Large-span steel truss girder overall lifting system and method

Abstract

The invention relates to the technical field of steel structure construction, aims to solve the problem of low precision caused by an existing integral hoisting mode, and provides an integral hoisting system and method for a large-span steel truss girder. Comprising a control module, a hydraulic lifting module, a three-dimensional laser scanner, a total station and an identification acquisition identifier arranged on a steel truss girder to be lifted, and the hydraulic lifting module, the three-dimensional laser scanner and the total station are connected with the control module; a hydraulic synchronous lifting technology is fused with a space positioning technology and a three-dimensional laser scanning technology of the total station, and a hydraulic lifting module is automatically adjusted by adopting data feedback of the three-dimensional laser scanner and the total station, so that the synchronization rate and the accuracy during overall lifting are improved, and the system is suitable for overall lifting of the large-span steel truss girder.

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 beam overall lifting system and method. BACKGROUND

[0002] With the rapid development of large public buildings, super-long, super-wide, super-high large-span steel structure truss beams are more and more widely used in airport terminals, exhibition centers, stadiums and large workshops and other projects. Such structures usually have the following characteristics: large self-weight, large size span, high installation precision requirement and limited space site, etc. Therefore, the hoisting construction of the steel truss beam is one of the key control links in the whole structure construction.

[0003] The current common steel truss installation methods mainly include the following: 1. Sectional hoisting method: the large-span truss is divided into several sections, which are hoisted to the air by tower cranes or crawler cranes and then assembled by high-altitude butt joint. This method has long construction period, more high-altitude operations on site, and it is difficult to guarantee the assembly precision, and is greatly affected by weather and personnel technical level.

[0004] 2. Overall hoisting method: the overall pre-assembly is carried out on the ground, and then the large-tonnage hoisting equipment or hydraulic lifting equipment is used for overall installation, which can effectively reduce the high-altitude operation, but still faces challenges in synchronous control and precision monitoring.

[0005] 3. Using sliding, pushing and other methods: mainly used in linear structures or continuous structures, which has poor applicability for irregular trusses, special-shaped structures and large cantilever structures.

[0006] Among the above hoisting methods, especially the overall hoisting method, it has significant advantages in construction efficiency and safety. However, the current overall hoisting method faces the following technical problems: 1) Insufficient synchronous control precision: the traditional hydraulic lifting system mainly relies on local displacement sensors for feedback control, and the synchronous precision control ability of multiple points is limited, thereby there is a risk of structural deformation caused by the accumulation of small displacement differences; 2) Limited space position monitoring means: in the past, manual measurement or local sensors were used for feedback, which is difficult to obtain the overall space coordinates and attitude of the steel truss in real time, especially in large-span structures, it is more difficult to fully control the overall shape change; 3) Construction precision is disconnected from design model: due to the lack of high-precision and full-factor space monitoring means, the construction process cannot be effectively compared and dynamically corrected with the design data such as BIM (Building Information Modeling, Building Information Modeling). SUMMARY

[0007] The application aims to provide a large-span steel truss beam integral lifting system and method to solve the problem of low precision caused by the current integral lifting method.

[0008] The application solves the above technical problems by adopting the technical scheme, and the first aspect provides a large-span steel truss beam integral lifting system, which comprises a control module and a hydraulic lifting module, the control module is connected with the hydraulic lifting module, further comprises a three-dimensional laser scanner, a total station and an identification collection mark arranged on the steel truss beam to be lifted, and the three-dimensional laser scanner and the total station are connected with the control module respectively. The hydraulic lifting module is used for synchronously lifting the steel truss beam to be lifted at multiple points according to the control of the control module. The three-dimensional laser scanner is used for generating a scanning model by scanning the steel truss beam to be lifted or in the lifting process according to the corresponding identification collection mark, and sending the scanning model to the control module. The total station is used for continuously tracking the corresponding identification collection mark in the lifting process, so as to collect the three-dimensional coordinates of key nodes on the steel truss beam in the lifting process in real time and send the three-dimensional coordinates to the control module. The control module is used for presetting a design model of the steel truss beam to be lifted, controlling the hydraulic lifting module to synchronously lift the steel truss beam to be lifted at multiple points in the lifting process, comparing the received scanning model and the three-dimensional coordinates of the key nodes with the design model in real time, and adjusting the control of the hydraulic lifting module in real time.

