Special-shaped steel tower hoisting state acquisition method and special-shaped steel tower hoisting construction method

Abstract

The invention relates to a special-shaped steel tower hoisting state acquisition method and a special-shaped steel tower hoisting construction method, a first GPS module and a second GPS module are respectively installed at a first preset point and a second preset point of a steel tower section so as to acquire coordinate information of the first preset point and the first preset point in a construction coordinate system; the first preset point is the center of the splicing surface, and the second preset point and the first preset point are arranged at an interval in the X-axis direction of the splicing surface; on the basis of the two pieces of coordinate information and in combination with a construction coordinate system, attitude angles between three main shafts of the splicing surfaces of the steel tower sections and three reference shafts of the construction coordinate system are calculated, and therefore hoisting state data are obtained; the same sensor is adopted, the hoisting state data can be obtained through the coordinates of the two preset points, and the influence of errors of different sensors is avoided while the cost is reduced; in addition, the actual state of the steel tower section in the hoisting process can be synchronously simulated and displayed in combination with hoisting state data, and visual monitoring is achieved.

Description

Technical Field

[0001] This application relates to the field of steel tower hoisting technology, and in particular to a method for obtaining the hoisting status of irregularly shaped steel towers and a method for hoisting irregularly shaped steel towers. Background Technology

[0002] As bridge engineering develops towards longer spans, higher strength, and lighter weights, the application of irregularly shaped steel tower structures in modern bridge construction is becoming increasingly widespread. Traditional irregularly shaped steel tower hoisting construction mainly relies on manual measurement and experience-based control, which presents several technical bottlenecks: First, measurement accuracy is heavily dependent on the professional level of the surveyors and on-site environmental conditions, easily affected by factors such as weather and line-of-sight, making it difficult to guarantee high precision requirements; second, construction efficiency is low, requiring repeated position adjustments and attitude corrections, significantly extending the construction period; third, due to the lack of real-time monitoring and early warning mechanisms, there are significant safety hazards during construction, especially in high-altitude working environments, where even minor deviations can lead to serious safety accidents.

[0003] Currently, technological innovations in the construction of irregularly shaped steel towers mainly focus on upgrading surveying equipment and optimizing processes, such as adopting modern surveying equipment like total stations and laser trackers, or introducing hoisting process simulation technology. However, these technological improvements still have significant shortcomings: On the one hand, a single measuring device is difficult to measure spatial position and attitude angle simultaneously. Multiple sensors need to be used in combination to obtain the real-time spatial position and attitude angle of the steel tower segment. However, this increases the cost and computational load. Moreover, due to the different measurement errors of multiple sensors, the accuracy of the measured spatial position and attitude angle is affected to a certain extent. On the other hand, although construction simulation technology has been introduced, the lack of real-time data interaction with the actual construction process makes it impossible to effectively guide on-site operations. Especially under complex weather conditions and harsh construction environments, it is difficult to achieve precise monitoring and dynamic adjustment of the entire hoisting process, resulting in difficulty in guaranteeing construction quality and a consistently high level of safety risks. Summary of the Invention

[0004] This application provides a method for obtaining the hoisting status of an irregularly shaped steel tower and a method for hoisting an irregularly shaped steel tower, in order to solve the problem in related technologies that require the use of multiple sensors in combination to obtain the real-time spatial position and attitude angle of the steel tower segment, which increases the cost and computational load, and the different measurement errors of multiple sensors have a certain impact on the accuracy of the measured spatial position and attitude angle.

[0005] Firstly, a method for obtaining the hoisting status of an irregularly shaped steel tower is provided, which includes: A first GPS module and a second GPS module are installed at the first preset point and the first preset point of the steel tower segment, respectively, to obtain the coordinate information of the first preset point and the first preset point in the construction coordinate system; the first preset point is the center of the splicing surface, and the second preset point is set at intervals from the first preset point in the X-axis direction of the splicing surface. Based on the two coordinate information and combined with the construction coordinate system, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated. The coordinate information and attitude angle of the first preset point are used as hoisting status data.

