Intelligent positioning method for assembling steel channel beam segments

Abstract

The present invention discloses a method for intelligent positioning of steel channel beam segment assembly, comprising: setting a hydraulic execution system at the position of the beam body to be assembled, and hoisting the beam body onto the hydraulic execution system; measuring the current position coordinates of multiple measuring points on the beam surface, and inputting them into the intelligent positioning system together with the design position coordinates of each measuring point, and the intelligent positioning system solves the rotation transformation matrix and translation transformation vector from the current position of the beam body to the design position, and then adjusting the beam body to the design position according to the rotation transformation matrix and the translation transformation vector by setting the hydraulic execution system. The present invention has the advantages of being able to quickly adjust the steel channel beam segment, with high beam body positioning accuracy, and can effectively improve the construction efficiency of steel channel beam segment assembly and reduce construction risks.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge segment assembly, and more specifically, to an intelligent positioning method for assembling steel channel beam segments. Background Art

[0002] At present, large-span steel beams are mostly constructed by the jacking method. Before jacking, the steel beam segments need to be adjusted and assembled on the assembly platform. The positioning accuracy is high and the positioning is difficult. The traditional positioning method mainly uses a hand-cranked jack in conjunction with a gantry crane. The positioning process requires workers to set up prism measuring points on the beam surface and use the total station to conduct real-time measurement guidance for coarse and fine positioning to finally complete the positioning process. The whole process will cause some problems: (1) Long positioning time: The gantry crane is manually operated and highly dependent on the workers' experience. The positioning and measurement times are high, the positioning efficiency is low, and the time is long. (2) High safety risk: During the gantry crane adjustment process, the bottom support is vacated and the steel beam is always in a hoisted state. In this state, workers need to climb to the top of the beam to set up prism measuring points for measurement, which poses a safety risk. (3) Low adjustment accuracy: The steel beam is adjusted by the gantry crane in the hoisted state. After the adjustment is completed, a steel plate needs to be placed on the bottom support of the steel beam. When the gantry crane is unhooked and the pad is compacted, the position of the steel beam will change, resulting in a large adjustment error. Therefore, an advanced steel beam adjustment method is urgently needed to solve the above problems. Summary of the invention

[0003] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0004] In order to achieve these purposes and other advantages of the present invention, a method for intelligent positioning of steel channel beam segments is provided, comprising: setting a hydraulic execution system at the position where the beam is to be assembled, and hoisting the beam onto the hydraulic execution system; measuring the current position coordinates of multiple measuring points on the beam surface, and inputting them into the intelligent positioning system together with the design position coordinates of each measuring point, and the intelligent positioning system solves the rotation transformation matrix and translation transformation vector from the current position of the beam to the design position, and then adjusting the beam to the design position by setting the hydraulic execution system according to the rotation transformation matrix and the translation transformation vector;

[0005] The intelligent positioning system uses an optimization method to obtain the rotation transformation matrix and the translation transformation vector, which specifically includes the following steps:

[0006] SA, establish the following optimization model:

[0007]

[0008] Among them, qi is a three-dimensional column vector composed of the design position coordinates of each measuring point; pi is a three-dimensional column vector composed of the current position coordinates of each measuring point; n is the number of measuring points; t is the translation transformation vector; R is the rotation transformation matrix;

[0009] SB, bringing the current position coordinates of each measuring point actually measured into the optimization model to obtain the optimal solution, and obtaining the rotation transformation matrix and the translation transformation vector;

[0010] SC, calculating the angle of rotation of the beam body around the three-dimensional coordinate axis of the space according to the rotation transformation matrix, specifically:

[0011]

[0012] Where ψ is the rotation angle of the beam around the Z axis, θ is the rotation angle of the beam around the X axis, and φ is the rotation angle of the beam around the Y axis;

[0013] Substitute the values ​​of each element in the rotation transformation matrix R obtained in step SB into the above formula to obtain the values ​​of ψ, θ, and φ respectively.

[0014] Preferably, the current position coordinates of each measuring point are measured by an automatic measuring system; the automatic measuring system includes an automatic collimating total station, a prism and a data processing module; a magnetic base is provided at the bottom of the prism for adsorbing on the measuring point; the automatic collimating total station is arranged on a measuring tower outside the beam body for scanning the prism on each measuring point; the data processing module is connected to the automatic collimating total station for acquiring the data measured by the automatic collimating total station and converting it into the current position coordinates of each measuring point.

