A smart hoisting mold shell device and method

Abstract

This application relates to the field of formwork hoisting technology, and provides an intelligent formwork hoisting device and method, including a BIM modeling unit; ground control points; multiple first laser scanning sensors distributed along the edge of the target site to form a two-dimensional laser grid; the planar coordinates of multiple intersection points of the laser grid correspond one-to-one with the target coordinate positions of multiple formworks on the target site; multiple second laser scanning sensors are correspondingly set at the center point of each formwork; and a formwork hoisting device is set above the target site for hoisting the formwork to the target site and adjusting the position of the formwork so that the positions of the second laser scanning sensors on the formwork coincide with the intersection points of the laser grid where the target coordinate positions of the formwork are located. This invention improves the hoisting accuracy of the formwork, saving labor while improving construction efficiency and quality.

Description

Technical Field

[0001] This invention belongs to the field of mold hoisting technology, specifically relating to an intelligent mold hoisting device and method. Background Technology

[0002] Construction formwork, a type of template used in building engineering, is primarily used for the construction of cast-in-place two-way ribbed concrete floor slabs (floor slabs). It is suitable for large-span and high-load-bearing spaces, such as underground parking garages, large shopping malls, multi-story factories, school buildings, and civil defense projects. Formwork is a tool-type formwork used for cast-in-place reinforced concrete ribbed floor slabs (or waffle slabs). Because ribbed floor slabs consist of thin slabs and closely spaced unidirectional or two-way ribs, it is difficult and uneconomical to assemble smaller ribbed beam formwork using wooden molds and modular formwork. Therefore, formwork is currently used for the construction of cast-in-place ribbed floor slabs. Currently, formwork in my country is mainly made of glass fiber reinforced plastic and polypropylene plastic, and is equipped with support systems such as steel columns (or frames), steel (or wooden) keels, and angle steel (or wooden supports), greatly improving the industrialization of formwork construction.

[0003] However, the current installation of formwork for traditional precast ribbed floor slabs has problems such as a large number of personnel required, long time consumption, and complex formwork hoisting and positioning that is prone to deviation. Summary of the Invention

[0004] To address the problems in the prior art, this application proposes an intelligent hoisting device and method for mold shells, which can achieve intelligent and precise hoisting of mold shells and improve the positioning accuracy of mold shells.

[0005] In a first aspect, the present invention provides an intelligent hoisting mold shell device, comprising:

[0006] BIM modeling units are used to create a three-dimensional model representing the target site and the shell with a simulated mesh distributed on the target site.

[0007] Ground control points are set on the target site for coordinate matching of the three-dimensional model;

[0008] Multiple first laser scanning sensors are distributed at the edge of the target site to form a two-dimensional laser grid; the planar coordinates of multiple intersection points of the laser grid correspond one-to-one with the target coordinate positions of multiple shells in the target site.

[0009] Multiple second laser scanning sensors are positioned one-to-one at the center point of each mold shell; and

[0010] A mold shell hoisting device is installed above the target site to hoist the mold shell to the target site and adjust the position of the mold shell so that the position of the second laser scanning sensor on the mold shell coincides with the intersection point of the laser grid where the target coordinate position of the mold shell is located.

[0011] Furthermore, the intelligent hoisting mold device also includes horizontal and vertical guide rails distributed at the edge of the target site; the first laser scanning sensor is respectively arranged at intervals on the horizontal guide rail and the vertical guide rail.

[0012] Furthermore, the mold shell hoisting device includes a portal frame, a hook disposed on the portal frame, and a translation base disposed at the lower end of the portal frame; the translation base is disposed on the transverse guide rail or the longitudinal guide rail and moves in cooperation with it; the hook is used to hoist the mold shell.

[0013] Furthermore, the portal frame is also equipped with a smart camera, which is used to capture and compare images of the target site before and after each formwork hoisting.

[0014] Furthermore, the portal frame includes a crossbeam assembly and two upright assemblies; the two upright assemblies are distributed on both sides of the target site, and the lower end of the upright assemblies is provided with the translation base; the crossbeam assembly is located above the target site, and its two ends are respectively connected to the two upright assemblies; the crossbeam assembly includes a crossbeam member and a lateral translation block that moves in cooperation with the crossbeam member; the hook is suspended from the lower end of the lateral translation block.