[0006] In some embodiments, based on the two sets of coordinate information and combined with the construction coordinate system, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated, specifically including the following steps: The direction vector is calculated based on the two coordinate information; the direction vector is the actual direction of the X-axis with the center of the splicing surface as the origin. Based on the direction vector and coordinate information, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated.

[0007] In some embodiments, the coordinate information of the first preset point is a = ( , , ); The coordinate information of the second preset point is b = ( , , ); The direction vector is calculated according to Formula 1; The first formula is n = ba = ( , , ), where n is the direction vector.

[0008] In some embodiments, based on the direction vector and coordinate information, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated, specifically including the following steps: Based on Formula 2, and combined with the direction vector, the first angle between the first principal axis of the splicing surface and the first reference axis of the construction coordinate system is calculated; Based on Formula 3, and combined with the direction vector, the second included angle between the second principal axis of the splicing surface and the second reference axis of the construction coordinate system is calculated; Based on Formula 4, and combined with the direction vector, the third included angle between the third principal axis of the splicing surface and the third reference axis of the construction coordinate system is calculated; The first included angle, the second included angle, and the third included angle are used as attitude angle information.

[0009] In some embodiments, Formula 2 is: First included angle ; Formula three is: the second included angle ; Formula four is: the third included angle ; The ; The first principal axis is the X-axis of the splicing surface, the second axis is the Y-axis of the splicing surface, and the third principal axis is the Z-axis of the splicing surface.

[0010] Secondly, a method for hoisting and constructing irregularly shaped steel towers is provided, which includes: Establish a three-dimensional digital twin model of the construction scene, including hoisting equipment, surrounding environment, and steel tower segments to be hoisted; The actual coordinate information of the center of the steel tower segment splicing surface and the actual attitude angle between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are obtained according to the method for obtaining the hoisting status of irregular steel towers. The actual coordinate information and actual attitude angle are input into the three-dimensional model of the construction scene to synchronously simulate and display the actual state of the steel tower segment during the hoisting process.

[0011] In some embodiments, the determination of whether a steel tower segment has been hoisted into place is made based on the actual state of the synchronously simulated steel tower segment.

[0012] In some embodiments, determining whether a steel tower segment has been hoisted into place is based on the actual state of the synchronously simulated steel tower segment, including the following steps: Obtain the target coordinates of the center of the steel tower segment splicing surface, as well as the target angles between the three principal axes of the splicing surface and the three reference axes of the construction coordinate system: The target coordinate information is compared with the actual coordinate information, and the included angle of each target is compared with the corresponding actual attitude angle to determine whether the hoisting is in place. If the deviation between the target coordinate information and the actual coordinate information is within the first range, and the deviation between all target angles and the corresponding actual attitude angles is within the second range, then the hoisting is in place; otherwise, it is not in place.

[0013] In some embodiments, when the equipment is not hoisted into place, the three-dimensional digital twin model of the construction scene generates early warning information to provide an alert.

[0014] In some embodiments, obtaining the target coordinate information of the center of the steel tower segment splicing surface, and the target angles between the three principal axes of the splicing surface and the three reference axes of the construction coordinate system, specifically includes the following steps: Obtain the design drawings of the steel tower segments to be hoisted in order to determine the design dimensions of the splicing surface of the steel tower segments and the design coordinates of the center point of the splicing surface after installation. The actual dimensions of the steel tower segment splicing surface are measured, and the design coordinates of the center point of the splicing surface are corrected in combination with the design dimensions of the splicing surface to obtain the corrected design coordinates of the center point of the splicing surface. Establish a construction coordinate system and determine the corrected design coordinates of the splice surface center point in the construction coordinate system to obtain the target coordinate information; then determine the target angles between the three principal axes with the splice surface center as the origin and the three reference axes of the construction coordinate system.

