Visual continuous beam cantilever hanging basket monitoring system and method based on BIM technology

Abstract

The invention discloses a visual continuous beam cantilever hanging basket monitoring system and method based on a BIM technology, and belongs to the field of continuous beam hanging basket construction. According to the visual continuous beam cantilever hanging basket monitoring system and method based on the BIM technology, the BIM technology is combined with the three-dimensional laser scanner to obtain hanging basket state data, and a visual three-dimensional hanging basket model is established; the monitored model data under the no-load, forward-moving and full-load states in the hanging basket construction process are compared with reference model data obtained through calculation based on the hanging basket initial state model data, hanging basket state information is obtained, and early warning is conducted in time. Therefore, the problems of tedious monitoring module technology, inaccurate test data and incapability of feeding back deformation of the hanging basket in time in the prior art are solved. Real-time monitoring of the hanging basket is achieved, and construction safety is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of continuous beam hanging basket construction, and in particular relates to a visualized continuous beam cantilever hanging basket monitoring system and method based on BIM technology. Background Art

[0002] During the construction of continuous beams, cantilever hanging baskets are required. Hanging basket construction refers to the use of hanging baskets to cast cantilever beam bridges with larger spans, and to perform on-site segmented cantilever operations. During the cantilever hanging basket construction process, the hanging baskets need to be monitored. The hanging baskets on both sides of the pier should be symmetrically displaced, and the parameters such as the relative elevation of the hanging baskets, the horizontality and angle of the diamond frame and the shoulder beam should be within the set range to avoid distortion. In recent years, due to incomplete monitoring of cantilever hanging baskets, many safety accidents such as cantilever hanging baskets overturning and collapsing have occurred. This has caused losses to the engineering industry and even harmed the personal safety of personnel.

[0003] According to relevant research, the stress monitoring and two-way speed and distance control of the cantilever basket mainly affect the safety of the cantilever basket. However, in the existing technology, most of the sensors are used as the main medium for stress monitoring and two-way speed and distance control of the cantilever basket. Not only is the technology cumbersome, but there are also many monitoring modules involved. The monitoring system itself is also prone to inaccurate monitoring data. Although the basket is installed with many sensors, it may still be impossible to judge the on-site situation due to inaccurate monitoring data, resulting in safety accidents such as the basket overturning. In addition, when the basket is severely deformed, there is no reference to the initial values ​​of the parameters such as the relative elevation of the basket, the diamond frame, the horizontality and angle of the shoulder pole beam, etc., making it difficult to judge the deformation of the basket in time. If deformation occurs due to failure to effectively monitor, it is extremely complicated to reset the basket, which increases the difficulty of the project. Summary of the invention

[0004] Technical problem to be solved: In order to avoid the shortcomings of the prior art, the present invention provides a visual continuous beam cantilever hanging basket monitoring system and method based on BIM technology, which uses BIM technology combined with a three-dimensional laser scanner to obtain hanging basket status data, establishes a visual three-dimensional hanging basket model, and compares the model data of the hanging basket in the empty, forward and full load states during the construction process with the reference model data calculated based on the initial state model data of the hanging basket to obtain the hanging basket status information and timely warn. It solves the problems of cumbersome monitoring module technology, inaccurate test data, and inability to timely feedback the deformation of the hanging basket in the prior art.

[0005] The technical solution of the present invention is: a visual continuous beam cantilever hanging basket monitoring system based on BIM technology, including a three-dimensional laser scanner, a forced centering point, a BIM processing system, and a GNSS receiver;

[0006] The forced centering point is buried at the center of block 0 to create a reference point;

[0007] The GNSS receiver is used to statically set up the mandatory centering point and assign the point elevation and plane coordinates;

[0008] The three-dimensional laser scanner is set up on the forced centering point to collect coordinate data of the status of each working node of the hanging basket and the two-way moving speed of the hanging basket; the three-dimensional laser scanner is electrically connected to the BIM processing system to transmit the collected data to the BIM processing system;

[0009] The BIM processing system is used for analyzing and processing data collected by a three-dimensional laser scanner.

[0010] A further technical solution of the present invention is: the BIM processing system includes a data collection module, a three-dimensional modeling module, a model lightweight processing module, a model splicing module, a model comparison and analysis module, and a visualization display module;

[0011] The data collection module is used to collect data collected by a three-dimensional laser scanner; the three-dimensional modeling module is used to establish a reference model of each working node of the hanging basket based on the initial state data of the hanging basket collected by the three-dimensional laser scanner; the model lightweight module is used to perform multi-level compression on the data collected by each working node during the working process of the hanging basket, and establish a lightweight actual model of the corresponding working node through the model splicing module; the model comparison and analysis module is used to compare and analyze the actual model of each working node with the reference model to obtain comparison data; the visualization display module is used to display the comparison data of the model comparison and analysis module.