[0015] Furthermore, the support frame assembly includes a longitudinal beam assembly and two column assemblies; the column assembly includes a column member and a vertical translation block; the lower end of the column member is connected to the translation base; the vertical translation block is fitted onto the column member and moves vertically in cooperation with it; the longitudinal beam assembly includes a longitudinal beam member and a longitudinal translation block that moves in cooperation with the longitudinal beam member; both ends of the longitudinal beam member are respectively connected to the vertical translation blocks of the two column assemblies; both ends of the crossbeam member are respectively connected to the two longitudinal translation blocks.

[0016] Furthermore, the mold hoisting device also includes multiple locking components; the multiple locking components are respectively disposed on the lateral translation block, the longitudinal translation block and the vertical translation block, for restricting the movement of the lateral translation block, the longitudinal translation block and the vertical translation block.

[0017] Secondly, the present invention also proposes a method for hoisting a mold shell using the aforementioned intelligent hoisting mold shell device, comprising the following steps:

[0018] A three-dimensional model is established based on BIM technology to characterize the target site and the shell with a simulated mesh distributed on the target site.

[0019] Match the coordinates of the 3D model with the ground control points of the target site to generate the target coordinates of each mold shell in the target site;

[0020] Based on the coordinates of the ground control points and the target coordinates of each mold shell, the first target positions of multiple first laser scanning sensors set in the target site are determined;

[0021] Multiple first laser scanning sensors are installed at the first target location to form a two-dimensional laser grid distributed on the target site; the planar coordinates of multiple intersection points of the laser grid correspond one-to-one with the target coordinate positions of multiple shells in the target site;

[0022] The mold shell with the second laser scanning sensor at its center point is hoisted to the target site using a mold shell hoisting device. The position of the mold shell is adjusted so that the position of the second laser scanning sensor on the mold shell coincides with the intersection point of the laser grid where the target coordinate position of the mold shell is located.

[0023] Furthermore, the step of determining the first target position based on the coordinates of the ground control points and the target coordinates of each mold shell includes: connecting the target positions of multiple mold shells in series along the width and length directions of the target site in the plane where the target site is located, forming a distribution grid of mold shells; and determining the position where the edge of the target site intersects with the extension line of the distribution grid as the first target position of the first laser scanning sensor.

[0024] Furthermore, the method includes the step of using a smart camera on the formwork hoisting device to capture and compare images of the target site before and after each formwork hoisting, in order to verify whether the formwork hoisting position is accurate.

[0025] The beneficial effects of this invention are as follows: A three-dimensional model of the target site and the formwork shell is established using BIM modeling units. After matching the coordinates with the actual ground control points on the target site, the target coordinates of the formwork shell on the target site are determined. Since the multiple formwork shells on the target site are distributed in a grid, the first target position of the first laser scanning sensor on the target site can be determined, facilitating the installation of the first laser scanning sensor and forming a two-dimensional laser grid. The planar coordinates of multiple intersection points of the laser grid correspond one-to-one with the target coordinate positions of the multiple formwork shells on the target site. Based on these intersection points, the formwork shell hoisting device quickly and accurately hoists each formwork shell to its target coordinate position. Simultaneously, the second laser scanning sensor on the formwork shell further verifies the target coordinate position, improving the hoisting accuracy of the formwork shell. Furthermore, since the formwork shell hoisting uses a formwork shell hoisting device, compared to traditional manual handling, it saves labor while improving construction efficiency and quality. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the intelligent hoisting mold shell device of the present invention.

[0027] Figure 2 for Figure 1 A top-view structural diagram.

[0028] Figure 3 for Figure 1 A schematic diagram of the gantry frame structure of the mold shell hoisting device.

[0029] Figure 4 for Figure 3 A structural schematic diagram of one of the column components.

[0030] Figure 5 for Figure 4 An enlarged schematic diagram of the locking component in the locked state.

[0031] Figure 6 for Figure 5 A schematic diagram of the structure of the locking component in the unlocked state.

