Large-span steel truss fragmented and segmented lifting system and method

Abstract

The invention relates to the technical field of steel structure construction, aims to solve the problem of low precision and controllability caused by a current segmented hoisting mode, and provides a large-span steel truss fragmented and segmented hoisting system and a large-span steel truss fragmented and segmented hoisting method. Comprising a control device, a hoisting device and an unmanned aerial vehicle surveying and mapping device, the control device is connected with the hoisting device and the unmanned aerial vehicle surveying and mapping device, and high-precision space positioning is achieved through the unmanned aerial vehicle surveying and mapping device, so that efficient, synchronous and precise hoisting of each fragment section of the steel truss is achieved, and the overall structure assembling precision and construction efficiency are improved; the method is suitable for lifting the large-span steel truss in a fragmented and segmented mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel structure construction, and particularly relates to a large-span steel truss piece-by-piece and segment-by-segment lifting system and method. BACKGROUND

[0002] With the development of building structures towards large span and large space, steel truss structures are widely used due to their reasonable stress, light weight and short construction period. In large-span venues, stations and exhibition centers and other projects, steel trusses are often manufactured and assembled on site in a piece-by-piece and segment-by-segment manner to solve problems such as transportation and component weight restrictions. However, the traditional lifting method has the following difficulties: 1) the precision of hoisting components is difficult to control, and the cumulative error will affect the overall positioning; 2) the stability is poor during hoisting, which leads to changes in the pose of the components during segment-by-segment lifting; 3) the change in cable force cannot be monitored in real time, which easily causes local stress concentration or component deformation. In addition, in the piece-by-piece and segment-by-segment lifting construction of large-span steel trusses, the construction area and each component need to be measured, and the traditional measurement method is difficult to meet the high-precision spatial positioning needs of special-shaped structures due to reasons such as terrain obstruction, limited precision, and high labor intensity. Therefore, an integrated digital surveying and mapping, fine lifting control and real-time cable force monitoring comprehensive lifting method is needed to ensure the safety, controllability and high precision of the piece-by-piece and segment-by-segment lifting of large-span steel truss structures. SUMMARY

[0003] The purpose of the present application is to provide a large-span steel truss piece-by-piece and segment-by-segment lifting system and method to solve the problem of low precision and controllability caused by the current segment-by-segment lifting method.

[0004] In the technical solution adopted by the present application to solve the above technical problems, the first aspect provides a large-span steel truss piece-by-piece and segment-by-segment lifting system, which comprises a control device and a lifting device, the control device is connected with the lifting device, and further comprises a UAV surveying and mapping device, the UAV surveying and mapping device is connected with the control device; The lifting device is used for lifting the components formed by the piece-by-piece and segment-by-segment steel truss to be lifted according to the control of the control device; The UAV surveying and mapping device is used for establishing a three-dimensional control network, realizing full-process surveying and mapping positioning, and providing full-process surveying and mapping positioning data to the control device; The control device is used to obtain target space coordinates of each component according to whole-process surveying and positioning data and input BIM (Building Information Modeling) model before controlling hoisting, so as to obtain a set of space coordinate points to which each component should be hoisted, and generate corresponding hoisting path and hoisting positioning control suggestion, and control the hoisting device to hoist according to the generated hoisting path and hoisting positioning control suggestion, and adjust the hoisting device in real time according to whole-process surveying and positioning data.

[0005] In some embodiments, to provide a feasible method for obtaining target space coordinates of each component according to whole-process surveying and positioning data and input BIM model, so as to obtain a set of space coordinate points to which each component should be hoisted, and generate corresponding hoisting path and hoisting positioning control suggestion, the method for obtaining target space coordinates of each component according to whole-process surveying and positioning data and input BIM model, so as to obtain a set of space coordinate points to which each component should be hoisted, and generate corresponding hoisting path and hoisting positioning control suggestion comprises: connecting whole-process surveying and positioning data with the BIM model to obtain a real scene control coordinate system; mapping each component in the BIM model to the real scene control coordinate system to obtain target space coordinates of each component, so as to obtain a set of space coordinate points to which each component should be hoisted; obtaining the pose of each component according to whole-process surveying and positioning data, and generating corresponding hoisting path and hoisting positioning control suggestion of each component according to the set of space coordinate points to which each component should be hoisted.