[0012] A further technical solution of the present invention is: the BIM processing system also includes a monitoring and early warning module, which is used to issue an alarm message when the comparison data exceeds the reference model range, or when the moving speed of the bidirectional hanging basket collected by the three-dimensional laser scanner exceeds the set value or is inconsistent.

[0013] A further technical solution of the present invention is that the working nodes of the hanging basket include three nodes: empty, fully loaded, and forward moving. During the working process of the hanging basket, the three nodes cycle in sequence.

[0014] A monitoring method for a visual continuous beam cantilever hanging basket monitoring system based on BIM technology, the steps are as follows:

[0015] Step 1: bury the mandatory centering point at the center of block 0, and assign the mandatory centering point coordinate elevation and plane coordinates through the GNSS static installation method;

[0016] Step 2: Set up a 3D laser scanner on the forced centering point to scan the initial point cloud data of the hanging baskets on both sides of block 0 after installation;

[0017] Step 3: The data collection module of the BIM processing system solves the collected initial point cloud data to obtain the format data required for 3D modeling;

[0018] Step 4: The model lightweight processing module of the BIM processing system performs multi-level compression according to the solved initial point cloud data, and transmits the compressed data to the model splicing module, and constructs the actual model of the lightweight initial no-load node through the model splicing module;

[0019] Step 5: The 3D modeling module of the BIM processing system constructs a reference model of each working node of the hanging basket according to the initial point cloud data solved in step 3;

[0020] Step 6: When the basket is fully loaded, a 3D laser scanner is used to scan it, and the overall coordinate data of the fully loaded state of the baskets on both sides of block 0 are collected. The collected data is solved through step 3, and the actual model of the lightweight fully loaded node is obtained through step 4;

[0021] Step 7: Compare the actual model of the fully loaded node with the fully loaded reference model through the model comparison and analysis module, and display the comparison result through the visualization display module. When the actual model of the fully loaded node exceeds the reference model range of the fully loaded node, the monitoring and early warning module issues a warning reminder;

[0022] Step 8: During the forward movement of the hanging basket, a 3D laser scanner is used to scan it, and the overall coordinate data and bidirectional movement speed of the hanging baskets on both sides of block 0 are collected. The collected data is solved through step 3, and the actual model of the lightweight forward movement node is obtained through step 4.

[0023] Step 9: Compare the actual model of the forward node with the reference model of the forward node through the model comparison and analysis module, and display the comparison result through the visualization display module. When the actual model of the forward node exceeds the reference model range of the forward node, the monitoring and early warning module issues a warning reminder;

[0024] Step 10: After the basket is moved forward, in an empty state, a 3D laser scanner is used to scan it, and the overall coordinate data of the empty state of the baskets on both sides of block 0 are collected. The collected data is solved through step 3, and the actual model of the lightweight empty node of the first cycle is obtained through step 4.

[0025] Step 11: compare the actual model of the no-load node in step 10 with the reference model of the no-load node, i.e., the actual model of the initial no-load node in step 4, through the model comparison and analysis module, and display the comparison result through the visualization display module. When the actual model of the no-load node exceeds the reference model range of the no-load node, the monitoring and early warning module issues a warning reminder;

[0026] Step 12: Repeat steps 6 to 11 until the construction of the continuous beam hanging basket is completed.

[0027] A further technical solution of the present invention is: after the initial point cloud data is compressed in multiple stages in step 4, only the scanning coordinate data of the shoulder beam, diamond frame, sling and track of the hanging basket are retained.

[0028] A further technical solution of the present invention is: the reference model in step 5 is: a virtual model constructed based on the initial point cloud data of the hanging basket and the maximum deformation value of the hanging basket allowed by the "Urban Rail Transit Engineering Measurement Specifications".

[0029] A further technical solution of the present invention is: when comparing the models in steps 7, 9 and 11, the actual model and the reference model of the corresponding node are interactively merged to check whether the actual model in the merged state exceeds the boundary range of the reference model.