[0015] Preferably, a screw is fixedly provided on the magnetic base, the prism is mounted on a mounting seat, and a screw hole matching with the screw is provided on the mounting seat.

[0016] Preferably, the beam body is adjusted according to the principle of first rotating and then translating.

[0017] Preferably, the hydraulic execution system includes four groups of three-way jacks respectively arranged at the four corners of the bottom of the beam body, a displacement sensor arranged on each of the three-way jacks, and a hydraulic control system respectively connected to each of the three-way jacks and the displacement sensor.

[0018] Preferably, the method comprises the following steps:

[0019] S1: Lift the beam to be assembled onto the three-way jacks;

[0020] S2: Arrange prisms at each measuring point on the beam surface;

[0021] S3: The automatic sighting total station automatically scans points to measure the current position coordinates of the beam to be assembled, and the data is transmitted to the intelligent positioning system;

[0022] S4: The intelligent positioning system calculates the rotation transformation matrix and the translation transformation vector, and converts them into adjustment increments of each of the three-way jacks, and sends them to the hydraulic execution system;

[0023] S5: The hydraulic execution system controls the corresponding three-way jack to perform the adjustment operation, completing one round of adjustment;

[0024] S6: Automatically aiming the total station to scan and measure points;

[0025] S7: The intelligent positioning system determines whether the next round of positioning operation is required. If necessary, steps S4 to S6 are repeated. If not, the system proceeds to step S8.

[0026] S8: Save data and adjust position.

[0027] Preferably, in step S7, the intelligent positioning system calculates the deviation value between the position coordinates of each measuring point on the beam after positioning and the design position coordinates. If the deviation value is less than the set error limit, it is judged that the positioning accuracy of the beam meets the requirements and there is no need to perform the next round of positioning operation; otherwise, steps S4 to S6 are repeated.

[0028] The present invention has at least the following beneficial effects:

[0029] 1. The intelligent positioning method for assembling steel channel beam segments provided by the present invention first hoists the beam to be assembled onto the hydraulic execution system, and then measures the current position coordinates of multiple measuring points on the beam surface, without the need for workers to climb to the top of the beam to set up prism measuring points for measurement when the beam is hoisted, thereby reducing the safety risk of construction. After the rotation transformation matrix and translation transformation vector of the beam are calculated by the intelligent positioning system, the position of the beam is adjusted by the hydraulic execution system. Compared with the position adjustment of the beam by the gantry crane when the beam is hoisted, the beam positioning accuracy is higher, which can effectively improve the construction efficiency.

[0030] 2. The intelligent positioning method for assembling steel channel beam segments provided by the present invention adopts a prism with a magnetic base and an automatic aiming total station to reduce the work intensity and difficulty of workers who set up the prism on the top of the beam. The measurement method is upgraded from traditional single-person turning point measurement to automatic scanning of all measuring points by the total station, which greatly improves the measurement efficiency.

[0031] 3. The intelligent positioning method for assembling steel channel beam segments provided by the present invention calculates the positioning data based on a mathematical algorithm by an intelligent positioning system, and gives an optimal positioning plan. The beam positioning can be completed in one to two rounds, greatly improving the positioning efficiency.

[0032] 4. The intelligent positioning method for assembling steel channel beam segments provided by the present invention uses a three-way jack to directly perform positioning operations on the beam body, with high execution accuracy.

[0033] 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

[0034] Figure 1 It is a schematic diagram of the structure of the prism and the magnetic base of the present invention;

[0035] Figure 2 It is a schematic diagram of the installation position of the four groups of three-way jacks described in the present invention;

[0036] Figure 3 It is a flow chart of the intelligent positioning method for assembling steel channel beam segments according to the present invention; DETAILED DESCRIPTION

[0037] 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.

[0038] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] like Figures 1 to 3 As shown, the present invention provides an intelligent positioning method for assembling steel channel beam segments, comprising: setting a hydraulic execution system at the position of the beam body to be assembled, and hoisting the beam body onto the hydraulic execution system; measuring the current position coordinates of multiple measuring points on the beam surface, and inputting them into the intelligent positioning system together with the design position coordinates of each measuring point, the intelligent positioning system solves the rotation transformation matrix and translation transformation vector from the current position of the beam body to the design position, and then adjusting the beam body to the design position according to the rotation transformation matrix and the translation transformation vector by setting the hydraulic execution system.