[0006] In some embodiments, to facilitate positioning of the unmanned aerial vehicle surveying device and further improve the accuracy of subsequent calculation, a GNSS (Global Navigation Satellite System) control point is further arranged in the area to be constructed.

[0007] In some embodiments, to further improve the positioning accuracy of the measurement and the unmanned aerial vehicle surveying device, the GNSS control point is at least six; the GNSS control point is arranged at a position with an open field of view and no obstruction; and the GNSS control point is marked with a reflective target.

[0008] In some embodiments, to provide a feasible method for connecting whole-process surveying and positioning data with the BIM model to obtain a real scene control coordinate system, the method for connecting whole-process surveying and positioning data with the BIM model to obtain a real scene control coordinate system comprises: using RTK (Real-time Kinematic) real-time dynamic difference technology and a height gauge to conduct joint measurement, establishing a high-precision three-dimensional control network, and unifying the coordinate system; Combine the whole-process surveying and positioning data with the GNSS control point coordinates to generate a DEM (Digital Elevation Model) and a three-dimensional orthographic map of the construction area; Dock the DEM, the three-dimensional orthographic map and the BIM model of the construction area to form a digital reference model of the real scene plus the BIM model, so as to provide a spatial reference for the positioning of subsequent components and obtain a real scene control coordinate system.

[0009] In some embodiments, to further ensure the accuracy of the steel truss after subsequent assembly, the control device, after hoisting each component to the target spatial coordinates corresponding to each component, further obtains spatial three-dimensional pose data of the whole steel truss according to the whole-process surveying and positioning data, and performs real-time comparison with the BIM model to check the spatial pose of each key node on the steel truss, the straightness of the component axis and the overall attitude angle, and when it is found that the installation deviation exceeds the preset threshold, the control hoisting device adjusts the corresponding hoisting point height for adjustment.

[0010] In some embodiments, to solve the problem that the change of the cable force cannot be monitored in real time during hoisting, which easily causes local stress concentration or component deformation, a cable force monitoring device is further included, and the cable force monitoring device is connected with the control device. The cable force monitoring device is used for respectively collecting the force data of each hoisting cable of the hoisting device in real time, and transmitting the collected force data to the control device. The control device further judges whether the force of each hoisting point is abnormal in real time according to the force data during hoisting, and adjusts the control of the hoisting device according to the judgment result.

[0011] In some embodiments, to provide a feasible cable force monitoring device, the cable force monitoring device includes a plurality of force sensing modules, and the force sensing modules are arranged on each hoisting cable of the hoisting device, and each hoisting cable includes at least one force sensing module.

[0012] In some embodiments, to provide a feasible control device, the control device is further used for displaying the current hoisting progress, a BIM interface, whole-process surveying and positioning data and force data in real time.

[0013] The second aspect of the technical solution adopted by the application to solve the above technical problems provides a large-span steel truss piece-by-piece and segment-by-segment lifting method, which applies the large-span steel truss piece-by-piece and segment-by-segment lifting system as described above, and the method comprises: Pre-hoisting preparation step: According to the whole-process surveying and positioning data and the input BIM (Building Information Modeling, building information model) model, the target spatial coordinates of each component are obtained, so that the spatial coordinate point set to which each component should be hoisted is obtained, and the corresponding hoisting path and hoisting landing control suggestion are generated. Hoisting process steps: According to the generated hoisting path and hoisting landing control suggestions, the hoisting device is controlled to hoist, and the hoisting device is adjusted in real time according to the whole process surveying and positioning adjustment control.

[0014] In some embodiments, to solve the problem that the precision of the hoisted component is difficult to control, and the cumulative error will affect the overall positioning, before the hoisting preparation step, further comprising: Laser point cloud scanning or oblique photography modeling is performed on the steel truss component to be hoisted; Extract the key geometric features of each component to generate a component model with a certain precision; Compare the component model with the design model to confirm the machining precision.

[0015] The beneficial effects of the present application are: the large-span steel truss sub-fragment lifting system and method of the present application realizes high-precision spatial positioning through the unmanned aerial vehicle surveying and mapping device, thereby realizing efficient, synchronous and accurate hoisting of each sub-fragment of the steel truss, and further improving the overall structure assembly precision and construction efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The system block diagram of the large-span steel truss sub-fragment lifting system in the embodiment of the present application.