[0030] Beneficial Effects

[0031] The beneficial effects of the present invention are as follows: the present invention provides a visual continuous beam cantilever hanging basket monitoring system and method based on BIM technology, based on the BIM processing system, in conjunction with a three-dimensional laser scanner, to compare the actual model of the hanging basket's empty stationary, fully loaded stationary, and empty forward nodes with the constructed virtual reference model of each node, and to timely discover the deviation of the actual model through a visual display module. By setting a monitoring and early warning module, when the set range is exceeded, the monitoring and early warning module alarm is triggered to remind the staff to make corrections or evacuate the site.

[0032] Compared with the traditional cantilever basket monitoring system, the monitoring system of the present invention only needs a three-dimensional laser scanner and a BIM processing system to realize real-time monitoring. It does not require any extra instruments or sensors, is low in cost, and can monitor the cantilever baskets of continuous beams along the entire line.

[0033] Compared with the traditional monitoring method, the monitoring of the present invention is more accurate. For different node forms of the hanging basket, the initial point cloud data of the hanging basket is used as a benchmark, and virtual modeling is performed by referring to the maximum deformation value allowable in the "Urban Rail Transit Engineering Measurement Specifications". Different warning value standards are set for different nodes of the hanging basket, and a reference model of each node of the hanging basket is obtained. Compared with the traditional unified warning value, the warning monitoring of the present invention is more accurate.

[0034] By using the monitoring method of the present invention to monitor the hanging basket construction, when the deformation of the hanging basket exceeds the limit, detailed parameters and coordinates can be provided for the hanging basket reset, which can not only ensure the construction safety, but also further improve the construction efficiency and ensure the linear shape of the continuous beam. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the installation of the three-dimensional laser scanner and the forced centering point in the present invention;

[0036] Figure 2 This is a schematic diagram of the three-dimensional laser scanner in the present invention scanning the hanging baskets on both sides of block 0;

[0037] Figure 3 Schematic diagram of the overall process of the monitoring method of the present invention.

[0038] Explanation of the reference numerals: 1. forced centering point, 2. three-dimensional laser scanner, 3. block No. 0, 4. hanging basket, 41. shoulder pole beam, 42. defensive shoulder pole beam, 43. diamond frame, 44. track, 45. sling, 46. alarm. DETAILED DESCRIPTION

[0039] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0040] See also Figure 1-3 The present invention provides a visual continuous beam cantilever basket monitoring system and method based on BIM technology. The monitoring method adopts a monitoring system constructed by a forced centering point 1, a three-dimensional laser scanner 2, a BIM processing system, and a GNSS receiver.

[0041] like Figure 1 , 2 As shown, the monitoring system includes a forced centering point 1, a three-dimensional laser scanner 2, a BIM processing system, and a GNSS receiver. The forced centering point 1 is buried in the center of block 0 3 (block 0 is the first unit of the bridge to be cast, directly above the pier, and the first block of the building extending from the pier to both sides), and is used to create a reference point for the coordinate system. The GNSS receiver is used to statically set up the forced centering point 1 (also known as the reference point), and assign the point elevation and plane coordinates as the reference coordinate origin for the three-dimensional laser scanner 2 to collect coordinate data.

[0042] The three-dimensional laser scanner 2 is set up on the forced centering point 1, and is used to collect point cloud data of the overall status of each working node of the hanging basket 4 on both sides of the block 0 3 and the bidirectional moving speed of the hanging basket 4. The three-dimensional laser scanner 2 is electrically connected to the BIM processing system to transmit the collected data to the BIM processing system.

[0043] The BIM processing system is used for analyzing and processing the data collected by the 3D laser scanner 2. For details, see Figure 3 The BIM processing system includes data collection module, 3D modeling module, model lightweight processing module, model splicing module, model comparison and analysis module, visualization display module, and monitoring and early warning module.

[0044] The data collection module is used to collect data collected by the three-dimensional laser scanner 2 and is connected to the signal of the three-dimensional laser scanner 2. The data collection module is provided with a solution unit, which can solve the collected data to obtain the data format required for three-dimensional modeling. The three-dimensional modeling module, the model lightweight processing module, and the monitoring and early warning module are all connected to the output signal of the data collection module to obtain the required processing data.

[0045] The 3D modeling module is used to establish a reference model of the empty, fully loaded and forward working nodes of the hanging basket 4 according to the initial point cloud data of the hanging basket 4 collected by the 3D laser scanning 2. The reference model is a virtual model constructed based on the initial point cloud data of the hanging basket 4 according to theoretical calculations and the maximum deformation value of the hanging basket allowed by the "Urban Rail Transit Engineering Measurement Specifications".