[0040] In this technical solution, the beam to be assembled is first hoisted onto the hydraulic execution system, and then the hoisting state is released, and then the current position coordinates of multiple measuring points are measured on the beam surface. There is no need for workers to climb to the top of the beam to set up prism measuring points for measurement when the beam is hoisted, thereby reducing construction safety risks. After the rotation transformation matrix and the translation transformation vector are calculated by the intelligent positioning system, the position of the beam is adjusted by the hydraulic execution system. Compared with the position adjustment of the beam by the gantry crane when the beam is hoisted, the execution accuracy is higher and the positioning efficiency can be effectively improved.

[0041] Specifically, the current position coordinates of each measuring point are measured by an automatic measurement system; the automatic measurement system includes an automatic collimation total station, a prism 1 and a data processing module; a magnetic base 2 is provided at the bottom of the prism 1 for adsorbing on the measuring point; the automatic collimation total station is provided on a measuring tower outside the beam body for scanning the prisms on each measuring point; the data processing module is connected to the automatic collimation total station for obtaining the data measured by the automatic collimation total station and converting it into the current position coordinates of each measuring point. Each measuring point on the beam surface needs to be marked when the beam body is manufactured, and the prism 1 is placed on the measuring point before assembly and adjustment, and is firmly adsorbed on the beam surface by the magnetic base. A screw 1 is fixedly provided on the magnetic base 2, and the prism 1 is installed on a mounting seat, and a screw hole matching the screw is provided on the mounting seat. The height of the prism 1 can be adjusted by the mounting seat and the screw. The measuring tower can be made of steel pipe piles, concrete piles or other structures that meet the rigidity requirements. Its height is higher than the beam surface so that the total station can scan all the measuring points on the beam surface. The arrangement of the measuring tower should not hinder the jacking operation. The distance from the beam surface measuring point should be within 100m. Its rigidity should be sufficient to ensure that there is no obvious shaking during measurement. The measuring tower should be regularly observed for settlement. The observation period should be about 30 days. In one observation period, the settlement of the measuring tower should not exceed 2mm. The data processing module can use conventional automatic measurement software in engineering, and connect to the automatic aiming total station wirelessly or by wire. The total station is controlled to automatically scan and measure the prisms on each measuring point on the beam surface, and the measured data is converted into position coordinate data for export and sent to the intelligent positioning system. A screw 1 is fixedly arranged on the magnetic base 2, and the prism 1 is mounted on a mounting seat. The mounting seat is provided with a screw hole that matches the screw. The height of the prism 1 can be adjusted by the mounting seat and the screw.

[0042] The intelligent positioning system is responsible for receiving and processing the measurement data, abstracting the steel beam positioning process into a theoretical mathematical model based on a mathematical algorithm, and after solving the rotation transformation matrix and translation transformation vector of the beam body, converting them into adjustment increments of each three-way jack and transmitting them to the hydraulic control system for execution.

[0043] The intelligent positioning system uses an optimization method to obtain the rotation transformation matrix and the translation transformation vector, which specifically includes the following steps:

[0044] SA, establish the following optimization model:

[0045] (1)

[0046] Among them, qi is the three-dimensional column vector composed of the design position coordinates of each measuring point; pi is the three-dimensional column vector composed of the current position coordinates of each measuring point; n is the number of measuring points; pi is the design position of each measuring point on the beam body after the same rotation transformation and translation transformation from the current position qi. The matrix of rotation transformation is the rotation transformation matrix R, and the vector of translation transformation is the translation transformation vector t, that is, , i=1,…,n;

[0047] The objective function of the optimization model is to minimize the sum of the squares of the 2-norms of all the measurement points from the target point after rotation and translation. The constraint condition requires that R is a rotation matrix, which is a direct modeling of the original registration problem. The solution to the problem can be quickly obtained by solving equation (1) through the optimization method's related software and functions.

[0048] SB, bringing the current position coordinates of each measuring point actually measured into the optimization model to obtain the optimal solution, and obtaining the rotation transformation matrix R and the translation transformation vector t.

[0049] SC, calculating the rotation angle of the beam body around the three-dimensional coordinate axis of the space according to the rotation transformation matrix R.

