Intelligent assembly control system for bridge steel tower sections

Abstract

The invention discloses an intelligent assembly control system for a bridge steel tower section, and belongs to the technical field of bridge assembly, and the system comprises a structure monitoring module which is used for carrying out the structure monitoring of the steel tower section, obtaining the structure monitoring data of the steel tower section, and transmitting the data to a data storage module; the data analysis module is used for performing data analysis according to the structure monitoring data of the steel tower sections, the related data of the assembly equipment and the construction control indexes to obtain optimal target deviation adjustment data; the operation instruction module is used for sending an equipment operation instruction to the equipment control module according to the optimal target deviation adjustment data; the equipment control module is used for controlling the assembly equipment to execute the assembly action according to the equipment operation instruction and feeding back related data of the assembly equipment to the data analysis module; and the data storage module is used for storing and managing the structure monitoring data of the steel tower sections. The system can realize automatic pose monitoring in the steel tower section assembly process and intelligent construction control in the whole field assembly process.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge assembly, and in particular relates to an intelligent assembly control system for bridge steel tower segments. Background Art

[0002] With the development of modern transportation infrastructure industry, the number and scale of bridges are increasing. Among them, large-span river-crossing and sea-crossing bridges are mostly cable-bearing bridges of the suspension bridge, cable-stayed bridge, and cable-stayed and suspension coordinated system types. The bridge towers of such bridges are characterized by super-high and super-large. The structural form generally adopts steel structure segments and is assembled using large-tonnage lifting equipment.

[0003] The assembly process for bridge steel tower segments typically relies on manual judgment by operators, who operate large equipment to lift and move the segments to designated locations for assembly. Due to the large size and weight of the segments, and the high assembly precision standards, high operational requirements are imposed on operators. Visual observation and empirical judgment alone cannot accurately capture the structural spatial posture and target deviation data, nor can they accurately determine obstacles in the segments' path or safety risks in blind spots. Consequently, operator errors can often occur, leading to construction accidents, resulting in casualties and economic losses. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent assembly control system for bridge steel tower segments, which can realize automatic monitoring and early warning of the posture of steel tower segments during assembly, high-altitude intelligent lifting and positioning of ultra-heavy steel tower segments, rapid matching and connection, and intelligent construction control of the entire on-site assembly process.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: An intelligent assembly control system for bridge steel tower segments, comprising: A structural monitoring module is used to perform structural monitoring on the steel tower segments, obtain structural monitoring data of the steel tower segments and transmit the data to the data storage module; The data analysis module is used to analyze the structural monitoring data of the steel tower segments, the relevant data of the assembly equipment, and the construction control indicators to obtain the optimal target deviation adjustment data; An operation instruction module is used to send an equipment operation instruction to the equipment control module according to the optimal target deviation adjustment data; The equipment control module is used to control the assembly equipment to perform assembly actions according to the equipment operation instructions and to feed back relevant data of the assembly equipment to the data analysis module; The data storage module is used to store and manage the structural monitoring data of the steel tower segments.

[0006] Furthermore, the structural monitoring module includes: Attitude meter, used to monitor the aerial attitude of the steel tower segment during assembly, including heading, pitch and roll angles; Positioners, used to monitor the three-dimensional coordinates of the steel tower segments during assembly; Inclinometers, used to monitor the tilt angle of steel tower segments during assembly; Radar is used to monitor the obstacle perception of steel tower segments during assembly, including obstacle direction and distance.