[0032] In the diagram, 1-Column assembly; 11-Column piece; 12-Groove; 13-Vertical translation block; 131-Large gear; 132-Small gear; 133-Locking rod; 134-Limiting block; 135-Limiting tooth; 136-Strip groove; 2-Translation base; 3-Smart camera; 4-Mold shell; 5-Longitudinal guide rail; 6-First laser scanning sensor; 7-Transverse guide rail; 8-Hook. Detailed Implementation

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1 The intelligent hoisting formwork device shown includes: a BIM modeling unit, ground control points, multiple first laser scanning sensors 6, multiple second laser scanning sensors, a transverse guide rail 7, a longitudinal guide rail 5, an intelligent camera 3, and a formwork hoisting device.

[0035] The BIM modeling unit includes a computer with built-in BIM modeling software. The BIM modeling unit creates a 3D model representing the target site and the formwork 4 with a simulated mesh distributed on the target site; this 3D model includes not only the target site but also the formwork 4 with its mesh distributed on the target site. The target site refers to the construction site used to arrange the formwork 4, such as a floor slab. The target site does not necessarily have to be the entire floor slab; it can also be a portion of the floor slab.

[0036] Ground control points are set on the target site for coordinate matching of the 3D model. These ground control points are existing control points on the construction site; in this embodiment, there are four ground control points distributed at the four corners of the target site. The coordinates of the ground control points are overlaid into the 3D model, thereby generating the target coordinates of each formwork 4 on the target site using the BIM modeling unit. These target coordinates represent the actual placement position of each formwork 4 on the target site. Since the ground control points are known, their references can be used to determine the target coordinates of each other formwork 4.

[0037] Multiple second laser scanning sensors are positioned one-to-one at the center point of each mold shell 4.

[0038] The mold shell hoisting device is set above the target site to hoist the mold shell 4 to the target site and adjust the position of the mold shell 4 so that the position of the second laser scanning sensor on the mold shell 4 coincides with the intersection point of the laser grid where the target coordinate position of the mold shell 4 is located.

[0039] To facilitate the hoisting of the mold shell 4, the mold shell hoisting device is designed as a movable structure. Therefore, in this embodiment, transverse guide rails 7 and longitudinal guide rails 5 are distributed along the edge of the target site. The transverse guide rails 7 and longitudinal guide rails 5 are horizontal and perpendicular to each other. First laser scanning sensors 6 are respectively and spaced apart on the transverse guide rails 7 and longitudinal guide rails 5. Figure 2 As shown, if the target site is rectangular, there are two longitudinal guide rails 5, located on the long side of the target site, and one transverse guide rail 7, located on the short side of the target site. First laser scanning sensors 6 are evenly spaced on the longitudinal guide rails 5 and the transverse guide rail 7, forming a two-dimensional laser grid. The planar coordinates of multiple intersection points of the laser grid correspond one-to-one with the target coordinate positions of multiple mold shells 4 in the target site. Since the target coordinates of each mold shell 4 obtained from the BIM modeling unit cannot be displayed on the actual target site... To improve construction efficiency, the BIM modeling unit connects multiple target positions of the formwork 4 along the width and length directions of the target site on the plane of the 3D model, forming a distribution grid for the formwork 4. Based on this grid, the number, length, and spacing of the longitudinal and transverse grid lines are determined. Using these parameters, the actual positions of the longitudinal and transverse grid lines on the target site are determined. The intersection of the target site edge with the longitudinal and transverse grid lines or their extensions is defined as the first target position of the first laser scanning sensor 6. The first laser scanning sensor 6 is then installed based on this first target position, thus forming a two-dimensional laser grid on the target site. This laser grid can be visible to the naked eye. Each intersection point of the laser grid serves as a target coordinate for the placement of the formwork 4, significantly improving the installation efficiency and distribution accuracy of the formwork 4 on the target site.

[0040] To further improve the installation accuracy of the formwork 4, an elevation marker is set at the center point of the upper surface of each formwork 4, and a light-absorbing strip (or light-absorbing material layer) is wrapped around each marker. The horizontal centerline of the light-absorbing strip is set at the height relative to the ground of the target site, which is the sum of the design elevation of the formwork 4 and a given constant K. For example, if the given constant K is 10cm and the design elevation of the formwork 4 is 15cm, then the horizontal centerline of the light-absorbing strip is set at a height of 25cm. When there are special structures within the target site, the design elevation of different formwork 4s may vary, but the constant K remains fixed, and the height of the corresponding light-absorbing strip will differ. When the intersection of the laser grid is located on the light-absorbing strip, there is no bright spot on the marker, indicating that the installation height of the formwork meets the requirements. A reflective strip is set at the upper and lower ends of the light-absorbing strip. The height difference between the horizontal center line of the reflective strip and the horizontal center line of the light-absorbing strip is greater than the maximum allowable height error of the mold shell 4. For example, when the allowable height error of the mold shell 4 is within ±3cm, the height difference between the horizontal center line of the reflective strip and the horizontal center line of the light-absorbing strip is greater than 3cm. When the intersection point of the laser grid is located on the reflective strip, there will be a reflective point on the marking rod, which can be captured by the smart camera or observed by the naked eye, indicating that the installation height of the mold shell does not meet the requirements.