[0050] The relationship between the rotation transformation matrix R and the angle of rotation of the beam body around the three-dimensional coordinate axis of the space is:

[0051] (2)

[0052] In formula (2), ψ is the rotation angle of the beam around the Z axis, θ is the rotation angle of the beam around the X axis, and φ is the rotation angle of the beam around the Y axis;

[0053] Substitute the values ​​of each element in the rotation transformation matrix R obtained in step SB into the above formula to obtain the values ​​of ψ, θ, and φ respectively. , then by comparing with formula (2), we can get the three rotation angles:

[0054] (3)

[0055] (4)

[0056] (5)

[0057] The SVD method and the 4-element method can also be used to solve the rotation transformation matrix and the translation transformation vector. After mathematical calculation, the specific performance of the SVD method, the 4-element method and the optimization method in the beam assembly project is not much different. The SVD method directly obtains the rotation matrix through the original data. The 4-element method is based on the optimization goal of the rotation matrix and obtains the algebraic solution method of the rotation matrix. The optimization method directly uses the optimization calculation method to solve the rotation matrix. The essence of the three is to find a rotation matrix R such that The problem of obtaining the minimum value. When implementing the project, one of the methods can be selected according to the actual situation.

[0058] Then, the intelligent positioning system further calculates the adjustment increments of the three-way jacks during the rotation transformation according to the trigonometric function relationship through the rotation angles around the Z axis, the X axis, and the Y axis and the length of the beam along the bridge direction or the transverse bridge direction.

[0059] In another technical solution, the beams are adjusted according to the principle of first rotating and then translating to ensure that there is rotation space between the beams.

[0060] In another technical solution, the hydraulic execution system includes four groups of three-way jacks respectively arranged at the four corners of the bottom of the beam, displacement sensors arranged on each of the three-way jacks, and a hydraulic control system respectively connected to each of the three-way jacks and the displacement sensors. The hydraulic control system receives the instructions of the intelligent positioning system and the stroke of the corresponding three-way jacks monitored by each of the displacement sensors, and controls the lifting and retraction operations of each of the three-way jacks. The four groups of three-way jacks are distributed at the four corners of the bottom of the beam and arranged symmetrically. An expanded support should be set at the bottom of the jack to ensure the stability of the jack. The height of the jack can be changed by adding or removing piers and pads. The jack stroke should be greater than 10cm. Before positioning, the jack stroke should be adjusted to the middle position to ensure that the jack has sufficient adjustment in the X, Y, and Z axis directions; the displacement sensor can be a laser sensor, a wire sensor, etc., which needs to be arranged in each displacement direction of the three-way jack, and the sensor needs to be regularly checked for its accuracy and sensitivity. The hydraulic control system can adopt a conventional jack synchronous hydraulic control system, which is not limited here.

[0061] like Figure 2 As shown, the four groups of three-way jacks are jack A, jack B, jack C, and jack D. In the figure, the X-axis direction is the transverse direction of the bridge, the Y-axis direction is the longitudinal direction of the bridge, and the Z-axis is the direction perpendicular to the beam surface. The following three methods can be used to adjust the rotation of the beam body, taking the counterclockwise rotation angle θ around the X-axis as an example, and the rotation around the Y-axis and Z-axis is the same:

[0062] Method 1: Jack A and Jack B remain stationary, and Jack C and Jack D are adjusted along the positive direction of the Z axis by the same increment, and the increment amplitude is calculated based on θ and the length of the beam along the bridge direction;

[0063] Method 2: Jack C and Jack D remain stationary, and Jack A and Jack B are adjusted along the negative direction of the Z axis by the same increment, and the increment amplitude is calculated based on θ and the length of the beam along the bridge direction;

[0064] Method 3: Jack A and Jack B are adjusted with the same increment along the negative direction of the Z axis, and Jack C and Jack D are adjusted with the same increment along the positive direction of the Z axis. The increment amplitude is calculated based on θ and the length of the beam along the bridge direction.

[0065] The translation adjustment of the beam body can be directly based on the translation transformation vector t, and the four groups of three-way jacks can be controlled to adjust the same increment in one direction at the same time.