[0046] The model lightweight module is used to perform multi-level compression on the point cloud data collected from the empty, fully loaded and forward working nodes during the working process of the hanging basket 4, and to establish a lightweight actual model of the corresponding working node through the model splicing module. The splicing module is connected to the model lightweight module signal.

[0047] The model comparison and analysis module is used to compare and analyze the actual model of each working node with the reference model, obtain comparison data, and display the comparison data of the model comparison and analysis module through the visualization display module. The three-dimensional modeling module and the model splicing module are both connected to the model comparison and analysis module signal, and the models constructed by each are passed to the model comparison and analysis module for comparison and analysis. The visualization display module is specifically a display screen, which is connected to the model comparison and analysis module signal.

[0048] The monitoring and early warning module is used to send out an alarm message when the comparison data exceeds the reference model range, or when the moving speed of the two-way hanging basket 4 collected by the three-dimensional laser scanner 2 exceeds the set value or is inconsistent. It is connected to the model comparison and analysis module and the data collection module signal. The speed data of the hanging basket 4 collected by the three-dimensional laser scanner 2 is directly transmitted from the data collection module to the monitoring and early warning module, and an alarm is issued when the speed alarm threshold is exceeded. An alarm is installed on the hanging basket diamond frame and connected to the monitoring and early warning module signal, which is used for the hanging basket 4 construction site alarm.

[0049] See also Figure 3 The present invention provides a visual continuous beam cantilever hanging basket monitoring method based on BIM technology, and the specific steps are as follows:

[0050] Step 1: bury the forced centering point 1 at the center of block 0, and assign the forced centering point coordinate elevation and plane coordinates through the GNSS static installation method.

[0051] The steps of the GNSS static installation method are as follows: First, connect the GNSS receiver to the antenna, ensure that the connection is firm, and be careful not to damage the antenna cable during the connection process. Second, turn on the power of the GNSS receiver and start the receiver. Finally, enter the setting menu of the GNSS receiver, select the static measurement mode, and set the relevant parameters, including sampling interval, measurement time, coordinate system, etc., to complete the establishment of the coordinates of the forced center point.

[0052] Step 2: Set up a 3D laser scanner 2 on the mandatory centering point 1, scan the initial point cloud data of the overall state of the hanging basket 4 on both sides of block 0 3 after installation, and transmit the scanned data to the data collection module of the BIM processing system. By setting up the 3D laser scanner 2 on the mandatory centering point, the collected data will use the coordinate data of the mandatory centering point 1 as the reference point.

[0053] Step 3: The data collection module of the BIM processing system solves the collected initial point cloud data to obtain the format data required for 3D modeling, specifically converting the XYZ coordinate format file into a PCD space coordinate file.

[0054] Step 4, the model lightweight processing module of the BIM processing system performs multi-level compression according to the solved initial point cloud data, and transmits the compressed data to the model splicing module, and constructs the actual model of the lightweight initial unloaded node through the model splicing module. Model splicing uses BIM to perform three-dimensional model splicing, which is achieved by splicing the central axis and height. After multi-level compression of the initial point cloud data, only the scanning coordinate data of the pole beam 41, the defense pole beam 42, the diamond frame 43, the sling 45, and the track 44 of the hanging basket are retained. These parameters are all based on the forced centering point 1 as the coordinate reference, so as to facilitate the subsequent monitoring of the elevation and horizontal status values ​​of the pole beam 41 and the defense pole beam 42, the angle status value of the diamond frame 43, the elevation and verticality of the sling 45 to the horizontal line, and the horizontal status value information of the track 44.

[0055] The process of multi-level compression is as follows: first, perform necessary preprocessing on the point cloud data before compression; then use a clustering algorithm (such as k-means clustering) to spatially divide the point cloud and complete spatial clustering; then extract key features from the clustered data, such as the point position, color, normal vector, etc.; then simplify the data by deleting unimportant points or reducing the number of points through sampling, while maintaining the overall structure and main features of the point cloud.

[0056] Step 5. The 3D modeling module of the BIM processing system constructs reference models of the empty, fully loaded, and forward working nodes of the hanging basket 4 according to the initial point cloud data solved in step 3. The reference model is established based on the maximum deformation value of the hanging basket allowed by the "Urban Rail Transit Engineering Measurement Specifications" and is a virtual model constructed based on the initial point cloud data of the hanging basket 4 according to theoretical calculations. The reference model of the empty node is the actual model of the initial empty node constructed based on the initial point cloud data of the hanging basket.