[0041] like Figure 3 As shown, the mold shell hoisting device includes a portal frame, a hook 8 mounted on the portal frame, and a translation base 2 mounted at the lower end of the portal frame; the translation base 2 is mounted on the transverse guide rail 7 or the longitudinal guide rail 5 and moves in coordination with it; the hook 8 is used to hoist the mold shell 4.

[0042] A smart camera 3 is also installed on the gantry frame. The smart camera 3 is used to capture and compare images of the target site before and after the hoisting of each mold shell 4. The smart camera 3 acquires at least two images of the target site before and after the hoisting of each mold shell 4. By comparing the two images, it is determined whether there is a deviation in the hoisting position of the mold shell 4. Since the mold shells 4 on the target site are distributed in a grid, after each mold shell 4 is hoisted except for the first mold shell 4, its center point is on the same vertical line as the center point of the mold shell 4 adjacent to it, and its center point is on the same horizontal line as the mold shell 4 adjacent to it. If there is a deviation or distortion in the vertical or horizontal lines, it means that the position of the mold shell 4 is incorrect. The mold shell hoisting device adjusts the position of the mold shell 4 until the center point of each mold shell 4 is located at the intersection of the laser grid, and all the mold shells 4 on the target site are distributed in a grid.

[0043] The portal frame includes a crossbeam assembly and two upright assemblies; the two upright assemblies are distributed on both sides of the target site, and the lower end of the upright assemblies is provided with a translation base 2; the crossbeam assembly is located above the target site, and its two ends are respectively connected to the two upright assemblies; the crossbeam assembly includes a crossbeam member and a transverse translation block that moves in coordination with the crossbeam member; the hook 8 is suspended from the lower end of the transverse translation block.

[0044] The support frame assembly includes a longitudinal beam assembly and two column assemblies 1; the column assembly 1 includes a column member 11 and a vertical translation block 13; the lower end of the column member 11 is connected to a translation base 2; the vertical translation block 13 is fitted onto the column member 11 and moves vertically with it; the longitudinal beam assembly includes a longitudinal beam member and a longitudinal translation block that moves with the longitudinal beam member; both ends of the longitudinal beam member are respectively connected to the vertical translation blocks 13 of the two column assemblies 1; both ends of the crossbeam member are respectively connected to the two longitudinal translation blocks.

[0045] The mold hoisting device also includes multiple locking components; the multiple locking components are respectively installed on the horizontal translation block, the longitudinal translation block and the vertical translation block 13, and are used to restrict the movement of the horizontal translation block, the longitudinal translation block and the vertical translation block 13.

[0046] In this embodiment, there are seven locking elements. There is one lateral translation block, two longitudinal translation blocks, and four vertical translation blocks 13. Each lateral, longitudinal, and vertical translation block 13 is equipped with a locking element. In practice, the structures of the lateral, longitudinal, and vertical translation blocks 13 can be identical, differing only in the direction of translation. (See attached diagram) Figure 4 For example, the column assembly 1 includes a column member 11 and a vertical translation block 13. The vertical translation block 13 moves vertically on the column member 11. The column member 11 is set vertically. If the column member 11 is set horizontally in the transverse direction, the structure of the column member 11 is also applicable to the crossbeam member. Similarly, if the column member 11 is set horizontally in the longitudinal direction, the structure of the column member 11 is also applicable to the longitudinal beam member.