[0007] Furthermore, data analysis is performed based on the structural monitoring data of the steel tower segments, relevant data of the assembly equipment, and construction control indicators to obtain the optimal target deviation adjustment data, including: Calculate target deviation adjustment data based on the real-time position and target position of the steel tower segment; Optimize the target deviation adjustment data based on the structural monitoring data of the steel tower segments, relevant data of the assembly equipment, and construction control indicators to obtain the optimal target deviation adjustment data; Among them, the target deviation adjustment data includes the rotation angle, amplitude length and lifting height; Taking the real-time position of the assembly equipment as the origin, the direction from the real-time position of the assembly equipment to the target position of the steel tower segment is Axis, build a spatial rectangular coordinate system, the calculation formula of the rotation angle is: ; in, Indicates the rotation angle, 、 Indicates the real-time position of the steel tower segment axis, Axis coordinates, 、 Indicates the target position of the steel tower segment axis, axis coordinates; The calculation formula for the variable amplitude length is: ; in, Indicates the variable amplitude length; The calculation formula for lifting height is: ; in, Indicates the lifting height, Indicates the real-time position of the steel tower segment Axis coordinates, Indicates the target position of the steel tower segment Axis coordinates.

[0008] Furthermore, the target deviation adjustment data is optimized based on the structural monitoring data of the steel tower segment, the relevant data of the assembly equipment, and the construction control indicators. The optimal target deviation adjustment data is obtained, including: Based on the structural monitoring data of the steel tower segments, relevant data of the assembly equipment and construction control indicators, the objective function is to minimize the weighted sum of assembly error, assembly time, assembly energy consumption and attitude instability, and the assembly accuracy range, attitude stability threshold and the safety threshold of the operating parameters of the assembly equipment are used as constraints. The rotation angle, amplitude length and lifting height are optimized, and the model predictive control algorithm is used to dynamically optimize the lifting path. If the wind speed increases, the amplitude speed is proportionally reduced and the path redundancy is increased. If the attitude angle deviation exceeds the limit, the rotation angle is adjusted first and the lifting height error is compensated to obtain the optimal rotation angle, optimal amplitude length and optimal lifting height.

[0009] Furthermore, the construction control indicators include precision constraints, safety constraints, efficiency constraints and attitude stability constraints; among them, the precision constraints include the horizontal deviation of the steel tower segment being less than or equal to 5mm and the vertical deviation being less than or equal to 3mm; the safety constraints include the maximum environmental wind speed being less than or equal to 12m / s and the torque percentage of the assembly equipment being less than or equal to 90%; the efficiency constraints include the time taken for a single adjustment of the assembly equipment being less than or equal to 30min; the attitude stability constraints include the heading angle deviation of the steel tower segment being less than or equal to 1°, the pitch angle deviation being less than or equal to 0.5° and the tilt angle being less than or equal to 3°.

[0010] Furthermore, sending a device operation instruction to the device control module according to the optimal target deviation adjustment data includes: When the optimal rotation angle is greater than zero, a left rotation instruction is sent to the device control module; when the optimal rotation angle is less than zero, a right rotation instruction is sent to the device control module; when the optimal rotation angle is equal to zero, a stop rotation instruction is sent to the device control module; When the optimal amplitude variation length is greater than zero, an amplitude variation increase instruction is sent to the device control module; when the optimal amplitude variation length is less than zero, an amplitude variation decrease instruction is sent to the device control module; when the optimal amplitude variation length is equal to zero, a amplitude variation stop instruction is sent to the device control module; When the optimal lifting height is greater than zero, an ascending instruction is sent to the device control module; when the optimal lifting height is less than zero, a descending instruction is sent to the device control module; when the optimal lifting height is equal to zero, a stop lifting instruction is sent to the device control module.

[0011] Furthermore, the assembly equipment is a tower crane, and controlling the tower crane to perform assembly actions according to the equipment operation instructions includes: When receiving a left rotation command, the boom of the tower crane is controlled to rotate left with the center of the tower crane as the origin. When receiving a right rotation command, the boom of the tower crane is controlled to rotate right with the center of the tower crane as the origin. When receiving a stop rotation command, the boom of the tower crane is controlled to stop rotating. When receiving a luffing increase command, the crane controls the crane to move away from the crane with the center of the crane as the origin. When receiving a luffing decrease command, the crane controls the crane to move toward the crane with the center of the crane as the origin. When receiving a luffing stop command, the crane controls the crane to stop moving. When receiving an ascending command, the hook of the tower crane is controlled to move vertically upward; when receiving a descending command, the hook of the tower crane is controlled to move vertically downward; when receiving a stop ascending command, the hook of the tower crane is controlled to stop moving.