[0017] Figure 2 The large-span steel truss sub-fragment lifting method in the embodiment of the present application is a schematic flowchart. DETAILED DESCRIPTION

[0018] The technical solutions of the present application will be described in detail below with reference to the embodiments and drawings.

[0019] The large-span steel truss sub-fragment lifting system in the embodiment of the present application has a system block diagram as shown in Figure 1 , which comprises a control device and a hoisting device, wherein the control device is connected with the hoisting device, and further comprises an unmanned aerial vehicle surveying and mapping device, wherein the unmanned aerial vehicle surveying and mapping device is connected with the control device.

[0020] Here, the hoisting device is used to hoist the component formed by the steel truss sub-fragment to be lifted according to the control of the control device.

[0021] The unmanned aerial vehicle surveying and mapping device is used to establish a three-dimensional control network, realize whole-process surveying and positioning, and provide whole-process surveying and positioning data to the control device.

[0022] The control device is used to obtain the target spatial coordinates of each component based on the full-process surveying and positioning data and the input BIM model before controlling the hoisting. This results in the set of spatial coordinate points to which each component should be hoisted, and generates corresponding hoisting paths and hoisting placement control suggestions. During hoisting, the device controls the hoisting equipment to perform the hoisting based on the generated hoisting paths and hoisting placement control suggestions, and adjusts the hoisting equipment in real time based on the full-process surveying and positioning.

[0023] It is understandable that in the above embodiments, high-precision spatial positioning is achieved through UAV mapping devices and combined with BIM models to ensure efficient, synchronous, and precise hoisting of each segment of the steel truss. This improves the overall structural assembly accuracy and construction efficiency, ensuring that the positioning error of each truss segment is within the millimeter level. This method is applicable to scenarios where high-precision assembly is difficult to achieve using conventional methods, such as irregular roofs and curved trusses.

[0024] In addition, crawler cranes are preferred for hoisting, as they can flexibly adapt to complex site conditions and enable synchronous cooperation between different hoisting points.

[0025] In some embodiments, to provide a feasible method for obtaining the target spatial coordinates of each component based on the full-process surveying and positioning data and the input BIM model, thereby obtaining the set of spatial coordinate points to which each component should be hoisted, and generating corresponding hoisting paths and hoisting placement control suggestions, the method for obtaining the target spatial coordinates of each component based on the full-process surveying and positioning data and the input BIM model, thereby obtaining the set of spatial coordinate points to which each component should be hoisted, and generating corresponding hoisting paths and hoisting placement control suggestions, may include: By connecting the full-process surveying and positioning data with the BIM model, a real-scene control coordinate system is obtained. Map each component in the BIM model to the real-world control coordinate system to obtain the target spatial coordinates of each component, thereby obtaining the set of spatial coordinate points to which each component should be hoisted; Based on the full-process surveying and positioning data, the current position and orientation of each component are obtained. Based on the set of spatial coordinate points to which each component should be hoisted, corresponding hoisting paths and hoisting and placement control suggestions are generated for each component.

[0026] It is understandable that the real-scene control coordinate system is a reference spatial coordinate system in this embodiment, which facilitates subsequent calculations and precise control.

[0027] The method for generating the corresponding hoisting path and hoisting placement control suggestions for each component can be obtained using current navigation planning methods, which are existing technologies and will not be described in detail here.

[0028] In some embodiments, in order to facilitate the positioning of the unmanned aerial surveying device and further improve the accuracy of subsequent calculations, a GNSS (Global Navigation Satellite System) control point can also be provided in the area to be constructed.

[0029] In some embodiments, in order to further improve the positioning accuracy of the measurement and the unmanned aerial surveying device, the GNSS control point can be at least six; the GNSS control point is preferably provided in a location with an open field of view and no obstruction; the GNSS control point can be marked with a reflective target.

[0030] It can be understood that, in general, the range of the construction area is large, and its projection on the ground is generally circular, and the steel truss divides the circle into two semicircles near the center line of the circle. For the range of any side semicircle, based on the principle of 3-point positioning and trying to avoid obstruction, more than six GNSS control points are preferably used to improve the positioning accuracy. Of course, less than six GNSS control points can also be used, but due to the possible obstruction during hoisting, the positioning accuracy will be relatively reduced.