[0015] The beneficial effects of the technical solution provided in this application include: This application provides a method for obtaining the hoisting status of an irregularly shaped steel tower and a method for hoisting an irregularly shaped steel tower. A first GPS module and a second GPS module are installed at two preset points on a steel tower segment to obtain the coordinate information of the first preset point and the first preset point in the construction coordinate system. The first preset point is the center of the splicing surface, and the second preset point is spaced apart from the first preset point along the X-axis of the splicing surface. Based on the two coordinate information and the construction coordinate system, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated. The coordinate information and attitude angles of the first preset point are used as hoisting status data. This method, by simply setting two GPS modules on the splicing surface to obtain the coordinates of two preset points, allows for the calculation of the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system, thus obtaining hoisting status data. Because the same sensor is used, costs are reduced, and the accuracy of the calculation results caused by errors from different sensors is avoided. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram illustrating the general flow of the method for obtaining the hoisting status of irregularly shaped steel towers provided in this application embodiment; Figure 2 This is a schematic diagram of the GPS module provided in this application embodiment being installed on the splicing surface of a steel tower segment, and a schematic diagram of the three main axes of the splicing surface. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] This application provides a method for obtaining the hoisting status of irregular steel towers and a method for hoisting construction of irregular steel towers, in order to solve the problem that in related technologies, multiple sensors need to be used in combination to obtain the real-time spatial position and attitude angle of steel tower segments, which increases the cost and computational load, and the different measurement errors of multiple sensors have a certain impact on the accuracy of the measured spatial position and attitude angle.

[0020] Please see Figure 1 and Figure 2 As shown, a method for obtaining the hoisting status of an irregularly shaped steel tower includes: Step 100: Install a first GPS module and a second GPS module at the first preset point and the second preset point of the steel tower segment, respectively, to obtain the coordinate information of the first preset point and the second preset point in the construction coordinate system; the first preset point is the center of the splicing surface, and the second preset point is set at intervals from the first preset point in the X-axis direction of the splicing surface; the first GPS module and the second GPS module are referenced. Figure 2 The labels in the image are GPS1 and GPS2, respectively. In this step, the latitude and longitude data collected by the first GPS module are transformed to obtain the coordinate values ​​a= (in the construction coordinate system). , , This enables real-time monitoring of segment positions. A second GPS module is installed along the X-axis of the splicing surface to determine the spatial orientation of the segment. The data collected by the second GPS module is also converted to the construction coordinate system to obtain the coordinate value b. , , The two-point positioning method can effectively monitor the spatial position and rotation changes of segments.

[0021] Step 200: Based on the two coordinate information and combined with the construction coordinate system, calculate the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system. Step 300: Use the coordinate information and attitude angle of the first preset point as hoisting status data.

[0022] The above method simply involves setting two GPS modules on the splicing surface to obtain the coordinates of two preset points. This allows for the calculation of the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system, thereby obtaining hoisting status data. By using the same type of sensor, costs are reduced while avoiding the accuracy issues of calculation results caused by errors from different sensors.

[0023] In some preferred embodiments, step 200 specifically includes the following steps: The direction vector is calculated based on the two coordinate information; the direction vector is the actual direction of the X-axis with the center of the splicing surface as the origin. Based on the direction vector and coordinate information, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated.

[0024] The calculation process will be explained in detail below: The coordinates of the first preset point are a = ( , , ); The coordinates of the second preset point are b = ( , , ); The direction vector is calculated according to Formula 1; Formula 1 is n = ba = ( , , ), where n is the direction vector.

[0025] Based on direction vectors and coordinate information, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated, specifically including the following steps: Based on Formula 2, and combined with the direction vector, the first angle between the first principal axis of the splicing surface and the first reference axis of the construction coordinate system is calculated; Based on Formula 3, and combined with the direction vector, the second included angle between the second principal axis of the splicing surface and the second reference axis of the construction coordinate system is calculated; Based on Formula 4, and combined with the direction vector, the third included angle between the third principal axis of the splicing surface and the third reference axis of the construction coordinate system is calculated; The first included angle, the second included angle, and the third included angle are used as attitude angle information.