[0012] Furthermore, the assembly equipment is a tower crane, and the relevant data of the tower crane include operating data and warning data; the operating data include the slewing speed of the boom, the boom length adjustment speed of the overhead crane, the lifting speed of the hook, the torque percentage, the lifting weight and the ambient wind speed; the warning data include the boom slewing limit warning, the overhead crane boom length adjustment limit warning and the hook lifting limit warning.

[0013] Furthermore, the data storage module includes: The data receiving submodule is used to receive the structural monitoring data of the steel tower segment transmitted by the structural monitoring module through the data interface and record it in the data table; The data persistence submodule is used to provide data access and usage after the application is restarted or shut down; Data retrieval submodule, used to provide data query and retrieval mechanism; Data security submodule, used to protect data through encryption and access control; Data backup and recovery submodule, used to back up data regularly and restore data when needed; The scalability submodule is used to expand storage capacity as the amount of data increases; Performance optimization submodule, used to improve the speed of data reading and writing through indexing and caching; The storage methods of the data storage module include relational database, non-relational database, file storage and object storage.

[0014] Furthermore, it also includes: Remote interaction module, used to remotely view or operate the intelligent assembly system of bridge steel tower segments; The remote interaction module includes: The real-time data display submodule is used to visually display the current project name, bridge tower parameters, steel tower segment parameters, steel tower segment target coordinates, steel tower segment assembly allowable deviation value, current assembly error value, assembly equipment operation recommended instructions, 3D construction scene and related data icons; The data initialization submodule is used to set the project name, bridge tower parameters, steel tower segment parameters, steel tower segment target coordinates, steel tower segment assembly allowable deviation value, assembly equipment center coordinates, assembly equipment data address, warning value and user permissions; The historical data query submodule is used to query and export historical data, and view the historical assembly data of bridge steel tower segments in a list format, including three-dimensional coordinate data, assembly equipment operation data, assembly progress data, historical warning values and historical operation records.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The intelligent assembly control system for bridge steel tower segments provided by the present invention monitors and analyzes key parameters in the assembly process of bridge steel tower segments in real time, derives optimal operating instructions based on construction control indicators, and automatically sends operating instructions to assembly equipment through a remote control program, thereby achieving the goal of high-efficiency and high-quality construction. The assembly process is monitored in real time by sensors throughout the entire process, and accurate structural spatial posture and target deviation data can be obtained. The data analysis module accurately determines the specific deviations, obstacles, and optimal operations of the steel tower segments in the travel route, and can accurately identify safety risks in visual blind spots. The equipment control module automatically controls the equipment during the assembly process to perform assembly construction. The operation method and accuracy are standardized and precise, and the requirements for the number of personnel and operation level are low. This can avoid personnel misjudgment or operation errors, prevent major safety accidents such as the falling and collision of large components, effectively prevent safety risks, and improve assembly accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the intelligent assembly control system for bridge steel tower segments provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The technical solution of the present application will be further described in detail below in conjunction with specific implementation methods.

[0018] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application. The embodiments of the present application and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0019] The embodiment of the present application provides a bridge steel tower segment intelligent assembly control system, such as Figure 1 As shown, the system includes: A structural monitoring module is used to perform structural monitoring on the steel tower segments, obtain structural monitoring data of the steel tower segments and transmit the data to the data storage module; The data analysis module is used to analyze the structural monitoring data of the steel tower segments, the relevant data of the assembly equipment, and the construction control indicators to obtain the optimal target deviation adjustment data; An operation instruction module is used to send an equipment operation instruction to the equipment control module according to the optimal target deviation adjustment data; The equipment control module is used to control the assembly equipment to perform assembly actions according to the equipment operation instructions and to feed back relevant data of the assembly equipment to the data analysis module; The data storage module is used to store and manage the structural monitoring data of the steel tower segments.

[0020] In this embodiment, the structural monitoring module is deployed on the steel tower segment structure; the data analysis module, the operation instruction module and the data storage module are all deployed on the cloud server; and the equipment control module is deployed on the industrial computer of the assembly equipment.