[0009] In some embodiments, in order to facilitate subsequent control and calculation processing, the three-dimensional coordinates collected by the total station are matched with the scanning model obtained by the three-dimensional laser scanner in space coordinates.

[0010] In some embodiments, in order to further improve the measurement accuracy, the total station is at least three to construct a global measurement control network.

[0011] In some embodiments, in order to provide a feasible identification collection mark, the identification collection mark comprises a measurement reflection target corresponding to the total station and a scanning point cloud reference surface corresponding to the three-dimensional laser scanner.

[0012] In some embodiments, in order to further improve the measurement control accuracy, the scanning model is a high-precision space point cloud model.

[0013] In some embodiments, since the three-dimensional laser scanner needs to consume a certain amount of time when scanning and modeling, the three-dimensional laser scanner scans and models at a preset time interval or scans according to the stages of lifting in the lifting process.

[0014] In some embodiments, to provide a feasible hydraulic lifting module, the hydraulic lifting module comprises a plurality of hydraulic lifting units and a displacement measuring unit corresponding to each hydraulic lifting unit, and the hydraulic lifting units and the displacement measuring units are connected with the control module respectively; The displacement measuring unit is used for measuring the lifting displacement of the corresponding hydraulic lifting unit. When the control module controls the hydraulic lifting module to start, each hydraulic lifting unit is started according to the set synchronization rate, and the lifting displacement of each displacement measuring unit is read in real time, and the displacement-time closed-loop control curve is used for closed-loop synchronous control.

[0015] In some embodiments, since the total station and the three-dimensional laser scanner have strong data processing capability, in order to save the processing resources of the subsequent control module, the three-dimensional laser scanner is also used to compare the obtained scanning model with the preset reference model, analyze the attitude change of each component in the steel truss beam during the lifting process, and prompt the control module when an abnormality occurs. The total station is also used to compare whether the three-dimensional coordinates of each key node deviate, and prompt the control module when the deviation occurs. In the control module, during the lifting process, the hydraulic lifting module is controlled to perform multi-point synchronous lifting on the steel truss beam to be lifted, and according to the received scanning model and the three-dimensional coordinates of the key nodes, the design model is compared in real time, and the control of the hydraulic lifting module is adjusted in real time, including: During the lifting process, the hydraulic lifting module is controlled to perform multi-point synchronous lifting on the steel truss beam to be lifted. According to the prompt of the total station and the three-dimensional laser scanner, the action of each hydraulic lifting unit is adjusted in real time. According to the received scanning model and the three-dimensional coordinates of the key nodes, the design model is compared in real time, and the control of the hydraulic lifting module is adjusted in real time, so as to realize dynamic correction of the structure levelness, perpendicularity and overall stability.

[0016] In some embodiments, to provide a feasible reference model, the reference model is a scanning model obtained by scanning the assembled steel truss beam to be lifted as a whole before lifting.

[0017] The technical solution adopted by the present application to solve the above technical problems provides a large-span steel truss beam overall lifting method, which applies the large-span steel truss beam overall lifting system as described above, and the method comprises: Lifting preparation step: Assembling and temporarily reinforcing the steel truss beam to be lifted; The hydraulic lifting module is arranged on the key nodes of the steel truss beam. setting the recognition collection marks on the steel truss beam; presetting the design model into the control module; the lifting process processing step: starting the hydraulic lifting module, and controlling the hydraulic lifting module to synchronously lift the steel truss beam to be lifted at multiple points; generating a scanning model according to the overall scanning of the steel truss beam to be lifted or in the lifting process according to the corresponding recognition collection marks; continuously tracking the corresponding recognition collection marks to collect the three-dimensional coordinates of the key nodes on the steel truss beam in the lifting process in real time; comparing the scanning model and the three-dimensional coordinates of the key nodes with the design model in real time, and adjusting the control of the hydraulic lifting module in real time.

