fixedly connected to the concrete structure. S50: The assembled trusses are fixed in sequence to form a complete truss structure.

2. The construction method for connecting an assembled truss to a concrete structure according to claim 1, characterized in that, The balancing support includes a truss adjustment device (10) and a concrete adjustment device (20). The truss adjustment device (10) is welded and fixed to one side of the assembled truss. The concrete adjustment device (20) is fixedly installed at the connection between the concrete structure and the assembled truss. The truss adjustment device (10) and the concrete adjustment device (20) are used to adjust the angle of the connection between the assembled truss and the concrete structure to facilitate the connection between the assembled truss and the concrete structure. A balancing fixing node (30) is fixedly provided between the truss adjustment device (10) and the concrete adjustment device (20). The balancing fixing node (30) is welded to the truss adjustment device (10) and the concrete adjustment device (20) respectively. The truss adjustment device (10) includes a first connecting plate (11) and a first fixed column (12). A first hydraulic cylinder (13) is provided between the first fixed column (12) and the assembled truss. There are multiple first fixed columns (12) and first hydraulic cylinders (13). The first hydraulic cylinders (13) are uniformly fixed on the connection end between the assembled truss and the concrete structure. The output shaft of the first hydraulic cylinder (13) is fixedly connected to the bottom of the first fixed column (12). The top of the first fixed column (12) is welded to the bottom of the first connecting plate (11). A first Hall angle sensor (14) is provided on the surface of the first connecting plate (11). The first Hall angle sensor (14) is used to monitor the angle of the first connecting plate (11). The concrete adjustment device (20) includes a second connecting plate (21) and a second fixed column (22). A second hydraulic cylinder (23) is provided between the second fixed column (22) and the concrete structure. There are multiple second fixed columns (22) and second hydraulic cylinders (23). The second hydraulic cylinders (23) are uniformly fixed at the connection positions between the concrete structure and the assembled truss. The output shaft of the second hydraulic cylinder (23) is fixedly connected to the bottom of the second fixed column (22). The top of the second fixed column (22) is welded to the bottom of the second connecting plate (21). A second Hall angle sensor (24) is provided on the surface of the second connecting plate (21). The second Hall angle sensor (24) is used to monitor the angle of the second connecting plate (21). The balancing fixing nodes (30) are multiple, respectively fixed on the first fixing column (12) and the second fixing column (22), and pass through the first connecting plate (11) and the second connecting plate (21) to connect the concrete structure and the assembled truss.

3. The construction method for connecting an assembled truss to a concrete structure according to claim 2, characterized in that, The balancing fixed node (30) includes a longitudinal H-shaped steel plate (31), a bend plate (32), a transverse H-shaped steel plate (33), and a vertical plate (34). The longitudinal H-shaped steel plate (31) is fixed on the assembled truss, and the transverse H-shaped steel plate (33) is fixed on the structure. The positions of the longitudinal H-shaped steel plate (31) and the transverse H-shaped steel plate (33) are mutually coordinated. The longitudinal H-shaped steel plate (31) has symmetrical sliding grooves on both sides, and the sliding grooves are conical. There are two transverse H-shaped steel plates (33), which are fixed on both sides of the longitudinal H-shaped steel plate (31). The vertical plate (34) is fixed to the inner end of the transverse H-shaped steel plate (33). A slider is also fixed in the middle of the vertical plate (34). The slider is adapted to the sliding groove. 31) The horizontal H-shaped steel plate (33) is slidably connected to the horizontal H-shaped steel plate (33) through the sliding groove and the slider; the lower ends of the two horizontal H-shaped steel plates (33) are fixed with abutment plates (331), and the upper end surface of each abutment plate (331) abuts against the lower end of the vertical H-shaped steel plate (31). The abutment plates (331) are used to restrict the horizontal H-shaped steel plate (33) from moving downward; the upper end of the horizontal H-shaped steel plate (33) is provided with a post (35), the post (35) is inserted into the horizontal H-shaped steel plate (33), the side plate of the angle plate (32) is provided with a positioning groove, the upper end of the post (35) passes through the positioning groove, and the post (35) and the positioning groove are used to stably place the middle part of the angle plate (32) inside the vertical H-shaped steel plate (31).

4. The construction method for connecting an assembled truss to a concrete structure according to claim 2, characterized in that, The first connecting plate (11), the first fixing column (12), the second connecting plate (21), the second fixing column (22) and the balance fixing node (30) are all composed of manganese steel layer, tungsten steel fiber layer, high carbon steel layer, titanium steel layer and silicon steel layer.