[0021] In one possible embodiment, Figure 1 As shown, the intelligent assembly control system for bridge steel tower segments also includes: Remote interaction module, used to remotely view or operate the intelligent assembly system of bridge steel tower segments.

[0022] In this embodiment, the remote interaction module is installed as a software program on a tablet computer or portable computer, and is used to remotely view or operate the bridge steel tower segment intelligent assembly system, mainly including setting functions such as parameters related to steel tower segment assembly, data interface addresses, warning values, control indicators, etc. The relevant operation data is sent to the functional interaction module via wireless transmission.

[0023] Specifically, the remote interaction module includes: The real-time data display submodule is used to visually display the current project name, bridge tower parameters, steel tower segment parameters, steel tower segment target coordinates, steel tower segment assembly allowable deviation value, current assembly error value, assembly equipment operation recommended instructions, 3D construction scene and related data icons; The data initialization submodule is used to set the project name, bridge tower parameters, steel tower segment parameters, steel tower segment target coordinates, steel tower segment assembly allowable deviation value, assembly equipment center coordinates, assembly equipment data address, warning value and user permissions; The historical data query submodule is used to query and export historical data, and view the historical assembly data of bridge steel tower segments in a list format, including three-dimensional coordinate data, assembly equipment operation data, assembly progress data, historical warning values and historical operation records.

[0024] In a possible embodiment, the structure monitoring module specifically includes: The attitude meter is used to monitor the air attitude of the steel tower segment during the assembly process, including the heading angle, pitch angle and roll angle, which represent the rotation of the steel tower segment in three directions in the air; Locators, used to monitor the three-dimensional coordinates of the steel tower segments during assembly, representing the precise geospatial position of the steel tower segments in the spatial coordinate system; Inclinometer, used to monitor the tilt angle of the steel tower segment during the assembly process, representing the degree of tilt of the steel tower segment during the assembly process; The radar instrument is used to monitor the obstacle perception of the steel tower segment during the assembly process, including the obstacle direction and obstacle distance, which represents the relative position of the steel tower segment and its nearby obstacles.

[0025] In one possible embodiment, performing data analysis based on structural monitoring data of steel tower segments, relevant data of assembly equipment, and construction control indicators to obtain optimal target deviation adjustment data specifically includes the following steps: Step 1: Calculate the target deviation adjustment data based on the real-time position and target position of the steel tower segment; In this embodiment, the target deviation adjustment data includes the rotation angle, the amplitude change length and the lifting height.

[0026] Specifically, with the real-time position of the assembly equipment as the origin, the direction from the real-time position of the assembly equipment to the target position of the steel tower segment is Axis, construct a spatial rectangular coordinate system.

[0027] The calculation formula for the rotation angle is: ; in, Indicates the rotation angle, 、 Indicates the real-time position of the steel tower segment axis, Axis coordinates, 、 Indicates the target position of the steel tower segment axis, Axis coordinates.

[0028] The calculation formula for the variable amplitude length is: ; in, Indicates the variable amplitude length.

[0029] The calculation formula for lifting height is: ; in, Indicates the lifting height, Indicates the real-time position of the steel tower segment Axis coordinates, Indicates the target position of the steel tower segment Axis coordinates.

[0030] Step 2: Optimize the target deviation adjustment data based on the structural monitoring data of the steel tower segment, relevant data of the assembly equipment, and construction control indicators to obtain the optimal target deviation adjustment data.

[0031] In this embodiment, the target deviation adjustment data is optimized according to the structural monitoring data of the steel tower segment, the relevant data of the assembly equipment and the construction control indicators, and the optimal target deviation adjustment data is obtained specifically including: according to the structural monitoring data of the steel tower segment, the relevant data of the assembly equipment and the construction control indicators, the weighted sum of minimizing the assembly error, assembly time, assembly energy consumption and posture instability is used as the objective function, and the assembly accuracy range, the posture stability threshold and the operating parameter safety threshold of the assembly equipment are used as constraints, the rotation angle, the amplitude change length and the lifting height are optimized, and the model predictive control algorithm is used to dynamically optimize the lifting path. If the wind speed increases, the amplitude change speed is proportionally reduced and the path redundancy is increased. If the attitude angle deviation exceeds the limit, the rotation angle is adjusted first and the lifting height error is compensated to obtain the optimal rotation angle, the optimal amplitude change length and the optimal lifting height.