[0018] The large-span steel truss beam overall lifting system and method has the advantages that the large-span steel truss beam overall lifting system and method fuses the hydraulic synchronous lifting technology, the spatial positioning technology of the total station and the three-dimensional laser scanning technology, adopts the data feedback of the three-dimensional laser scanner and the total station, and automatically adjusts the hydraulic lifting module, so that the synchronization rate and the accuracy during the overall lifting are improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The figure is a system block diagram of the large-span steel truss beam overall lifting system in the embodiment of the application.

[0020] Figure 2 The figure is a schematic flow chart of the large-span steel truss beam overall lifting method in the embodiment of the application. DETAILED DESCRIPTION

[0021] The technical solutions of the application will be described in detail below with reference to the embodiments and the drawings.

[0022] The large-span steel truss beam overall lifting system in the embodiment of the application has a system block diagram as shown in Figure 1 , which comprises a control module and a hydraulic lifting module, wherein the control module is connected with the hydraulic lifting module, further comprises a three-dimensional laser scanner, a total station and recognition collection marks (not shown in the figure) arranged on the steel truss beam to be lifted, wherein the three-dimensional laser scanner and the total station are connected with the control module respectively.

[0023] Here, the hydraulic lifting module is used to synchronously lift the steel truss beam to be lifted at multiple points according to the control of the control module; The three-dimensional laser scanner is used to generate a scanning model and send the scanning model to the control module, by overall scanning the steel truss beam to be lifted or in the lifting process according to the corresponding recognition collection marks; The total station instrument is used for continuously tracking the corresponding identification collection mark in the lifting process, collecting the three-dimensional coordinates of the key nodes on the steel truss beam in the lifting process in real time, and sending the three-dimensional coordinates to the control module. The control module is used for presetting a design model of the steel truss beam to be lifted, controlling the hydraulic lifting module to synchronously lift the steel truss beam to be lifted at multiple points in the lifting process, comparing the received scanning model and the three-dimensional coordinates of the key nodes with the design model in real time, and adjusting the control of the hydraulic lifting module in real time.

[0024] It can be understood that the above embodiment fuses the hydraulic synchronous lifting technology with the spatial positioning technology of the total station instrument and the three-dimensional laser scanning technology, adopts the data feedback of the three-dimensional laser scanner and the total station instrument, and automatically adjusts the hydraulic lifting module, so that the synchronization rate and the accuracy in the overall lifting are improved, and the problems of structural instability such as torsional deformation and internal force concentration caused by asynchronization in the lifting process are significantly reduced.

[0025] Meanwhile, the total station instrument is used for measuring the real-time spatial coordinates of the key nodes of the steel truss (i.e., collecting the three-dimensional coordinates of the key nodes on the steel truss beam in the lifting process in real time), and the scanning model provided by the three-dimensional laser scanner is used for assisting in the implementation of the whole-space monitoring of the components of the steel truss in the lifting process. The deviation between the actual position and the design position of the structure can be compared and corrected in real time, and the final positioning accuracy can reach ±3 mm, meeting the high-standard public building construction accuracy requirements.

[0026] The measurement data obtained by the total station instrument and the laser scanner is compared with the design model in real time, and a three-dimensional dynamic visual interface of the lifting process can be formed. Through automatic identification of the deviation and the component posture change, the control module can make autonomous decisions and adjustments, greatly improving the management efficiency and the intelligent level, and reducing the human operation and judgment errors.

[0027] In some embodiments, for the subsequent control and calculation processing, the three-dimensional coordinates collected by the total station instrument and the scanning model obtained by the three-dimensional laser scanner can be matched in space coordinates to unify the measurement system, reduce the conversion, and thus improve the efficiency of subsequent calculation and identification.

[0028] In some embodiments, in order to further improve the measurement accuracy, the total station instrument is at least three to build a global measurement control network.

[0029] It can be understood that the total station instrument can also be one or two, but its accuracy is necessarily relatively limited, but its accuracy is still higher than that of the existing overall lifting method.

[0030] In some embodiments, in order to provide a feasible identification collection mark, the identification collection mark can include a measurement reflection target corresponding to the total station instrument and a scanning point cloud reference surface corresponding to the three-dimensional laser scanner.

[0031] It can be understood that, in general, the identification collection mark corresponding to the total station is the measurement reflection target, which is generally arranged near the key node, and the corresponding scanning point cloud reference surface of the three-dimensional laser scanner is determined by the three-dimensional laser scanner.