[0066] In another technical solution, Figure 3 As shown, the intelligent positioning method for assembling steel channel beam segments specifically includes the following steps:

[0067] S1: Lift the beam to be assembled onto the three-way jacks;

[0068] S2: Arrange prisms at each measuring point on the beam surface;

[0069] S3: The automatic sighting total station automatically scans points to measure the current position coordinates of the beam to be assembled, and the data is transmitted to the intelligent positioning system;

[0070] S4: The intelligent positioning system calculates the rotation transformation matrix and the translation transformation vector, and converts them into adjustment increments of each of the three-way jacks, and sends them to the hydraulic execution system;

[0071] S5: The hydraulic execution system controls the corresponding three-way jack to perform the adjustment operation, completing one round of adjustment;

[0072] S6: Automatically aiming the total station to scan and measure points;

[0073] S7: The intelligent positioning system determines whether the next round of positioning operation is required. If necessary, steps S4 to S6 are repeated. If not, the system proceeds to step S8.

[0074] S8: Save data and adjust position.

[0075] Among them, in step S7, the intelligent positioning system calculates the deviation value between the position coordinates of each measuring point on the beam after adjustment and the design position coordinates. If the deviation value is less than the set error limit, it is judged that the beam positioning accuracy meets the requirements and there is no need to perform the next round of positioning operation; otherwise, steps S4~S6 are repeated.

[0076] Taking the data from an actual project as an example, 6 measuring points are set on the beam surface, and the design position coordinates of the 6 measuring points are:

[0077] [-10. 20. 9.78] [0.20.9.8] [10. 20. 9.82]

[0080] [-10. 40. 9.58] [0.40.9.6] 10. 40. 9.62]

[0083] The current position coordinates of the six measuring points measured by the automatic measuring system are:

[0084] [-9.1614 20.3763 ​​9.9987] [0.8325 20.1903 9.5917] [10.8234 20.0222 9.1988]

[0087] [-8.7876 40.3828 10.4864] [1.209 40.1858 10.0762] [11.1993 39.9975 9.6674]

[0090] The above coordinates are the coordinates in the spatial rectangular coordinate system established by the total station, and the unit is meter; the intelligent positioning system calculates the rotation adjustment increment and translation vector according to the optimization model:

[0091] [0.018 -0.0348 0.0418], [-0.0569 -0.5235 0.8854]

[0092] The first three values ​​are the adjustment increments corresponding to the rotation angles around the Z axis, X axis, and Y axis, respectively, and the last three values ​​are the translation vectors. The above data is sent to the hydraulic execution system to control the four groups of three-way jacks to adjust the beam posture according to the data calculated above. The rotation order is to rotate around the Y axis first, then around the X axis, and finally around the Z axis, corresponding to Figure 2 , the specific operations are as follows:

[0093] 1. Jack A and Jack D remain stationary, and Jack C and Jack B are adjusted 0.0418 meters along the positive direction of the Z axis;

[0094] 2. Jack A and Jack B remain stationary, and Jack C and Jack D are adjusted 0.0348 meters along the negative direction of the Z axis;

[0095] 3. Jack A and Jack B move 0.009 meters along the positive direction of the X axis, and Jack C and Jack D move 0.009 meters along the negative direction of the X axis;

[0096] 4. The four groups of jacks move synchronously along the negative direction of the Z axis by 0.0569 meters, along the negative direction of the X axis by 0.5235 meters, and along the positive direction of the Y axis by 0.8854 meters.

[0097] Theoretically, the theoretical coordinate positions of the six measuring points can be reached (or approximated) by rotating the beam first and then translating it. However, in practice, since the rotation (or translation) can only be performed at the location of the jack, it is not directly transformed in the original coordinate system (i.e., the spatial rectangular coordinate system established by the total station). Therefore, only one rotation transformation and translation transformation may not meet the engineering requirements. Through simulation calculation: first perform a rotation transformation at point A (-10, 20, 2), and then translate it to the original coordinate system, the new coordinates of the six measuring points on the beam are:

[0098] [-9.5043 20.6695 10.0076] [ 0.4911 20.6616 10.0343 ] [10.4882 20.6598 10.0488]

[0101] [-9.5106 40.6564 9.8083] [0.4933 40.6589 9.8329] [10.4861 40.6604 9.8488]

[0104] The intelligent positioning system is used to calculate again, and the rotation angle and translation vector are respectively: [0. 0.0.] and [-0.4908 -0.6652 -0.231 ], that is, the rotation angle is 0 (or approximately equal to 0), indicating that only the beam body needs to be translated. In addition, in practice, due to the measurement error of the total station and the adjustment error of the hydraulic jack, the above process may be repeated many times. However, each repetition will adjust the matching beam to a position closer to the expected position, so that after repeated several times, the engineering accuracy requirements can be met.