[0032] Specifically, the target deviation adjustment data is optimized based on the structural monitoring data of the steel tower segment, the relevant data of the assembly equipment, and the construction control indicators. The steps of obtaining the optimal target deviation adjustment data are as follows: Step 1: Data preprocessing; The attitude data (heading angle, pitch angle, roll angle), tilt angle, three-dimensional coordinate data of the steel tower segment, as well as the real-time operation data of the assembly equipment (slewing speed, luffing speed, hook lifting speed, torque percentage, hoisting weight) and environmental data (wind speed, temperature) are filtered and the coordinate system is calibrated to eliminate noise and data deviation between sensors.

[0033] Step 2: Dynamic constraint modeling; Define construction control indicators, including accuracy constraints (horizontal deviation ≤ 5mm, vertical deviation ≤ 3mm), safety constraints (maximum wind speed ≤ 12m / s, torque percentage ≤ 90%), efficiency constraints (single adjustment time ≤ 30min) and attitude stability constraints (heading angle deviation ≤ 1°, pitch angle deviation ≤ 0.5°, tilt angle ≤ 3°).

[0034] Step 3: Multi-objective optimization analysis; Step 3.1: Construct an objective function to minimize the weighted sum of assembly error, operation time, energy consumption, and posture instability: ; in, 、 、 、 is the dynamically adjusted weight coefficient, Indicates assembly error, Indicates the operation time, Indicates energy consumption, Indicates the heading angle deviation, Indicates the pitch angle deviation, Indicates the tilt angle.

[0035] Step 3.2: Constraints include equipment operating parameter safety thresholds, environmental parameter limits, assembly accuracy range, and attitude stability thresholds.

[0036] Step 4: Real-time feedback and path correction; Step 4.1: Based on the equipment status and environmental changes, the model predictive control (MPC) algorithm is used to dynamically optimize the lifting path: If the wind speed increases, the amplitude change speed is proportionally reduced and the path redundancy is increased; If the attitude angle deviation exceeds the limit, give priority to adjusting the rotation angle and compensating the hook height error.

[0037] Step 4.2: When multiple objectives conflict, schedule instructions according to the priority of "safety > attitude stability > accuracy > efficiency > energy consumption".

[0038] Step 5: Parameter fine-tuning and command issuance; Step 5.1: Introduce equipment operation data and attitude correction value into the calculation of target deviation adjustment data to generate optimized operating parameters, including: Step 5.2: Send the optimized parameters to the tower crane controller through the equipment operation instruction module to perform precise positioning actions.

[0039] In one possible embodiment, the construction control indicators include precision constraints, safety constraints, efficiency constraints, and attitude stability constraints; among them, the precision constraints include that the horizontal deviation of the steel tower segment is less than or equal to 5 mm and the vertical deviation is less than or equal to 3 mm; the safety constraints include that the maximum environmental wind speed is less than or equal to 12 m / s and the torque percentage of the assembly equipment is less than or equal to 90%; the efficiency constraints include that the time taken for a single adjustment of the assembly equipment is less than or equal to 30 minutes; the attitude stability constraints include that the heading angle deviation of the steel tower segment is less than or equal to 1°, the pitch angle deviation is less than or equal to 0.5°, and the tilt angle is less than or equal to 3°.