[0032] In some embodiments, to further improve the measurement control accuracy, the scanning model can be a high-precision spatial point cloud model.

[0033] It can be understood that the three-dimensional laser scanner can generate a high-precision spatial point cloud model, and the higher the accuracy, the higher the accuracy of the control module in the control process, so here the high-precision spatial point cloud model is preferred, and the accuracy range of high-precision here can be selected according to actual needs, which is prior art and will not be described in detail here.

[0034] In some embodiments, since the three-dimensional laser scanner needs to consume a certain amount of time when scanning and modeling, the three-dimensional laser scanner described above can be scanned and modeled at a preset time interval or scanned at a phased node in the improvement process.

[0035] It can be understood that the preset time interval can be set by the construction personnel according to the actual situation, in general, the shorter the interval, the smaller the probability of problems, but in actual use, since the speed of hydraulic lifting steel truss beam is not fast itself, it is not necessary to be too short, and in order to save computing resources, the scanning can also be performed according to the phased node of the lifting, which has little influence. Here, the phased node of the lifting is set artificially in the construction process, which is prior art and will not be described in detail here.

[0036] In some embodiments, to provide a feasible hydraulic lifting module, the hydraulic lifting module can include a plurality of hydraulic lifting units and a displacement measuring unit corresponding to each hydraulic lifting unit, and the hydraulic lifting unit and the displacement measuring unit are connected with the control module respectively. The displacement measuring unit is used to measure the lifting displacement of the hydraulic lifting unit corresponding thereto. When the control module controls the hydraulic lifting module to start, each hydraulic lifting unit is started according to the set synchronous rate, and the lifting displacement of each displacement measuring unit is read in real time, and the displacement-time closed loop control curve is used for closed loop synchronous control.

[0037] It can be understood that the hydraulic lifting module mentioned in the above embodiments is a commonly used synchronous hydraulic lifting system, which uses a displacement-time closed loop control curve, which can generally ensure that the synchronization is not more than ±2mm.

[0038] The hydraulic lifting unit can be a hydraulic jack or a hydraulic cylinder, and the displacement measuring unit can be a displacement sensor.

[0039] In some embodiments, since the total station and the three-dimensional laser scanner itself have strong data processing capability, in order to save the processing resources of the subsequent control module, the three-dimensional laser scanner can also be used to compare the obtained scanning model with the preset reference model, analyze the attitude change of each component in the steel truss beam during the lifting process, and prompt the control module when an abnormality occurs. The total station can also be used to compare whether the three-dimensional coordinates of each key node deviate, and prompt the control module when the deviation occurs. In the control module, during the lifting process, the hydraulic lifting module controls the multi-point synchronous lifting of the steel truss beam to be lifted, compares the received scanning model and the three-dimensional coordinates of the key nodes with the design model in real time, and adjusts the control of the hydraulic lifting module in real time. Specifically, it can include: During the lifting process, the hydraulic lifting module controls the multi-point synchronous lifting of the steel truss beam to be lifted. According to the prompt of the total station and the three-dimensional laser scanner, the action of each hydraulic lifting unit is adjusted in real time. According to the received scanning model and the three-dimensional coordinates of the key nodes, the design model is compared in real time, and the control of the hydraulic lifting module is adjusted in real time to realize dynamic correction of the structure level, verticality and overall stability.

[0040] It can be understood that in the above embodiments, comparing whether the three-dimensional coordinates of each key node deviate can mean that the relative pose relationship between the three-dimensional coordinates of each key node (such as the relative pose relationship between the three-dimensional coordinates of each key node on the steel truss beam just assembled, or the relative pose relationship between the three-dimensional coordinates of each key node in the design model) is predetermined, and then the relative pose relationship between the three-dimensional coordinates of each key node on the steel truss beam is compared in real time. Whether it is consistent with the pre-provision within a certain range (such as 2mm), if so, it is considered that there is no deviation, otherwise it is considered that there is a deviation.