[0026] Formula 2 is: First included angle ; Formula 3 is: the second included angle ; Formula four is: the third included angle ; ; The first principal axis is the X-axis of the splicing surface, the second axis is the Y-axis of the splicing surface, and the third principal axis is the Z-axis of the splicing surface. (See attached diagram.) Figure 2 As shown, the construction coordinate system is marked as O.

[0027] That is, based on the spatial location data of the first GPS module and the second GPS module, the direction vector n = ba = ( , , This direction vector reflects the actual direction of the X-axis of the segment splicing surface and is the foundational data for subsequent attitude analysis. The calculation of the direction vector must consider the consistency of the coordinate system to ensure data accuracy. Using vector algebra, the angle between the direction vector n and the three reference axes of the construction coordinate system (…). (x, y). A specific calculation formula is derived using the law of cosines to achieve precise quantification of segmental attitude. This step is crucial for attitude control, and the calculation results directly affect the accuracy of adjustment commands.

[0028] This application also proposes a method for hoisting and constructing irregularly shaped steel towers, which includes: Step S100: Establish a 3D digital twin model of the construction scene, including hoisting equipment, surrounding environment, and the steel tower segments to be hoisted. In this step, based on the actual site conditions, BIM technology is used to construct a complete 3D digital twin model of the construction scene, including hoisting equipment, surrounding environment, and the steel tower segments to be hoisted. The model must accurately reflect the geometric dimensions, weight, material properties, and other parameters of each component to provide basic data support for subsequent simulation analysis. Simultaneously, the construction site is divided into grids to establish a unified construction coordinate system, ensuring the accuracy of subsequent positioning data. Specific component models are not detailed here due to technical limitations. Step S200: Obtain the actual coordinate information of the center of the steel tower segment splicing surface and the actual attitude angle between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system according to the method for obtaining the hoisting status of the irregular steel tower. Step S300: Input the actual coordinate information and actual attitude angle into the three-dimensional model of the construction scene to synchronously simulate and display the actual state of the steel tower segment during the hoisting process.

[0029] The above steps can achieve digital twin synchronization, and the real-time acquired location coordinates a=( , , ) and attitude angle ( Six parameters, including (x, y), are transmitted in real time to the digital twin platform to drive the movement of corresponding segments in the 3D digital twin model of the construction scene. Through visualization, the actual state of the segments during hoisting is intuitively displayed. This improves construction efficiency, allows for hoisting simulation, optimizes construction plans, and enables visualized monitoring and management of the construction process.

[0030] In some preferred embodiments, to achieve millimeter-level hoisting precision control through real-time GPS positioning and digital twin technology, and to enable the real-time monitoring system to promptly detect position deviations, prevent safety accidents, and enhance safety, the following settings are included: Based on the actual state of the steel tower segments simulated in real time, it is determined whether the steel tower segments have been hoisted into place.

[0031] Based on the actual state of the steel tower segments in the synchronous simulation, the determination of whether the steel tower segments have been hoisted into place includes the following steps: Obtain the target coordinates of the center of the steel tower segment splicing surface, as well as the target angles between the three principal axes of the splicing surface and the three reference axes of the construction coordinate system: The target coordinate information is compared with the actual coordinate information, and the included angle of each target is compared with the corresponding actual attitude angle to determine whether the hoisting is in place; If the deviation between the target coordinate information and the actual coordinate information is within the first range, and the deviation between all target angles and their corresponding actual attitude angles is within the second range, then the hoisting is in place; otherwise, it is not in place. When the hoisting is not in place, the 3D digital twin model of the construction scene generates early warning information to issue a warning.

[0032] The above implements deviation analysis calculation; by comparing real-time parameters with target parameters, the position deviation is calculated. , , ) and attitude deviation ( , , A deviation early warning mechanism is established. When any parameter exceeds the allowable range, the system automatically issues an early warning message to ensure hoisting accuracy. = ; = ; = ; = ; = ; = .

[0033] This also facilitates subsequent hoisting optimization and control. Based on the deviation analysis results and trial hoisting data, sensitivity analysis is performed on various parameters to establish a parameter-response relationship model. Based on the analysis results, precise hoisting adjustment instructions are formulated to guide on-site construction operations and achieve accurate hoisting positioning. Simultaneously, the optimized hoisting parameters are recorded and archived to provide a reference for similar subsequent work conditions.