[0040] In this embodiment, sending the device operation instruction to the device control module according to the optimal target deviation adjustment data specifically includes: ① When the optimal rotation angle is greater than zero, a left rotation instruction is sent to the device control module; when the optimal rotation angle is less than zero, a right rotation instruction is sent to the device control module; when the optimal rotation angle is equal to zero, a stop rotation instruction is sent to the device control module; ② When the optimal amplitude variation length is greater than zero, an amplitude variation increase instruction is sent to the device control module; when the optimal amplitude variation length is less than zero, an amplitude variation decrease instruction is sent to the device control module; when the optimal amplitude variation length is equal to zero, a amplitude variation stop instruction is sent to the device control module; ③ When the optimal lifting height is greater than zero, an ascending instruction is sent to the equipment control module; when the optimal lifting height is less than zero, a descending instruction is sent to the equipment control module; when the optimal lifting height is equal to zero, a stop lifting instruction is sent to the equipment control module.

[0041] In this embodiment, the assembly equipment is a tower crane, and controlling the tower crane to perform assembly actions according to the equipment operation instructions specifically includes: (1) When receiving a left rotation command, the boom of the tower crane is controlled to rotate left with the center of the tower crane as the origin. When receiving a right rotation command, the boom of the tower crane is controlled to rotate right with the center of the tower crane as the origin. When receiving a stop rotation command, the boom of the tower crane is controlled to stop rotating. (2) When receiving a command to increase the luffing height, the crane controls the crane to move away from the crane with the center of the crane as the origin. When receiving a command to decrease the luffing height, the crane controls the crane to move toward the crane with the center of the crane as the origin. When receiving a command to stop the luffing height, the crane controls the crane to stop moving. (3) When receiving an ascending command, the hook of the tower crane is controlled to move vertically upward; when receiving a descending command, the hook of the tower crane is controlled to move vertically downward; when receiving a stop ascending command, the hook of the tower crane is controlled to stop moving.

[0042] In this embodiment, the assembly equipment is a tower crane, and the relevant data of the tower crane include operating data and warning data; the operating data include the slewing speed of the boom, the boom length adjustment speed of the overhead crane, the lifting speed of the hook, the torque percentage, the lifting weight and the ambient wind speed; the warning data include the boom slewing limit warning, the overhead crane boom length adjustment limit warning and the hook lifting limit warning.

[0043] In a possible embodiment, the operating data also includes latitude and longitude coordinates, GPS time, ACC status, real-time wind speed, PLC power-on time, total working time, real-time rotation, real-time torque, real-time torque percentage, real-time amplitude, real-time altitude and real-time weight.

[0044] In a possible embodiment, the data storage module specifically includes: The data receiving submodule is used to receive the structural monitoring data of the steel tower segment transmitted by the structural monitoring module through the data interface and record it in the data table; The data persistence submodule is used to provide data access and usage after the application is restarted or shut down; Data retrieval submodule, used to provide data query and retrieval mechanism; Data security submodule, used to protect data through encryption and access control; Data backup and recovery submodule, used to back up data regularly and restore data when needed; The scalability submodule is used to expand storage capacity as the amount of data increases; Performance optimization submodule, used to improve the speed of data reading and writing through indexing and caching; The storage methods of the data storage module include relational database, non-relational database, file storage and object storage.

[0045] In one possible embodiment, the operation instruction module has the following key elements and functions: Instruction set: Contains a series of executable operation instructions, such as starting, stopping, adjusting settings, and status query.

[0046] Interface: Provides an interface for interaction with users or other systems / modules, which can be a graphical user interface (GUI), command line interface (CLI) or API.

[0047] Security: Ensure that appropriate security measures are in place when operating the device, such as permission control, operation logging, and exception handling mechanisms.

[0048] Real-time monitoring: includes real-time status monitoring and feedback mechanisms to help users understand the current operating status of the device.

[0049] Error handling: Ability to effectively identify and handle errors and failures that may occur during equipment operation.

[0050] Automation and Scheduling: You can set up scheduled tasks or automated processes to improve operational efficiency.

[0051] Compatibility: It is compatible with various hardware and software systems to facilitate integration into existing operating environments.