[0031] In some embodiments, in order to provide a feasible method for connecting the whole-process surveying and positioning data with the BIM model to obtain a real scene control coordinate system, the whole-process surveying and positioning data can be connected with the BIM model to obtain a real scene control coordinate system, which can include: Using RTK (Real-time Kinematic) real-time dynamic difference technology and a height gauge for joint measurement to establish a high-precision three-dimensional control network and unify the coordinate system; Combining the whole-process surveying and positioning data with the GNSS control point coordinates to generate a DEM (Digital Elevation Model) and a three-dimensional orthographic map of the construction area; Connecting the DEM and the three-dimensional orthographic map of the construction area with the BIM model to form a digital reference model of the real scene plus the BIM model to provide a spatial reference for subsequent component positioning and obtain a real scene control coordinate system.

[0032] It can be understood that the above embodiment proposes a specific method for obtaining a real scene control coordinate system, which combines the above-mentioned GNSS control point to improve the positioning accuracy.

[0033] In some embodiments, in order to further ensure the accuracy of the assembled steel truss, the control device can also obtain the spatial three-dimensional pose data of the whole steel truss according to the whole-process surveying and positioning data after hoisting each component to the corresponding target spatial coordinates, and compare it with the BIM model in real time to check the spatial pose of each key node on the steel truss, the straightness of the component axis, and the overall attitude angle. When it is found that the installation deviation exceeds the preset threshold, the hoisting device is adjusted to adjust the corresponding hoisting point height.

[0034] It can be understood that the overall attitude angle here can include pitch, twist, roll, etc., and the preset threshold can be set according to actual needs, such as node offset > 10 mm or overall twist > 1°, etc.

[0035] In addition, when it is found that the installation deviation exceeds the preset threshold, the height of the corresponding lifting point of the lifting device can also not be controlled to be adjusted, but the attitude can be fine-tuned by adjusting the height of the temporary support or the sequence of the component connecting bolts, as long as the overall form of the structure is consistent with the design, and finally a steel structure installation entity that meets the specification requirements in precision is formed. A pose adjustment checking report can also be generated synchronously to provide data support for acceptance.

[0036] In some embodiments, to solve the problem that the change of cable force during lifting cannot be monitored in real time, which easily causes local stress concentration or component deformation, a cable force monitoring device can also be included, wherein the cable force monitoring device is connected with the control device; Here, the cable force monitoring device is used to respectively collect the force data of each sling of the lifting device in real time, and transmit the collected force data to the control device; The control device also judges whether the force of each lifting point is abnormal in real time during the lifting process, and adjusts the control of the lifting device according to the judgment result.

[0037] It can be understood that during the lifting of the large-span steel truss in pieces and segments, the force state of each lifting point during lifting is complex, and uneven distribution of cable force can easily lead to component attitude deflection, connection node misplacement, even component deformation or sling fracture accident. Therefore, in the above-mentioned embodiments, a cable force monitoring device is added.

[0038] The cable force monitoring device can use a tension sensor realized by strain resistance or fiber Bragg grating technology, and can use a wireless tension sensor to make the use more convenient.

[0039] Its sampling frequency can be set to 1-10Hz, which can be set according to actual needs to adapt to the dynamic changes during lifting; and the precision control is recommended to be: error ≤ ±1%FS (full scale), such as full scale 100t, error not more than 1t.

[0040] In the control device, a corresponding threshold can be set to determine various force conditions, such as: Cable force overload: current value > design allowable tension × 1.2, at this time, sound and light alarm can be set, and it is prompted to pause lifting (or directly control to pause lifting); Cable force mutation: dF / dt > 10kN / s (short-time sharp change), at this time, it represents that there may be component collision or lifting point slip, which can be set to prompt maintenance; The force difference of the lifting point is too large: the force difference of any two lifting points corresponding to the same component is greater than 15%. At this time, the lifting point can be adjusted, and the current component can be limited to continue lifting. Long-term static load deviation: there is still uneven tension after lifting stops. At this time, it can be set to prompt the deviation of the lifting or the abnormality of the support point installation.

[0041] The control device adjusts the control of the lifting device according to the judgment result, which can be: Manual linkage adjustment: after the control device issues a prompt, the lifting device is controlled by manual control device, such as controlling the crawler crane auxiliary arm or adjusting the lifting speed, which is suitable for asymmetric structure and special sling scene.

