Mobile ditch template truss positioning method and system

Abstract

The invention relates to the technical field of template positioning, in particular to a movable ditch template truss positioning method and system, and the method comprises the following steps: obtaining a coordinate of a sliding rail contact point, comparing the coordinate with a theoretical position, recognizing offset, detecting the direction difference of a boundary component, generating an axis offset sequence, judging the consistency of a path and an offset direction, screening nodes, and grouping. And extracting a trajectory height judgment fluctuation to generate a jump mark, and generating a control node sequence according to mark interpolation. According to the method, the template installation precision control capability is enhanced through space coordinate offset identification, the stability of component axis change judgment is improved through direction offset trend analysis, the positioning data accuracy is optimized through consistent node screening, the construction stability early warning capability is enhanced through height fluctuation identification, and path continuity repair is achieved through interpolation point supplementation. The whole process is based on multi-dimensional analysis and trend control of spatial data, and the template positioning precision, the operation guidance definition and the data processing reliability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of template positioning, in particular to a mobile water ditch template formwork positioning method and system. BACKGROUND

[0002] The technical field of template positioning relates to the installation, calibration and fixation of template structures in construction, and the core matters include the presetting of template positions, the rapid arrangement on site, the control of spatial dimensions and the guarantee of component installation accuracy, etc. The accurate positioning is mainly realized by means of methodological means such as formulating a template arrangement scheme, using physical measurement tools for positioning, and using formwork, support systems or shaped tooling devices for stabilization and adjustment. Among them, the traditional mobile water ditch template formwork positioning method refers to the demand for water ditch template installation position and direction control in the construction process of drainage ditch structure in road or municipal engineering, and the method is to complete the arrangement and fixation of the template by means of manual measurement positioning, line distance setting and manual carrying and laying of formwork. This method relies on manual use of a level, a tape measure and simple steel structure auxiliary tools for linear guidance and distance keeping, and the position matching of the template and the formwork is completed by mechanical lifting and manual moving.

[0003] The prior art relies on manual measurement and simple tool combination operation, and there are problems such as coarse data acquisition granularity, few positioning reference points and ambiguous direction change judgment in the template positioning process. Manual use of a level and a tape measure is easily affected by visual angle and human factors in the judgment of spatial angle change, resulting in large fluctuations in template arrangement accuracy. The axial calibration by line distance setting can only provide distance control in two-dimensional plane and cannot effectively monitor the three-dimensional space direction and node height change, especially when the component direction has a small continuous deviation, it is difficult to identify its development trend and change rule. The way of manual carrying and mechanical lifting of formwork limits the real-time calibration capability in the template arrangement process. Once the initial arrangement deviation is not found in time, it is difficult to correct the error through remedial measures in the subsequent link, and systematic deviation is easily formed. For example, in the construction of road turning sections or elevation sections, due to the lack of judgment of the continuity trend between nodes, uneven template laying and inconsistent edge alignment are easily caused, which affects the component pouring forming quality and the overall stability of the structure. SUMMARY

[0004] The purpose of the present application is to solve the shortcomings in the prior art and to provide a mobile water ditch template formwork positioning method.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme, a mobile water ditch template formwork positioning method, comprising the following steps: S1: obtaining the spatial coordinates of the slide rail contact points in the template arrangement area, identifying the horizontal and vertical deviation of the slide rail nodes according to the theoretical position comparison of the track arrangement drawing, and generating a slide rail node spatial deviation data set; S2: calling the slide rail node space offset data set, detecting the direction difference of the boundary component and the template design axis, generating a component axis offset direction sequence by recording the offset change trend in the continuous period; S3: judging the consistency of the path node forward direction and the slide rail offset direction according to the component axis offset direction sequence, screening the path nodes with consistent directions and grouping, and generating a path direction consistent node set; S4: extracting the space height information of the continuous trajectory segment in the path direction consistent node set, judging whether there is direction alternating fluctuation according to the height change trend, and generating a trajectory jump identification flag group; S5: calling the starting point of the marked section in the trajectory jump identification flag group as a reference, combining the original path direction and the offset direction, generating a plurality of interpolation nodes along the component trend direction, and integrating into the original path node sequence to form a path interpolation control node sequence.

[0006] As a further scheme of the application, the slide rail node space offset data set includes horizontal offset, vertical offset, offset direction, node number, measurement timestamp, the component axis offset direction sequence includes direction symbol, period sequence number, continuity judgment result, consistency coefficient, the path direction consistent node set includes consistent node group identification, node sequence in the group, associated slide rail node reference code, the trajectory jump identification flag group includes flag type, section start point, section end point, fluctuation amplitude threshold, and the path interpolation control node sequence includes interpolation node coordinates, interpolation step, trend direction label, and original path mapping index.