[0041] In addition, in the above embodiments, when the control module itself calculates and compares the design model, it can only consider the dynamic correction of the structure level, verticality and overall stability, and no longer consider the attitude change of a single component and whether the three-dimensional coordinates of each key node deviate, which can be judged by the three-dimensional scanner and the total station. Therefore, the calculation and processing resources of the control module are saved, and the response efficiency is improved.

[0042] In some embodiments, to provide a feasible reference model, the reference model can be: a scanning model obtained by scanning the assembled steel truss girder to be lifted as a whole before lifting.

[0043] It can be understood that, although the scanning model scanned from the assembled steel truss girder to be lifted should be the same as the design model, in actual operation and production process, there will always be certain allowable deviation, so when the three-dimensional scanner analyzes the attitude change of each component of the steel truss girder in the lifting process, it is more suitable to form a reference model from the scanning model, and the reference model itself is the scanning model generated by the three-dimensional scanner itself, which is completely the same as the formation mode of the subsequent scanning model, and can further avoid the measurement deviation caused by the error of the three-dimensional scanning model itself, and does not need to convert the input design model, and the comparison is easier.

[0044] In the embodiment of the application, the second aspect provides a large-span steel truss girder overall lifting method, and a schematic flow chart thereof is shown in Figure 2 The method comprises the following steps: Lifting preparation step: Assembling and temporarily reinforcing the steel truss girder to be lifted; Arranging the hydraulic lifting module on the key nodes of the steel truss girder; Setting the identification acquisition mark on the steel truss girder; Pre-setting the design model to the control module; Lifting process processing step: Starting the hydraulic lifting module, and controlling the hydraulic lifting module to synchronously lift the steel truss girder to be lifted at multiple points; According to the corresponding identification acquisition mark, scanning the steel truss girder to be lifted or in the lifting process as a whole to generate a scanning model; Continuously tracking the corresponding identification acquisition mark to real-time acquire the three-dimensional coordinates of the key nodes of the steel truss girder in the lifting process; According to the scanning model and the three-dimensional coordinates of the key nodes, comparing the design model in real time, and adjusting the control of the hydraulic lifting module in real time.

[0045] It can be understood that, in the above embodiment, the hydraulic synchronous lifting technology is fused with the spatial positioning technology of the total station and the three-dimensional laser scanning technology, the data feedback of the three-dimensional laser scanner and the total station is adopted, and the hydraulic lifting module is automatically adjusted, so that the synchronization rate and the accuracy during the overall lifting are improved, and the structural instability problems such as torsional deformation and internal force concentration caused by asynchronization in the lifting process are significantly reduced.

[0046] At the same time, the key nodes of the steel truss are measured in real time by the total station (i.e., the three-dimensional coordinates of the key nodes on the steel truss beam during lifting are collected in real time), and the scanning model provided by the three-dimensional laser scanner is used to realize the whole process of spatial monitoring of the components of the steel truss beam during lifting. The deviation of the actual position of the structure from the design position can be compared and corrected in real time, and the final positioning accuracy can reach ±3mm, meeting the construction precision requirements of high-standard public buildings.

[0047] The measurement data obtained by the total station and the laser scanner are compared with the design model in real time, and a three-dimensional dynamic visualization interface of the lifting process can also be formed. Through automatic recognition of the deviation and the change of the component posture, the control module can make autonomous decisions and adjustments, greatly improving the management efficiency and intelligent level, and reducing human operation and judgment errors.

[0048] In addition, since the steel truss beam that needs to be lifted as a whole can be completely assembled and prepared on the ground, the lifting and hoisting process in the above scheme can be completely completed by a remote control system (i.e., the control module can be remotely deployed), thereby significantly reducing the need for high-altitude assembly work, reducing the risk of long-term work of construction personnel in high altitude, and ensuring construction safety.

[0049] Moreover, the whole pre-assembly + intelligent synchronous lifting method can greatly reduce the lifting and hoisting preparation time and the high-altitude docking process, and improve the construction organization efficiency. Compared with the traditional segmented hoisting scheme, the comprehensive construction period can be shortened by 15%~30%, which is especially suitable for key engineering projects with tight schedules.

[0050] It does not depend on large crawler cranes or tower cranes, and is particularly suitable for large special-shaped steel structure projects with limited site, complex truss structure, or dense spatial arrangement of nodes, and has good universality and adaptability.