[0042] Automatic feedback adjustment: the control device directly links the control system or electro-hydraulic proportional valve of the lifting device itself to realize closed-loop control of the lifting point tension, such as automatically reducing the lifting speed when the force of a lifting point is too large, and realizing the synchronous operation of each lifting point.

[0043] Leveling control: when the component posture is inclined due to uneven tension, the control device can calculate the pitch angle and roll angle combined with the attitude data of the unmanned aerial vehicle, and give adjustment suggestions such as "lowering lifting point A by 50mm" and "lifting point B by 30mm".

[0044] In some embodiments, to provide a feasible tension monitoring device, the tension monitoring device can include a plurality of force sensing modules, and the force sensing modules are arranged on each sling of the lifting device, and each sling includes at least one force sensing module.

[0045] It can be understood that the force sensing modules (i.e. the tension sensors mentioned above) are installed on the slings at the lifting points (usually 2-4) of the component; if the component is a complex asymmetric structure or has multiple support points, monitoring points are added at key positions. Usually, 1 force sensing module (i.e. the tension sensor mentioned above) is arranged on each sling; it is recommended to arrange at least 3 monitoring points for each large component to ensure the balance of longitudinal and lateral forces. The force sensing module can be clamped to facilitate installation and adjustment.

[0046] In some embodiments, to provide a feasible control device, the control device can also be used to display the current lifting progress and / or BIM interface and / or full-process surveying and positioning data and / or each force data in real time.

[0047] It can be understood that the control device in the above embodiment can be a computer or the like having a display module, which can display various collected data and analysis results through a visual interface to facilitate staff to make judgments and controls, and can form, for example, a hoisting point cable force curve and a change trend graph, linkage with the unmanned aerial vehicle surveying and mapping device, marking the hoisting point space position + cable force value in the BIM interface, and dynamically displaying the deformation trend of the uneven stress area of the component.

[0048] In the embodiment of the present application, the second aspect provides a large-span steel truss slicing and segmenting lifting method, which applies the large-span steel truss slicing and segmenting lifting system as described above, and the method comprises: A hoisting preparation step: According to the full-process surveying and mapping positioning data and the input BIM model, the target space coordinates of each component are obtained, so that the space coordinate point set to which each component should be hoisted is obtained, and the corresponding hoisting path and hoisting landing control suggestion are generated; A hoisting process step: The hoisting device is controlled to hoist according to the generated hoisting path and hoisting landing control suggestion, and the hoisting device is adjusted in real time according to the full-process surveying and mapping positioning.

[0049] It can be understood that in the above embodiment, high-precision spatial positioning is realized by the unmanned aerial vehicle surveying and mapping device, and it is matched with the BIM model, so as to guarantee efficient, synchronous and accurate hoisting of each slice and segment of the steel truss, thereby improving the overall structure assembly precision and construction efficiency, and ensuring that the positioning error of each segment of the truss is in the millimeter level. It can be applied to scenes such as irregular roof coverings and curved trusses, which are difficult to realize high-precision assembly by conventional methods.

[0050] In addition, the hoisting device is preferably a crawler crane hoisting device, which can flexibly adapt to complex site conditions and realize synchronous cooperation of different hoisting points.

[0051] In some embodiments, to solve the problem that the hoisting component precision is difficult to control and the cumulative error affects the overall positioning, before the hoisting preparation step, the method can further comprise: Performing laser point cloud scanning or oblique photography modeling on the steel truss component to be hoisted; Extracting the key geometric features of each component to generate a component model with a certain precision; Comparing the component model with the design model to confirm the machining precision.

[0052] It can be understood that the machining precision of each component can be confirmed before hoisting, so as to prevent the hoisting component precision from being difficult to control. The key geometric features can include component control points, main node hole positions, splicing edges, etc. The generated component model with certain precision can be a component model with a precision better than ±5mm. When the machining precision does not meet the requirements, corresponding adjustment is performed again, such as re-production or on-site fine adjustment.

[0053] In specific operation, the following can be taken as an example: In the hoisting construction of large-span steel truss in pieces and segments, the traditional measurement method is difficult to adapt to the high-precision spatial positioning demand of special-shaped structures due to terrain obstruction, limited precision and high labor intensity. The embodiment of the application introduces an unmanned aerial vehicle high-precision surveying and mapping system (i.e. unmanned aerial vehicle surveying and mapping device), combines laser radar (LiDAR) and high-resolution oblique photogrammetry technology, and realizes whole-process surveying and mapping positioning support from the establishment of a hoisting reference before hoisting, real-time monitoring during hoisting to precision checking after hoisting.