[0007] As a further scheme of the application, the S1 step is: S101: based on the space coordinate information of the slide rail contact point obtained in the template layout area, extracting the current coordinate value of the slide rail node in three-dimensional direction, calling the theoretical coordinate value in the trajectory layout drawing, calculating the difference between the two in horizontal and vertical directions, and obtaining the coordinate offset data set; S102: obtaining the coordinate offset data set, comparing the offset in horizontal and vertical directions with the preset offset reference value, identifying the offset value exceeding the reference range, extracting the corresponding offset direction information, integrating the judgment result, and establishing a bidirectional offset trend; S103: calling the bidirectional offset trend, combining the offset in the space height direction, and the node number, node spacing and layout area density information, jointly processing the overall offset performance of the slide rail node in three-dimensional space, obtaining the change degree of each node in the omnidirectional offset state, and generating a slide rail node space offset data set.

[0008] As a further scheme of the application, the S2 step is: S201: Based on the spatial offset data set of the sliding rail node, extract the coordinate position of the node on the template design axis in a continuous period, calculate the offset increment sequence of the node in the different direction, identify the difference in direction change in the sequence, and generate a sequence of node offset direction consistency. S202: Call the node offset direction consistency degree sequence, extract the coordinate relationship between the boundary component axis and the template design axis, identify the angle difference sequence in the direction, and combine the node direction consistency characteristics to determine the matching segment between angle change and direction stability, and obtain the direction difference abrupt change intensity sequence; S203: Based on the directional difference mutation intensity sequence, combined with the directional change rate, volatility and period offset, construct the directional offset conflict factor, calculate the stability index of the component axis offset trend of the period, and arrange them in chronological order to establish the component axis offset direction sequence.

[0009] As a further aspect of the present invention, step S3 is as follows: S301: Based on the component axis offset direction sequence, extract the spatial offset direction information of the path nodes, identify the direction change of the nodes in a continuous cycle, determine the relationship between the nodes and the slide rail offset direction, and obtain the path node direction consistency judgment value. S302: Based on the path node direction consistency determination value, determine the node number range that meets the direction condition, extract the set of consecutively numbered nodes, determine the offset continuity status, and obtain the path node same-direction grouping sequence. S303: Call the path node same-direction grouping sequence, calculate the direction consistency level value of the path nodes in the group, filter the path node groups that meet the conditions, and generate a set of nodes with consistent path direction.

[0010] As a further aspect of the present invention, the specific calculation formula for the directional consistency level value of the path nodes within the calculation group is as follows: ; The calculation obtains the direction consistency level value of each group of path nodes, filters the path node groups that meet the conditions, and generates a set of nodes with consistent path direction. in, Indicates the path node number Group directional consistency level value, Indicates the first The first in the group The angle between each node and the axis of the component Indicates the first The maximum directional offset interval of nodes within a group. Indicates the first The difference in offset distance between each node and its predecessor. Indicates the first The maximum distance between nodes within a group. This represents the standard deviation of the sequence of node numbers within the group. This represents the average value of the node number sequence. This represents the variance of the node offset angle for that group. This represents the standard value of the inscribed angle. Indicates the first Group CCP Summation operation of nodes.

[0011] As a further aspect of the present invention, step S4 is as follows: S401: Based on the set of nodes with consistent path direction, extract the vertical spatial data of nodes in the continuous trajectory segment, calculate the height change trend of nodes in the trajectory segment, and obtain the height change rate sequence. S402: Based on the altitude change rate sequence, analyze the altitude fluctuation in the trajectory segment, determine the trajectory segment with frequent alternation trend, and obtain a list of altitude jump risk intervals; S403: Call the list of height change risk intervals, extract the range of node numbers where height fluctuations exist within the trajectory segment, establish a segmented marking structure, and obtain the trajectory change identification flag group.

[0012] As a further aspect of the present invention, step S5 is as follows: S501: Based on the starting point of the segment marked in the trajectory jump identification flag group, extract the spatial coordinate information of the corresponding node in the original path and the directional relationship between adjacent nodes, call the path direction and offset direction of the node, combine the structural orientation of the component, analyze the spatial angle relationship with the original path, determine that the jump segment should be interpolated along the trend direction of the component, and obtain the trend direction vector sequence. S502: Based on the trend direction vector sequence, call the path length, offset amplitude and original node interval information of the jump segment, determine the insertion density of the interpolation node, combine the trend direction and offset change, calculate the coordinate position of the interpolation node in space, summarize the corresponding interpolation nodes in the trajectory segment, and generate the interpolation node coordinate set. S503: Call the set of interpolation node coordinates, insert the interpolation nodes into the original path structure in the order of the original path node numbers, unify the node number index, complete the structural adjustment and sequence update of the path segment, and generate the path interpolation control node sequence.