[0057] Step 6: When the basket 4 is fully loaded, the three-dimensional laser scanner 2 scans it to collect the overall coordinate data of the fully loaded state of the basket 4 on both sides of block 0, and the collected data is solved through step 3, and the actual model of the lightweight fully loaded node is obtained through step 4.

[0058] Step 7: Compare the actual model of the fully loaded node with the fully loaded reference model through the model comparison and analysis module, and display the comparison results through the visualization display module. When the actual model of the fully loaded node exceeds the reference model range of the fully loaded node, the monitoring and early warning module issues a warning reminder.

[0059] Step 8. During the forward movement of the hanging basket 4, the three-dimensional laser scanner 2 scans it to collect the overall coordinate data and bidirectional movement speed of the forward movement state of the hanging basket 4 on both sides of block 0, and the collected data is solved through step 3, and the actual model of the lightweight forward movement node is obtained through step 4.

[0060] Step 9, compare the actual model of the forward node with the reference model of the forward node through the model comparison and analysis module, and display the comparison results through the visual display module. When the actual model of the forward node exceeds the reference model range of the forward node, the monitoring and early warning module issues a warning reminder. When the moving speed of the two-way hanging basket 4 collected by the three-dimensional laser scanner 2 exceeds the set value or is inconsistent, a warning reminder is issued. The speed warning of the hanging basket 4 is also determined according to the specific design standards of the construction in accordance with the "Urban Rail Transit Engineering Measurement Specifications".

[0061] Step 10, when the hanging basket 4 is in an unloaded state after it moves forward to its position, the three-dimensional laser scanner 2 scans it to collect the overall coordinate data of the hanging basket 4 in the unloaded state on both sides of block 0, and the collected data is solved through step 3, and the actual model of the lightweight unloaded node of the first cycle is obtained through step 4.

[0062] Step 11: Compare the actual model of the no-load node in step 10 with the reference model of the no-load node, i.e., the actual model of the initial no-load node in step 4, through the model comparison and analysis module, and display the comparison result through the visualization display module. When the actual model of the no-load node exceeds the reference model range of the no-load node, the monitoring and early warning module issues a warning reminder.

[0063] Step 12, during the construction of the continuous beam cantilever hanging basket, the empty, fully loaded and forward movement of each working node of the hanging basket 4 is a continuous cycle process. Therefore, repeat steps 6 to 11 until the construction of the continuous beam hanging basket is completed, and the dynamic model monitoring of the whole process of the hanging basket 4 construction can be realized.

[0064] When comparing models in steps 7, 9, and 11, the actual model of the corresponding node and the reference model are interactively merged to check whether the actual model in the merged state exceeds the boundary range of the reference model. Since the reference model is calculated based on the maximum deformation value allowed by the hanging basket 4, the component boundary in its model is larger than the actual model boundary in the normal state. Through multi-level lightweight compression of the model, the key data of the compared model, that is, the actual conditions of the hanging basket 4's shoulder pole beam 41, defense shoulder pole beam 42, diamond frame 43, sling 45, and track 44 are retained, which is convenient for checking and comparing.

[0065] The present invention can judge whether each related part has a fault according to the safety status of each related part in the three-dimensional model, and complete the intelligent monitoring and early warning of the safety visualization of the hanging basket 4. This method can realize intelligent real-time monitoring of the continuous beam cantilever hanging basket construction process.

[0066] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A visual continuous beam cantilever hanging basket monitoring system based on BIM technology, characterized by: Including 3D laser scanner, mandatory centering point, BIM processing system, GNSS receiver; The forced centering point is buried at the center of block 0 to create a reference point; The GNSS receiver is used to statically set up the mandatory centering point and assign the point elevation and plane coordinates; The three-dimensional laser scanner is set up on the forced centering point to collect coordinate data of the status of each working node of the hanging basket and the two-way moving speed of the hanging basket; the three-dimensional laser scanner is electrically connected to the BIM processing system to transmit the collected data to the BIM processing system; The BIM processing system is used for analyzing and processing data collected by a three-dimensional laser scanner.