[0034] The above solutions address the problem that under complex weather conditions and harsh construction environments, it is difficult to achieve precise monitoring and dynamic adjustment of the entire hoisting process, which leads to difficulties in ensuring construction quality and a consistently high level of safety risks.

[0035] In some preferred embodiments, obtaining the target coordinate information of the center of the steel tower segment splicing surface, and the target angles between the three principal axes of the splicing surface and the three reference axes of the construction coordinate system, specifically includes the following steps: Obtain the design drawings of the steel tower segments to be hoisted in order to determine the design dimensions of the splicing surface of the steel tower segments and the design coordinates of the center point of the splicing surface after installation. The actual dimensions of the steel tower segment splicing surface are measured, and the design coordinates of the center point of the splicing surface are corrected in combination with the design dimensions of the splicing surface to obtain the corrected design coordinates of the center point of the splicing surface. Establish a construction coordinate system and determine the corrected design coordinates of the splice surface center point in the construction coordinate system to obtain the target coordinate information; then determine the target angles between the three principal axes with the splice surface center as the origin and the three reference axes of the construction coordinate system.

[0036] The above steps can avoid the influence of errors in the target coordinate information of the actual steel tower segments due to manufacturing errors and environmental factors. The target position coordinates A0 of the center point of the splicing surface in the construction coordinate system are ( , , The target angles between the three principal axes (X-axis, Y-axis, Z-axis) of the steel tower segment splicing surface and the three reference axes of the construction coordinate system. , , These parameters serve as control target values ​​for the hoisting process, providing a benchmark for subsequent positioning.

[0037] This application also proposes a system for acquiring the hoisting status of irregularly shaped steel towers, which includes: The first module is used to create a 3D digital twin model of the construction scene, including the hoisting equipment, the surrounding environment, and the steel tower segments to be hoisted. Based on the actual site conditions, this step utilizes BIM technology to construct a complete 3D digital twin model of the construction scene, including the hoisting equipment, the surrounding environment, and the steel tower segments to be hoisted. The model must accurately reflect the geometric dimensions, weight, material properties, and other parameters of each component to provide basic data support for subsequent simulation analysis. Simultaneously, the construction site is divided into grids to establish a unified construction coordinate system, ensuring the accuracy of subsequent positioning data. Specific component models are not detailed here due to technical limitations. The second module is used to obtain the actual coordinate information of the center of the steel tower segment splicing surface and the actual attitude angle between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system according to the method for obtaining the hoisting status of the irregular steel tower. The second module includes a first GPS module and a second GPS module.

[0038] The third module is used to input the actual coordinate information and actual attitude angle into the three-dimensional model of the construction scene in order to synchronously simulate and display the actual state of the steel tower segments during the hoisting process.

[0039] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0040] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0041] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for obtaining the hoisting status of an irregularly shaped steel tower, characterized in that, It includes: A first GPS module and a second GPS module are installed at the first preset point and the first preset point of the steel tower segment, respectively, to obtain the coordinate information of the first preset point and the first preset point in the construction coordinate system; the first preset point is the center of the splicing surface, and the second preset point is set at intervals from the first preset point in the X-axis direction of the splicing surface. Based on the two coordinate information and combined with the construction coordinate system, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated. The coordinate information and attitude angle of the first preset point are used as hoisting status data.

2. The method for obtaining the hoisting status of irregularly shaped steel towers as described in claim 1, characterized in that, Based on the two sets of coordinate information and the construction coordinate system, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated, specifically including the following steps: The direction vector is calculated based on the two coordinate information; the direction vector is the actual direction of the X-axis with the center of the splicing surface as the origin. Based on the direction vector and coordinate information, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated.

3. The method for obtaining the hoisting status of irregularly shaped steel towers as described in claim 2, characterized in that: The coordinate information of the first preset point is a = ( , , ); The coordinate information of the second preset point is b = ( , , ); The direction vector is calculated according to Formula 1; The first formula is n = ba = ( , , ), where n is the direction vector.