[0052] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An intelligent assembly control system for bridge steel tower segments, characterized in that: include: A structural monitoring module is used to perform structural monitoring on the steel tower segments, obtain structural monitoring data of the steel tower segments and transmit the data to the data storage module; The data analysis module is used to analyze the structural monitoring data of the steel tower segments, the relevant data of the assembly equipment, and the construction control indicators to obtain the optimal target deviation adjustment data; An operation instruction module is used to send an equipment operation instruction to the equipment control module according to the optimal target deviation adjustment data; The equipment control module is used to control the assembly equipment to perform assembly actions according to the equipment operation instructions and to feed back relevant data of the assembly equipment to the data analysis module; The data storage module is used to store and manage the structural monitoring data of the steel tower segments.

2. The intelligent assembly control system for bridge steel tower segments according to claim 1 is characterized in that: The structural monitoring module includes: Attitude meter, used to monitor the aerial attitude of the steel tower segment during assembly, including heading, pitch and roll angles; Positioners, used to monitor the three-dimensional coordinates of the steel tower segments during assembly; Inclinometers, used to monitor the tilt angle of steel tower segments during assembly; Radar is used to monitor the obstacle perception of steel tower segments during assembly, including obstacle direction and distance.

3. The intelligent assembly control system for bridge steel tower segments according to claim 1 is characterized in that: Data analysis is performed based on the structural monitoring data of the steel tower segments, relevant data of the assembly equipment, and construction control indicators to obtain the optimal target deviation adjustment data, including: Calculate target deviation adjustment data based on the real-time position and target position of the steel tower segment; Optimize the target deviation adjustment data based on the structural monitoring data of the steel tower segments, relevant data of the assembly equipment, and construction control indicators to obtain the optimal target deviation adjustment data; Among them, the target deviation adjustment data includes the rotation angle, amplitude length and lifting height; Taking the real-time position of the assembly equipment as the origin, the direction from the real-time position of the assembly equipment to the target position of the steel tower segment is Axis, build a spatial rectangular coordinate system, the calculation formula of the rotation angle is: ； in, Indicates the rotation angle, 、 Indicates the real-time position of the steel tower segment axis, Axis coordinates, 、 Indicates the target position of the steel tower segment axis, axis coordinates; The calculation formula for the variable amplitude length is: ； in, Indicates the variable amplitude length; The calculation formula for lifting height is: ； in, Indicates the lifting height, Indicates the real-time position of the steel tower segment Axis coordinates, Indicates the target position of the steel tower segment Axis coordinates.

4. The intelligent assembly control system for bridge steel tower segments according to claim 3 is characterized in that: Optimize the target deviation adjustment data based on the structural monitoring data of the steel tower segments, relevant data of the assembly equipment, and construction control indicators. Obtain the optimal target deviation adjustment data, including: Based on the structural monitoring data of the steel tower segments, relevant data of the assembly equipment and construction control indicators, the objective function is to minimize the weighted sum of assembly error, assembly time, assembly energy consumption and attitude instability, and the assembly accuracy range, attitude stability threshold and the safety threshold of the operating parameters of the assembly equipment are used as constraints. The rotation angle, amplitude length and lifting height are optimized, and the model predictive control algorithm is used to dynamically optimize the lifting path. If the wind speed increases, the amplitude speed is proportionally reduced and the path redundancy is increased. If the attitude angle deviation exceeds the limit, the rotation angle is adjusted first and the lifting height error is compensated to obtain the optimal rotation angle, optimal amplitude length and optimal lifting height.

5. The intelligent assembly control system for bridge steel tower segments according to claim 4 is characterized in that: Construction control indicators include precision constraints, safety constraints, efficiency constraints and attitude stability constraints; among them, precision constraints include the horizontal deviation of the steel tower segment being less than or equal to 5mm and the vertical deviation being less than or equal to 3mm; safety constraints include the maximum environmental wind speed being less than or equal to 12m / s and the torque percentage of the assembly equipment being less than or equal to 90%; efficiency constraints include the time taken for a single adjustment of the assembly equipment being less than or equal to 30min; attitude stability constraints include the heading angle deviation of the steel tower segment being less than or equal to 1°, the pitch angle deviation being less than or equal to 0.5° and the tilt angle being less than or equal to 3°.