2. According to the BIM technology-based visual continuous beam cantilever hanging basket monitoring system of claim 1, it is characterized by: The BIM processing system includes a data collection module, a three-dimensional modeling module, a model lightweight processing module, a model splicing module, a model comparison and analysis module, and a visualization display module; The data collection module is used to collect data collected by a three-dimensional laser scanner; the three-dimensional modeling module is used to establish a reference model of each working node of the hanging basket based on the initial state data of the hanging basket collected by the three-dimensional laser scanner; the model lightweight module is used to perform multi-level compression on the data collected by each working node during the working process of the hanging basket, and establish a lightweight actual model of the corresponding working node through the model splicing module; the model comparison and analysis module is used to compare and analyze the actual model of each working node with the reference model to obtain comparison data; the visualization display module is used to display the comparison data of the model comparison and analysis module.

3. According to the BIM technology-based visual continuous beam cantilever hanging basket monitoring system of claim 2, it is characterized by: The BIM processing system also includes a monitoring and early warning module, which is used to issue an alarm message when the comparison data exceeds the reference model range, or when the moving speed of the bidirectional hanging basket collected by the three-dimensional laser scanner exceeds the set value or is inconsistent.

4. According to claim 3, the visual continuous beam cantilever hanging basket monitoring system based on BIM technology is characterized in that: The working nodes of the hanging basket include three nodes: empty, fully loaded and forward moving. During the working process of the hanging basket, the three nodes cycle in sequence.

5. A method for monitoring using the visual continuous beam cantilever hanging basket monitoring system based on BIM technology as claimed in claim 4, characterized in that: Here are the steps: Step 1: bury the mandatory centering point at the center of block 0, and assign the mandatory centering point coordinate elevation and plane coordinates through the GNSS static installation method; Step 2: Set up a 3D laser scanner on the forced centering point to scan the initial point cloud data of the hanging baskets on both sides of block 0 after installation; Step 3: The data collection module of the BIM processing system solves the collected initial point cloud data to obtain the format data required for 3D modeling; Step 4: The model lightweight processing module of the BIM processing system performs multi-level compression according to the solved initial point cloud data, and transmits the compressed data to the model splicing module, and constructs the actual model of the lightweight initial no-load node through the model splicing module; Step 5: The 3D modeling module of the BIM processing system constructs a reference model of each working node of the hanging basket according to the initial point cloud data solved in step 3; Step 6: When the basket is fully loaded, a 3D laser scanner is used to scan it, and the overall coordinate data of the fully loaded state of the baskets on both sides of block 0 are collected. The collected data is solved through step 3, and the actual model of the lightweight fully loaded node is obtained through step 4; Step 7: Compare the actual model of the fully loaded node with the fully loaded reference model through the model comparison and analysis module, and display the comparison result through the visualization display module. When the actual model of the fully loaded node exceeds the reference model range of the fully loaded node, the monitoring and early warning module issues a warning reminder; Step 8: During the forward movement of the hanging basket, a 3D laser scanner is used to scan it, and the overall coordinate data and bidirectional movement speed of the hanging baskets on both sides of block 0 are collected. The collected data is solved through step 3, and the actual model of the lightweight forward movement node is obtained through step 4. Step 9: Compare the actual model of the forward node with the reference model of the forward node through the model comparison and analysis module, and display the comparison result through the visualization display module. When the actual model of the forward node exceeds the reference model range of the forward node, the monitoring and early warning module issues a warning reminder; Step 10: After the basket is moved forward, in an empty state, a 3D laser scanner is used to scan it, and the overall coordinate data of the empty state of the baskets on both sides of block 0 are collected. The collected data is solved through step 3, and the actual model of the lightweight empty node of the first cycle is obtained through step 4. Step 11: compare the actual model of the no-load node in step 10 with the reference model of the no-load node, i.e., the actual model of the initial no-load node in step 4, through the model comparison and analysis module, and display the comparison result through the visualization display module. When the actual model of the no-load node exceeds the reference model range of the no-load node, the monitoring and early warning module issues a warning reminder; Step 12: Repeat steps 6 to 11 until the construction of the continuous beam hanging basket is completed.

6. The method according to claim 5, characterized in that: After the initial point cloud data is compressed in multiple stages in step 4, only the scanning coordinate data of the shoulder beam, diamond frame, sling and track of the hanging basket are retained.

7. The method according to claim 5, characterized in that: The reference model in step 5 is a virtual model constructed based on the initial point cloud data of the hanging basket and the maximum deformation value of the hanging basket allowed by the "Urban Rail Transit Engineering Measurement Specifications".

8. The method according to claim 5, characterized in that: When comparing the models in step 7, step 9, and step 11, the actual model and the reference model of the corresponding node are interactively merged to check whether the actual model in the merged state exceeds the boundary range of the reference model.

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