[0054] Firstly, the steel truss is divided into a plurality of reasonable segmented and piece units on the ground, and the module size is determined according to the transportation, hoisting capacity and assembly requirements. A three-dimensional modeling tool is used to establish a whole structure hoisting simulation model to determine the hoisting working condition of each stage.

[0055] Unmanned aerial vehicle high-precision surveying and mapping system composition: (1) Multi-rotor unmanned aerial vehicle or fixed-wing vertical take-off and landing unmanned aerial vehicle (such as DJI M300RTK, Huace T7, etc.) carrying GNSS / RTK module.

[0056] (2) 90 laser radar scanner (precision up to ±2cm), oblique photography camera (5-direction imaging).

[0057] (3) Point cloud processing and model reconstruction software, BIM-GIS fusion platform or coordinate comparison system.

[0058] At least 6 GNSS control points are arranged around the construction site and steel truss hoisting area (construction area), and static measurement is performed; the control points should be stably arranged at an open view position without obstruction, and a reflective target is marked for easy positioning and identification of the unmanned aerial vehicle; RTK real-time dynamic difference technology and altimeter are used for joint measurement to establish a high-precision three-dimensional control network, unify the coordinate system (such as CGCS2000+NAVD88), and generate the DEM (digital elevation model) and three-dimensional orthographic map of the hoisting area by combining the first round of aerial survey data of the unmanned aerial vehicle with the coordinates of the control points; the BIM model is connected to form a digital twin reference model of “real scene+BIM”, and a spatial reference is provided for hoisting component positioning.

[0059] Perform reference measurement and control point arrangement: Before hoisting, laser point cloud scanning or oblique photogrammetry modeling is performed on each component of the steel truss to be hoisted; key geometric features such as component control points, main node hole positions, and splicing edges are extracted; and component models with an accuracy better than ±5mm are generated for comparison with the design model to confirm the processing accuracy.

[0060] By connecting the component installation location coordinates in the BIM model with the actual site control coordinate system, the spatial target coordinates for each component's placement are calculated. The geometric information of the components in the BIM model is mapped to the actual site control coordinate system (such as an RTK-GNSS control network) through coordinate transformation (including translation, rotation, and scaling) to obtain the set of spatial coordinate points where each component should be hoisted. A three-dimensional rigid coordinate transformation is performed to establish the conversion relationship from the BIM to the site coordinate system.

[0061] Among them, P BIM R is the 3D coordinates (column vector) of a key point of a component in BIM; T is a 3×1 rotation matrix (representing attitude rotation); P is a 3×1 translation vector (representing the position of the BIM origin relative to the site origin); Psite is the coordinates of the transformed target point of the component in the site coordinate system.

[0062] Simultaneously generate hoisting path and hoisting point placement control suggestions.

[0063] During hoisting, guide the crawler crane's lifting point to move to an area that coincides with the target's spatial coordinates.

[0064] The system employs a combination of dual crawler cranes for coordinated lifting, real-time drone attitude monitoring, and a cable force control system to achieve efficient segmented lifting and precise aerial assembly of the large-span steel truss. Components are prefabricated on the ground and rationally divided into transport sections. Lifting lugs are installed and the center of gravity is adjusted before lifting. During lifting, the crawler cranes slowly and synchronously raise the components along a set path, receiving real-time data from drone mapping and cable force monitoring to ensure precise alignment and leveling of components in the air. Each assembly segment is connected using guide pins, temporary supports, and high-strength bolts, and finally welded to form the overall structure. The entire process maintains millimeter-level assembly precision, improving construction efficiency and safety, and ensuring the high-quality completion of the large-span, irregularly shaped structure. During synchronous lifting, the spatial position of components is adjusted based on real-time coordinate information transmitted from the drone, ensuring the error is controlled within ±5mm.