[0105] 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 intelligent positioning of steel channel beam segments, characterized in that: include: A hydraulic execution system is arranged at the position where the beam body is to be assembled, and the beam body is hoisted onto the hydraulic execution system; The current position coordinates of multiple measuring points on the beam surface are measured, and the coordinates of the design positions of the measuring points are input into the intelligent positioning system together, and the intelligent positioning system solves the rotation transformation matrix and the translation transformation vector from the current position of the beam body to the design position, and then the hydraulic actuator system is set to adjust the beam body to the design position according to the rotation transformation matrix and the translation transformation vector; The intelligent positioning system uses an optimization method to obtain the rotation transformation matrix and the translation transformation vector, which specifically includes the following steps: SA, establish the following optimization model: Among them, q i is the three-dimensional column vector composed of the design position coordinates of each measuring point; i is a three-dimensional column vector composed of the current position coordinates of each measuring point; n is the number of measuring points; t is the translation transformation vector; R is the rotation transformation matrix; SB, bringing the current position coordinates of each measuring point actually measured into the optimization model to obtain the optimal solution, and obtaining the rotation transformation matrix and the translation transformation vector; SC, calculating the angle of rotation of the beam body around the three-dimensional coordinate axis of the space according to the rotation transformation matrix, specifically: Where ψ is the rotation angle of the beam around the Z axis, θ is the rotation angle of the beam around the X axis, and φ is the rotation angle of the beam around the Y axis; Substitute the values ​​of each element in the rotation transformation matrix R obtained in step SB into the above formula to obtain the values ​​of ψ, θ, and φ respectively.

2. The intelligent positioning method for assembling steel channel beam segments according to claim 1, characterized in that: The current position coordinates of each measuring point are measured by an automatic measuring system; the automatic measuring system includes an automatic collimating total station, a prism and a data processing module; a magnetic base is provided at the bottom of the prism for adsorbing on the measuring point; the automatic collimating total station is arranged on a measuring tower outside the beam body for scanning the prism on each measuring point; the data processing module is connected to the automatic collimating total station for acquiring the data measured by the automatic collimating total station and converting it into the current position coordinates of each measuring point.

3. The intelligent positioning method for assembling steel channel beam segments according to claim 2, characterized in that: A screw is fixedly arranged on the magnetic base, the prism is mounted on a mounting seat, and a screw hole matching with the screw is opened on the mounting seat.

4. The intelligent positioning method for assembling steel channel beam segments according to claim 1, characterized in that: The adjustment of the beam is carried out according to the principle of rotation first and then translation.

5. The intelligent positioning method for assembling steel channel beam segments according to claim 2, characterized in that: The hydraulic execution system comprises four groups of three-way jacks respectively arranged at the four corners of the bottom of the beam body, a displacement sensor arranged on each of the three-way jacks, and a hydraulic control system respectively connected to each of the three-way jacks and the displacement sensor.

6. The intelligent positioning method for assembling steel channel beam segments according to claim 5, characterized in that: The specific steps include: S1: Lift the beam to be assembled onto the three-way jacks; S2: Arrange prisms at each measuring point on the beam surface; S3: The automatic sighting total station automatically scans points to measure the current position coordinates of the beam to be assembled, and the data is transmitted to the intelligent positioning system; S4: The intelligent positioning system calculates the rotation transformation matrix and the translation transformation vector, and converts them into adjustment increments of each of the three-way jacks, and sends them to the hydraulic execution system; S5: The hydraulic execution system controls the corresponding three-way jack to perform the adjustment operation, completing one round of adjustment; S6: Automatically aiming the total station to scan and measure points; S7: The intelligent positioning system determines whether the next round of positioning operation is required. If necessary, steps S4 to S6 are repeated. If not, the system proceeds to step S8. S8: Save data and adjust position.

7. The intelligent positioning method for assembling steel channel beam segments according to claim 6, characterized in that: In step S7, the intelligent positioning system calculates the deviation value between the position coordinates of each measuring point on the beam after positioning and the design position coordinates. If the deviation value is less than the set error limit, it is judged that the beam positioning accuracy meets the requirements and there is no need to perform the next round of positioning operation; otherwise, steps S4 to S6 are repeated.

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