[0047] In this embodiment, the column assembly 1 is used as an example for further explanation. The column 11 includes an upright main structure and vertically distributed toothed grooves 12 on the main structure. A vertical translation block 13 is fitted onto the main structure of the column 11. The vertical translation block 13 contains a large gear 131, a small gear 132, and a drive motor. The large gear 131 and the small gear 132 are coaxially connected. The drive motor is connected to the shaft end of the large gear 131 opposite to the small gear 132. The drive motor drives the large gear 131 and the small gear 132 to rotate synchronously. The large gear 131 meshes with the toothed grooves 12 of the main structure of the column 11. The rotation of the large gear 131 realizes the movement of the vertical translation block 13 along the main structure of the column 11. A locking element is provided on the vertical translation block 13, such as... Figure 5 , Figure 6As shown, the locking component includes a locking rod 133 and a limiting block 134. The upper part of the locking rod 133 is provided with the limiting block 134, and the lower part of the locking rod 133 is provided with a limiting tooth 135, which can mesh with the pinion 132. A horizontal strip groove 136 is provided on the vertical translation block 13. The upper part of the locking rod 133 passes through the strip groove 136, and the limiting block 134 is located at the upper end of the strip groove 136. The diameter of the limiting block 134 is larger than the opening diameter of the strip groove 136. Under the action of the limiting block 134, the locking rod 133 is suspended on the vertical translation block 13, and the limiting tooth 135 at the lower part of the locking rod 133 is located inside the vertical translation block 13. The length direction of the strip groove 136 is along the radial direction of the pinion 132. When the locking lever 133 is pushed closer to the pinion 132, the limiting tooth 135 engages with the teeth of the pinion 132, restricting the rotation of the pinion 132, thereby restricting the rotation of the large gear 131. The locking member is in a locked state, restricting the movement of the vertical translation block 13. Conversely, when the locking lever 133 is pushed away from the pinion 132, the limiting tooth 135 separates from the pinion 132, the pinion 132 is unrestricted, the rotation of the large gear 131 is also unrestricted, the locking member is in an unlocked state, and the movement of the vertical translation block 13 is unrestricted. In some embodiments, the pushing of the locking lever 133 is achieved by an electric push rod.

[0048] Based on the same inventive concept, this invention also proposes a method for hoisting a mold shell using an intelligent hoisting mold shell device, comprising the following steps:

[0049] A three-dimensional model is established based on BIM technology to characterize the target site and the shell with a pseudo-grid distribution on the target site.

[0050] Match the coordinates of the 3D model with the ground control points of the target site to generate the target coordinates of each mold shell in the target site.

[0051] Based on the coordinates of the ground control points and the target coordinates of each mold shell, the first target position of multiple first laser scanning sensors set in the target site is determined. The specific steps are as follows: on the plane where the target site is located, the target positions of multiple mold shells are connected in series along the width and length directions of the target site to form a distribution grid of the mold shells; the position where the edge of the target site intersects with the extension line of the distribution grid is determined as the first target position of the first laser scanning sensor.

[0052] Multiple first laser scanning sensors are installed at the first target location to form a two-dimensional laser grid distributed on the target site; the planar coordinates of multiple intersection points of the laser grid correspond one-to-one with the target coordinate positions of multiple mold shells on the target site.

[0053] The mold shell with the second laser scanning sensor at its center point is hoisted to the target site using a mold shell hoisting device. The position of the mold shell is adjusted so that the position of the second laser scanning sensor on the mold shell coincides with the intersection point of the laser grid where the target coordinate position of the mold shell is located.

[0054] The intelligent camera on the formwork hoisting device is used to capture and compare images of the target site before and after each formwork hoisting to verify the accuracy of the formwork hoisting position.

[0055] In this embodiment, due to the large number of formwork shells on the target site, to improve the hoisting efficiency, the stockpile of formwork shells outside the target site is set as the starting point for each formwork shell. Using a shortest path algorithm (preferably the A* algorithm), the path from the starting point of each formwork shell to its target coordinate position is searched within the laser grid. This yields the path from the current position of the formwork shell within the target site to its target coordinate position. The A* algorithm (A-Star algorithm) is a highly efficient direct search method for finding the shortest path in a static road network.