6. The intelligent assembly control system for bridge steel tower segments according to claim 4 is characterized in that: Sending device operation instructions to the device control module based on the optimal target deviation adjustment data includes: When the optimal rotation angle is greater than zero, a left rotation instruction is sent to the device control module; when the optimal rotation angle is less than zero, a right rotation instruction is sent to the device control module; when the optimal rotation angle is equal to zero, a stop rotation instruction is sent to the device control module; When the optimal amplitude variation length is greater than zero, an amplitude variation increase instruction is sent to the device control module; when the optimal amplitude variation length is less than zero, an amplitude variation decrease instruction is sent to the device control module; when the optimal amplitude variation length is equal to zero, a amplitude variation stop instruction is sent to the device control module; When the optimal lifting height is greater than zero, an ascending instruction is sent to the device control module; when the optimal lifting height is less than zero, a descending instruction is sent to the device control module; when the optimal lifting height is equal to zero, a stop lifting instruction is sent to the device control module.

7. The intelligent assembly control system for bridge steel tower segments according to claim 6 is characterized in that: The assembly equipment is a tower crane. According to the equipment operation instructions, the tower crane is controlled to perform assembly actions including: When receiving a left rotation command, the boom of the tower crane is controlled to rotate left with the center of the tower crane as the origin. When receiving a right rotation command, the boom of the tower crane is controlled to rotate right with the center of the tower crane as the origin. When receiving a stop rotation command, the boom of the tower crane is controlled to stop rotating. When receiving a luffing increase command, the crane controls the crane to move away from the crane with the center of the crane as the origin. When receiving a luffing decrease command, the crane controls the crane to move toward the crane with the center of the crane as the origin. When receiving a luffing stop command, the crane controls the crane to stop moving. When receiving an ascending command, the hook of the tower crane is controlled to move vertically upward; when receiving a descending command, the hook of the tower crane is controlled to move vertically downward; when receiving a stop ascending command, the hook of the tower crane is controlled to stop moving.

8. The intelligent assembly control system for bridge steel tower segments according to claim 6 is characterized in that: The assembly equipment is a tower crane, and the relevant data of the tower crane include operating data and early warning data; the operating data include the boom rotation speed, the overhead crane boom speed, the hook lifting speed, the torque percentage, the lifting weight and the ambient wind speed; the early warning data include the boom rotation limit warning, the overhead crane boom limit warning and the hook lifting limit warning.

9. The intelligent assembly control system for bridge steel tower segments according to claim 1, characterized in that: The data storage module includes: The data receiving submodule is used to receive the structural monitoring data of the steel tower segment transmitted by the structural monitoring module through the data interface and record it in the data table; The data persistence submodule is used to provide data access and usage after the application is restarted or shut down; Data retrieval submodule, used to provide data query and retrieval mechanism; Data security submodule, used to protect data through encryption and access control; Data backup and recovery submodule, used to back up data regularly and restore data when needed; The scalability submodule is used to expand storage capacity as the amount of data increases; Performance optimization submodule, used to improve the speed of data reading and writing through indexing and caching; The storage methods of the data storage module include relational database, non-relational database, file storage and object storage.

10. The intelligent assembly control system for bridge steel tower segments according to claim 1, characterized in that: Also includes: Remote interaction module, used to remotely view or operate the intelligent assembly system of bridge steel tower segments; The remote interaction module includes: The real-time data display submodule is used to visually display the current project name, bridge tower parameters, steel tower segment parameters, steel tower segment target coordinates, steel tower segment assembly allowable deviation values, current assembly error values, recommended assembly equipment operation instructions, 3D construction scenes, and related data icons; The data initialization submodule is used to set the project name, bridge tower parameters, steel tower segment parameters, steel tower segment target coordinates, steel tower segment assembly allowable deviation value, assembly equipment center coordinates, assembly equipment data address, warning value and user permissions; The historical data query submodule is used to query and export historical data, and view the historical assembly data of bridge steel tower segments in a list format, including three-dimensional coordinate data, assembly equipment operation data, assembly progress data, historical warning values and historical operation records.

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