[0051] In specific applications, the following examples are given: Preparation before lifting: The steel truss beam to be lifted is assembled and temporarily reinforced on the ground, which can be: setting up an assembly platform or jig on the ground, assembling the whole steel truss beam according to the design drawings, and temporarily reinforcing the structure after assembly to ensure the structural rigidity during lifting.

[0052] The hydraulic lifting unit is arranged on the key nodes of the steel truss, which can be: arranging hydraulic jacks or hydraulic cylinders at the key nodes of the structure (such as the top chord nodes and the middle web member nodes). Each hydraulic jack or hydraulic cylinder is connected to the steel truss beam by a steel cable, and multiple hydraulic jacks or hydraulic cylinders are controlled by a control module to realize multi-point synchronous lifting control. A load-bearing support is also provided and the elevation is corrected.

[0053] The identification and collection marks are set on the steel truss beam to facilitate subsequent laser scanning and total station target recognition and data collection.

[0054] And the three-dimensional laser scanner for the assembly of the steel truss beam scanning, generating its high-precision spatial point cloud model, as the reference model.

[0055] In the lifting operation area set three or more total station, building global measurement control network, and with the scanning model for space coordinate matching, realize the measurement system unified.

[0056] Lifting process: Start the hydraulic lifting module, control the hydraulic lifting module to the steel truss beam lifting multi-point synchronous lifting, can include: start the hydraulic lifting system, according to the set of synchronous rate start each lifting point, control module real-time reading each cylinder displacement (i.e. hydraulic lifting unit lifting displacement), closed loop synchronous control. Using displacement-time closed loop control curve, can guarantee the synchronization of not more than ± 2mm.

[0057] According to the predetermined time interval or lifting stage node start three-dimensional laser scanner, according to the corresponding identification of the collection of identification of the steel truss beam in the lifting or lifting process of the whole scanning, generate scanning model sent to the control module, and the scanning model and the preset reference model are compared, the posture change of each component in the lifting process of the steel truss beam is analyzed, and the control module is prompted when the abnormality occurs. The abnormality here includes the overall distortion and local deformation.

[0058] Total station continues to track the corresponding identification of the collection of identification, in order to real-time collection of three-dimensional coordinates of key nodes in the lifting process of the steel truss beam and send to the control module, also compare whether the three-dimensional coordinates of each key node deviate, when the deviation occurs, prompt the control module.

[0059] The control module adjusts the action of each hydraulic lifting unit in real time according to the prompt of the total station and the three-dimensional laser scanner.

[0060] The control module compares the received scanning model and the three-dimensional coordinates of the key nodes with the preset design model in real time, adjusts the control of the hydraulic lifting module in real time, and realizes the dynamic correction of the structure levelness, perpendicularity and overall stability.

[0061] Lifting to the right place and structure fixed: The steel truss beam is lifted to the design elevation, and the space is checked by the total station to confirm that its elevation, levelness and relative displacement meet the design error limit value (such as within ± 3mm). High strength bolt or welding method is used to connect the steel truss beam and the supporting node of the main structure, and the hydraulic lifting system is removed, and the whole hoisting operation is completed.

[0062] It can be seen that the large-span steel truss girder overall lifting system and method provided by the above embodiments can be standardized deployed, each measurement module (such as a total station and a three-dimensional laser scanner) can be modularly reused, has good industrial replication capability, is suitable for popularization and application in various large steel structure hoisting engineering, and is beneficial to promoting the development of steel structure intelligent construction technology.

Claims

1. A large-span steel truss beam integral lifting system, comprising a control module and a hydraulic lifting module, wherein the control module is connected to the hydraulic lifting module, characterized in that, It also includes a 3D laser scanner, a total station, and identification and acquisition markers set on the steel truss beam to be lifted. The 3D laser scanner and the total station are respectively connected to the control module. The hydraulic lifting module is used to simultaneously lift the steel truss beam to be lifted at multiple points according to the control of the control module; The three-dimensional laser scanner is used to perform an overall scan of the steel truss beam to be lifted or during the lifting process based on the corresponding identification and acquisition marks, and generate a scan model to be sent to the control module. The total station is used to continuously track the corresponding identification and acquisition markers during the lifting process, so as to collect the three-dimensional coordinates of key nodes on the steel truss beam in real time and send them to the control module. The control module is used to preset the design model of the steel truss beam to be lifted. During the lifting process, the control hydraulic lifting module is used to lift the steel truss beam synchronously at multiple points. Based on the received scan model and the three-dimensional coordinates of key nodes, the control is compared with the design model in real time, and the control of the hydraulic lifting module is adjusted in real time.