5. The construction method for connecting an assembled truss to a concrete structure according to claim 2, characterized in that, The balance support is also provided with a balance controller (40), which is electrically connected to the first hydraulic cylinder (13), the first Hall angle sensor (14), the second hydraulic cylinder (23), and the second Hall angle sensor (24).

6. The construction method for connecting an assembled truss to a concrete structure according to claim 1, characterized in that, The positioning device includes a satellite positioning device, a visual positioning device, a safety control device, a visual alignment device, and an alignment control terminal, wherein the alignment control terminal is electrically connected to the satellite positioning device, the visual positioning device, the safety control device, and the visual alignment device. The satellite positioning device includes a first satellite positioning device mounted on the assembled truss and a second satellite positioning device mounted on the concrete structure. The visual positioning device is a visual positioning camera, which is set near the concrete structure to measure the position of the assembled truss and the concrete structure in real time. The safety control device includes millimeter-wave radar anti-collision and mechanical limit sensors. The millimeter-wave radar and the mechanical limit sensors are mounted on the assembled truss and are used to collect the size and position of objects near the assembled truss. The visual alignment device is a high-definition camera, used to be positioned at the connection location of the assembled truss and to acquire image data at the connection point of the assembled truss.

7. The construction method for connecting an assembled truss to a concrete structure according to claim 6, characterized in that, The alignment control terminal includes: a satellite positioning module, a visual positioning module, a safety management module, a path planning module, and a visual alignment module, wherein... The satellite positioning module is used to acquire data collected by the first satellite positioning device and the second satellite positioning device. It adopts the real-time dynamic carrier phase differential technology (RTK) from the surveying and mapping industry to accurately locate the assembled truss and the connection position of the concrete structure and send the positioning data to the path planning module. The visual positioning module is used to acquire the position of the assembled truss and the position of the concrete structure collected by the visual positioning device, establish a spatial rectangular coordinate system, calculate the spatial coordinates of the assembled truss and the concrete structure through deep learning algorithm and stereo vision algorithm, and send them to the path planning module. The safety management module is used to obtain the size and position of objects near the assembled truss, calculate and process the occlusion coordinate range data, and send it to the path planning module. The vision alignment module is used to calculate the precise deviation data between the assembled truss and the concrete structure connection based on the image data of the connection point of the concrete structure and send it to the path planning module; The path planning module is used to establish a unified rectangular coordinate system, plan the path of the assembled truss, and send the planned path of the assembled truss to the crane, so that the crane can move the assembled truss to the position of the concrete structure.

8. The construction method for connecting an assembled truss to a concrete structure according to claim 7, characterized in that, The specific operational steps for "locating the connection position between the assembled truss and the concrete structure using a positioning device" include: The first step is to acquire positioning data, spatial coordinate data of the assembled truss, spatial coordinate data of the concrete structure, and occlusion coordinate range data through satellite positioning device, visual positioning device, and safety control device. The second step involves using a path planning algorithm to plan the path of the assembled truss and sending the planned path to the crane. The crane then moves the assembled truss quickly to a position around the concrete structure. The third step is to obtain precise deviation data for the assembled truss and the concrete structure. The fourth step involves using a visual algorithm to determine whether the assembled truss and the concrete structure are aligned, and then slowly starting the assembled truss to align and fix it with the concrete structure.

9. The construction method for connecting an assembled truss to a concrete structure according to claim 4, characterized in that, The specific operational steps of "connecting the bottom balance support of the assembled truss to the top balance support of the concrete structure, so that the bottom of the assembled truss is fixedly connected to the concrete structure" include: The first step is to insert the slider into the groove, so that the slider and the groove cooperate with each other; The second step is to insert the insert (35) into the positioning groove so that the longitudinal H-shaped steel plate (31) and the transverse H-shaped steel plate (33) are engaged and connected. The third step is to pour concrete on the balanced fixed node (30) so that the assembled truss is fixedly connected to the concrete structure.

10. The construction method for connecting an assembled truss to a concrete structure according to claim 1, characterized in that, The specific operational steps for "fixing the assembled trusses sequentially to form a complete truss structure" include: The first step is to divide the upper layer of the assembled truss, starting from the area above the bottom that is connected to the concrete structure, dividing it sequentially. The position directly fixed to the connection area is divided into the first area, and the others are divided into the second area. The second step is to set up temporary support below the first area; The third step is to assemble the truss of the first area at high altitude on the temporary support. The fourth step is to assemble the truss of the second area at the construction location, install lifting supports on the first part of the truss, and lift the truss of the second area using a lifting device; The fifth step is to install the truss of the second area with the truss of the first area to complete the construction of the assembled truss.

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