[0056] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A smart hoist formwork apparatus, characterized in that, The application relates to a BIM modeling unit for establishing a three-dimensional model for representing a target site and a formwork grid distributed on the target site; a ground control point arranged on the target site for coordinate matching of the three-dimensional model; a plurality of first laser scanning sensors distributed on the edges of the target site to form a two-dimensional laser grid; the plane coordinates of a plurality of intersection points of the laser grid correspond to the target coordinate positions of a plurality of formworks of the target site one by one; a plurality of second laser scanning sensors are arranged at the center points of the formworks one by one; and a formwork hoisting device arranged above the target site for hoisting the formwork to the target site and adjusting the position of the formwork so that the position of the second laser scanning sensor on the formwork coincides with the intersection point of the laser grid where the target coordinate position of the formwork is located. The intelligent hoisting formwork device further comprises horizontal and perpendicular transverse guide rails and longitudinal guide rails distributed on the edges of the target site; the first laser scanning sensors are arranged on the transverse guide rails and the longitudinal guide rails at intervals respectively. The formwork hoisting device comprises a portal frame, a lifting hook arranged on the portal frame and a translation base arranged at the lower end of the portal frame; the translation base is arranged on the transverse guide rail or the longitudinal guide rail and moves in cooperation with the transverse guide rail or the longitudinal guide rail; the lifting hook is used for hoisting the formwork. The portal frame comprises a crossbeam assembly and two stand assembly; the two stand assemblies are distributed on the two sides of the target site, and the lower ends of the stand assemblies are provided with the translation base; the crossbeam assembly is arranged above the target site, and the two ends of the crossbeam assembly are connected with the two stand assemblies respectively; the crossbeam assembly comprises a crossbeam and a transverse translation block moving in cooperation with the crossbeam; the lifting hook is suspended at the lower end of the transverse translation block. The stand assembly comprises a longitudinal beam assembly and two column assemblies; the column assembly comprises a column and a vertical translation block; the lower end of the column is connected with the translation base; the vertical translation block is sleeved on the column and moves in cooperation with the column in the vertical direction; the longitudinal beam assembly comprises a longitudinal beam and a longitudinal translation block moving in cooperation with the longitudinal beam; the two ends of the longitudinal beam are connected with the vertical translation blocks of the two column assemblies respectively; the two ends of the crossbeam are connected with the two longitudinal translation blocks respectively. The portal frame is further provided with an intelligent camera, which is used for photographing and comparing the images of the target site before and after hoisting of each formwork. The formwork hoisting device further comprises a plurality of locking pieces; the locking pieces are arranged on the transverse translation block, the longitudinal translation block and the vertical translation block respectively, and are used for limiting the movement of the transverse translation block, the longitudinal translation block and the vertical translation block. The application further comprises the following steps: establishing a three-dimensional model for representing a target site and a formwork grid distributed on the target site based on BIM technology; matching the three-dimensional model with the coordinates of the ground control point of the target site to generate the target coordinates of each formwork on the target site; determining the first target positions of the plurality of first laser scanning sensors arranged on the target site based on the coordinates of the ground control point and the target coordinates of each formwork; ​ ​ ​ 2. The smart hoist formwork device as claimed in claim 1, wherein, ​ 3. The smart hoist formwork device as claimed in claim 1, wherein, ​ 4. A method of form hoisting using the smart form hoisting device as claimed in claim 1, wherein, ​ ​ ​ ​ The first target positions are installed with a plurality of first laser scanning sensors to form a two-dimensional laser grid distributed on the target site; the planar coordinates of a plurality of intersection points of the laser grid correspond to the target coordinate positions of a plurality of formworks one by one; The formwork with the center point provided with the second laser scanning sensor is hoisted to the target site by the formwork hoisting device, and the position of the formwork is adjusted so that the position of the second laser scanning sensor on the formwork coincides with the intersection point of the laser grid where the target coordinate position of the formwork is located.

5. A form hoisting method according to claim 4, wherein The step of determining the first target positions based on the coordinates of the ground control points and the target coordinates of each formwork comprises: In the plane where the target site is located, the target positions of a plurality of formworks are connected in series along the width direction and the length direction of the target site respectively to form a distribution grid of the formworks; and the positions where the edges of the target site intersect with the extension lines of the distribution grid are determined as the first target positions of the first laser scanning sensors.

6. A form hoisting method according to claim 4 wherein, The method further comprises the steps of: The images of the target site before and after hoisting of each formwork are captured and compared by the intelligent camera on the formwork hoisting device to verify whether the hoisting position of the formwork is accurate.

Images