Claims

1. A segmented lifting system for large-span steel trusses, comprising a control device and a hoisting device, wherein the control device is connected to the hoisting device, characterized in that, It also includes a drone mapping device, which is connected to a control device; The hoisting device is used to hoist the steel truss components formed by the segments and sections to be lifted, according to the control of the control device. The UAV mapping device is used to establish a three-dimensional control network, realize full-process mapping and positioning, and provide full-process mapping and positioning data to the control device; The control device is used to obtain the target spatial coordinates of each component based on the full-process surveying and positioning data and the input BIM model before controlling the hoisting, thereby obtaining the set of spatial coordinate points to which each component should be hoisted, and generating corresponding hoisting paths and hoisting placement control suggestions. During hoisting, the device controls the hoisting device to hoist according to the generated hoisting paths and hoisting placement control suggestions, and adjusts the hoisting device in real time according to the full-process surveying and positioning.

2. The large-span steel truss segmented lifting system according to claim 1, characterized in that, Based on the full-process surveying and positioning data and the input BIM model, the target spatial coordinates of each component are obtained, thereby obtaining the set of spatial coordinate points to which each component should be hoisted, and generating corresponding hoisting paths and hoisting placement control suggestions, including: By connecting the full-process surveying and positioning data with the BIM model, a real-scene control coordinate system is obtained. Map each component in the BIM model to the real-world control coordinate system to obtain the target spatial coordinates of each component, thereby obtaining the set of spatial coordinate points to which each component should be hoisted; Based on the full-process surveying and positioning data, the current position and orientation of each component are obtained. Based on the set of spatial coordinate points to which each component should be hoisted, corresponding hoisting paths and hoisting and placement control suggestions are generated for each component.

3. The large-span steel truss segmented lifting system according to claim 2, characterized in that, It also includes GNSS control points set up in the area where construction is to be carried out.

4. The large-span steel truss segmented lifting system according to claim 3, characterized in that, The number of GNSS control points is at least six; the GNSS control points are set in locations with open and unobstructed views; the GNSS control points are marked using reflective targets.

5. The large-span steel truss segmented lifting system according to claim 4, characterized in that, The process of connecting the full-process surveying and positioning data with the BIM model to obtain the real-scene control coordinate system includes: RTK real-time dynamic differential technology is used in conjunction with a leveling instrument to establish a high-precision three-dimensional control network and unify the coordinate system. By combining the full-process surveying and positioning data with the coordinates of GNSS control points, a DEM and a 3D orthophoto map of the construction area are generated. By connecting the DEM and 3D orthophoto map of the construction area with the BIM model, a digital reference model combining the real scene and the BIM model is formed, which provides a spatial reference for the subsequent positioning of each component and obtains the real scene control coordinate system.

6. The large-span steel truss segmented lifting system according to claim 1, characterized in that, After hoisting each component to its corresponding target spatial coordinates, the control device also acquires the spatial three-dimensional posture data of the entire steel truss based on the full-process surveying and positioning data, compares it with the BIM model in real time, and verifies the spatial posture of each key node on the steel truss, the straightness of the component axis, and the overall posture angle. When the installation deviation is found to exceed the preset threshold, the hoisting device is controlled to adjust the height of the corresponding hoisting point for adjustment.

7. The large-span steel truss segmented lifting system according to claim 1, characterized in that, It also includes a cable tension monitoring device, which is connected to the control device; The cable force monitoring device is used to collect the force data of each cable on the hoisting device in real time and transmit the collected force data to the control device. During the hoisting process, the control device also judges whether the force at each hoisting point is abnormal based on the force data in real time, and adjusts the control of the hoisting device according to the judgment result.

8. The large-span steel truss segmented lifting system according to claim 1, characterized in that, The cable force monitoring device includes several force sensing modules, which are installed on each sling of the hoisting device, with each sling containing at least one force sensing module.

9. The large-span steel truss segmented lifting system according to any one of claims 1-8, characterized in that, The control device is also used to display the current hoisting progress and / or BIM interface and / or full-process surveying and positioning data and / or various force data in real time.

10. A method for segmented and sectioned lifting of large-span steel trusses, characterized in that, The method of using the segmented lifting system for large-span steel trusses as described in any one of claims 1-9 includes: Preparatory steps before hoisting: Based on the full-process surveying and positioning data and the input BIM model, the target spatial coordinates of each component are obtained, thereby obtaining the set of spatial coordinate points to which each component should be hoisted, and generating corresponding hoisting paths and hoisting placement control suggestions. Lifting process steps: The hoisting device is controlled to perform hoisting based on the generated hoisting path and hoisting position control suggestions, and the hoisting device is adjusted in real time based on the full-process mapping and positioning.

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