4. The method for obtaining the hoisting status of irregularly shaped steel towers as described in claim 3, characterized in that, Based on the direction vector and coordinate information, the attitude angles between the three principal axes of the steel tower segment splicing surface and the three reference axes of the construction coordinate system are calculated, specifically including the following steps: Based on Formula 2, and combined with the direction vector, the first angle between the first principal axis of the splicing surface and the first reference axis of the construction coordinate system is calculated; Based on Formula 3, and combined with the direction vector, the second included angle between the second principal axis of the splicing surface and the second reference axis of the construction coordinate system is calculated; Based on Formula 4, and combined with the direction vector, the third included angle between the third principal axis of the splicing surface and the third reference axis of the construction coordinate system is calculated; The first included angle, the second included angle, and the third included angle are used as attitude angle information.

5. The method for obtaining the hoisting status of irregularly shaped steel towers as described in claim 4, characterized in that: Formula two is: the first included angle ; Formula three is: the second included angle ; Formula four is: the third included angle ; The ; The first principal axis is the X-axis of the splicing surface, the second axis is the Y-axis of the splicing surface, and the third principal axis is the Z-axis of the splicing surface.

6. A method for hoisting and constructing an irregularly shaped steel tower, characterized in that, It includes: Establish a three-dimensional digital twin model of the construction scene, including hoisting equipment, surrounding environment, and steel tower segments to be hoisted; According to the method for obtaining the hoisting status of irregular steel towers as described in any one of claims 1-5, the actual coordinate information of the center of the splicing surface of the steel tower segment and the actual attitude angle between the three principal axes of the splicing surface of the steel tower segment and the three reference axes of the construction coordinate system are obtained. The actual coordinate information and actual attitude angle are input into the three-dimensional model of the construction scene to synchronously simulate and display the actual state of the steel tower segment during the hoisting process.

7. The method for hoisting and constructing irregularly shaped steel towers as described in claim 6, characterized in that, It also includes the following steps: Based on the actual state of the steel tower segments simulated in real time, it is determined whether the steel tower segments have been hoisted into place.

8. The method for hoisting and constructing irregularly shaped steel towers as described in claim 7, characterized in that, Based on the actual state of the steel tower segments in the synchronous simulation, the determination of whether the steel tower segments have been hoisted into place includes the following steps: Obtain the target coordinates of the center of the steel tower segment splicing surface, as well as the target angles between the three principal axes of the splicing surface and the three reference axes of the construction coordinate system: The target coordinate information is compared with the actual coordinate information, and the included angle of each target is compared with the corresponding actual attitude angle to determine whether the hoisting is in place. If the deviation between the target coordinate information and the actual coordinate information is within the first range, and the deviation between all target angles and the corresponding actual attitude angles is within the second range, then the hoisting is in place; otherwise, it is not in place.

9. The method for hoisting and constructing irregularly shaped steel towers as described in claim 8, characterized in that: If the equipment is not hoisted into place, the three-dimensional digital twin model of the construction scene generates an early warning message to issue a warning.

10. The method for hoisting and constructing irregularly shaped steel towers as described in claim 6, characterized in that, Obtaining the target coordinates of the center of the steel tower segment splicing surface, as well as the target angles between the three principal axes of the splicing surface and the three reference axes of the construction coordinate system, specifically includes the following steps: Obtain the design drawings of the steel tower segments to be hoisted in order to determine the design dimensions of the splicing surface of the steel tower segments and the design coordinates of the center point of the splicing surface after installation. The actual dimensions of the steel tower segment splicing surface are measured, and the design coordinates of the center point of the splicing surface are corrected in combination with the design dimensions of the splicing surface to obtain the corrected design coordinates of the center point of the splicing surface. Establish a construction coordinate system and determine the corrected design coordinates of the splice surface center point in the construction coordinate system to obtain the target coordinate information; then determine the target angles between the three principal axes with the splice surface center as the origin and the three reference axes of the construction coordinate system.

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