2. The large-span steel truss beam integral lifting system according to claim 1, characterized in that, The three-dimensional coordinates collected by the total station were matched with the spatial coordinates of the scanned model obtained by the three-dimensional laser scanner.

3. The large-span steel truss beam integral lifting system according to claim 1, characterized in that, At least three total stations are required to construct a global measurement and control network.

4. The large-span steel truss beam integral lifting system according to claim 1, characterized in that, The identification and acquisition markers include the measurement reflection target corresponding to the total station and the scanning point cloud reference surface corresponding to the 3D laser scanner.

5. The large-span steel truss beam integral lifting system according to claim 4, characterized in that, The scanning model is a high-precision spatial point cloud model.

6. The large-span steel truss beam integral lifting system according to claim 1, characterized in that, The 3D laser scanner performs scanning and modeling at preset time intervals or scans at stages of the lifting process.

7. The large-span steel truss beam integral lifting system according to claim 1, characterized in that, The hydraulic lifting module includes several hydraulic lifting units and displacement measuring units corresponding to each hydraulic lifting unit. The hydraulic lifting units and displacement measuring units are respectively connected to the control module. The displacement measuring unit is used to measure the lifting displacement of its corresponding hydraulic lifting unit; When the control module starts the hydraulic lifting module, it starts each hydraulic lifting unit at a set synchronous rate and reads the lifting displacement of each displacement measurement unit in real time. It uses a displacement-time closed-loop control curve to perform closed-loop synchronous control.

8. The large-span steel truss beam integral lifting system according to any one of claims 1-7, characterized in that, The three-dimensional laser scanner is also used to compare the obtained scanning model with the preset benchmark model, analyze the posture changes of each component in the steel truss beam during the lifting process, and prompt the control module when an abnormality occurs. The total station is also used to compare whether the three-dimensional coordinates of each key node have deviated, and when a deviation occurs, it prompts the control module. In the control module, during the lifting process, the hydraulic lifting module performs multi-point synchronous lifting of the steel truss beam to be lifted. Based on the received scanned model and the three-dimensional coordinates of key nodes, it compares the data with the design model in real time and adjusts the control of the hydraulic lifting module accordingly. This includes: During the lifting process, the hydraulic lifting module is controlled to lift the steel truss beam to be lifted simultaneously at multiple points. Based on the prompts from the total station and 3D laser scanner, the actions of each hydraulic lifting unit are adjusted in real time; Based on the received scanned model and the three-dimensional coordinates of key nodes, the model is compared with the design model in real time, and the control of the hydraulic lifting module is adjusted in real time to achieve dynamic correction of the structure's levelness, verticality, and overall stability.

9. The large-span steel truss beam integral lifting system according to claim 8, characterized in that, The reference model is a scanned model obtained by performing an overall scan of the assembled steel truss beam to be lifted before lifting.

10. A method for integrally lifting large-span steel truss beams, characterized in that, The method of using the large-span steel truss beam integral lifting system as described in any one of claims 1-9 includes: Preparation steps before upgrading: The steel truss beams to be lifted have been assembled and temporarily reinforced. Hydraulic lifting modules were installed at key nodes of the steel truss beam. The identification and data collection markers were placed on the steel truss beams; The design model is preset into the control module; Improvement process steps: Start the hydraulic lifting module and control it to simultaneously lift the steel truss beam to be lifted at multiple points. The steel truss beam to be lifted or in the process of lifting is scanned as a whole based on the corresponding identification and collection marks, and a scanning model is generated. Continuously track the corresponding identification and collection markers to collect the three-dimensional coordinates of key nodes on the steel truss beam in real time during the lifting process; Based on the three-dimensional coordinates of the scanned model and key nodes, the system compares the data with the design model in real time and adjusts the control of the hydraulic lifting module accordingly.

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