[0013] As a further aspect of the present invention, the slide rail contact point is a structural location point where there is actual contact between the gantry sliding structure and the track; The slide rail node spatial offset data set is a three-dimensional spatial offset set formed between the actual layout state of the slide rail node and the design position set in the drawing. The boundary components are the two side template units that define the edges of the template layout in the trench template structure; The template design axis is the center line or structural positioning baseline set in the template layout drawing, which serves as the alignment basis for template boundaries and truss path structural reference points. The boundary components are the two side template units that define the edges of the template layout in the trench template structure; The template design axis is the center line or structural positioning baseline set in the template layout drawing, which serves as the alignment basis for template boundaries and truss path structural reference points. The component axis offset direction sequence is an ordered sequence composed of direction markers, which records the trend of changes in the center position of the boundary component relative to the template design axis direction during multiple construction cycles. The path nodes are the key spatial points that constitute the truss control path, and are set at the starting point, ending point or path change segment of the trajectory. The set of nodes with consistent path direction is the set of nodes in the path whose direction vector is the same as the component offset trend direction. The spatial height information is the position information of the path node in the vertical direction (Z-axis); The alternating directional fluctuations refer to the phenomenon where the slope between nodes alternates between positive and negative changes in a continuous path segment. This indicates that the trajectory direction is continuously reversed, affecting the judgment of path stability. The trajectory jump identification flag group is a set of nodes used to mark trajectory segments in the path where the slope direction changes alternately; The interpolation node is an auxiliary control point added between the original path nodes; The path interpolation control node sequence is a complete control path sequence composed of interpolation nodes set by combining the component direction trend with the original path nodes, based on the trajectory jump segment.

[0014] A mobile drainage ditch formwork scaffolding positioning system, comprising: The trajectory acquisition module acquires the spatial positioning data of the slide rail nodes within the template layout area, the theoretical position parameters in the trajectory layout drawing, and the automatically recorded actual position parameters of the nodes. It extracts the positional differences between the actual position and the theoretical position in the horizontal and vertical directions, determines whether there is a directional offset, and summarizes the node number, spatial coordinates, and offset direction information to form structured data and generate a slide rail node spatial offset data group. The direction determination module calls the offset direction information of the nodes in the slide rail node spatial offset data group, combines it with the axial direction parameters of adjacent components, identifies the directional difference between the node offset direction and the component direction, sorts out the directional change trend in continuous period, and generates a component axial offset direction sequence. The node screening module matches the offset direction of nodes in the slide rail node spatial offset data group according to the direction attribute in the component axis offset direction sequence, extracts and clusters nodes with the same direction, forms a continuous region according to the arrangement order of nodes in the path, and generates a set of nodes with the same path direction. The jump recognition module calls the spatial height parameters of the path segments in the set of nodes with consistent path direction to identify the height trend changes between adjacent nodes, determine whether there is an alternating change phenomenon in direction, mark the path segments where the phenomenon occurs, and generate a trajectory jump recognition flag group. The path reconstruction module refers to the starting point of the path segment marked in the trajectory jump recognition flag group, and combines the path direction parameters and offset direction parameters of the node in the path direction consistent node set to insert multiple nodes in the component direction trend and incorporate them into the original path sequence to generate a path interpolation control node sequence.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, spatial coordinate offset identification enhances the accuracy control of template installation; directional offset trend analysis improves the stability of component axis change judgment; consistency node screening optimizes the accuracy of positioning data; height fluctuation identification enhances the early warning capability of construction stability; and interpolation point supplementation realizes path continuity repair. The entire process, based on multi-dimensional analysis and trend control of spatial data, improves the accuracy of template positioning, the clarity of operation guidance, and the reliability of data processing. Attached Figure Description

[0016] Figure 1 This is a flowchart of the main steps of the present invention; Figure 2 This is a flowchart of step S1 of the present invention; Figure 3 This is a flowchart of step S2 of the present invention; Figure 4 This is a flowchart of step S3 of the present invention; Figure 5 This is a flowchart of step S4 of the present invention; Figure 6 This is a flowchart of step S5 of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention 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 the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0019] Please see Figure 1 A method for positioning a mobile drainage ditch formwork scaffold includes the following steps: S1: Obtain the spatial coordinate information of the sliding rail contact point in the template layout area, compare the theoretical position with the trajectory layout drawing, identify the offset of the sliding rail node in the horizontal and vertical directions, form the corresponding offset direction data, and generate the sliding rail node spatial offset data group. The slide rail contact point is the structural location point where there is actual contact between the gantry sliding structure and the track. It is used to collect spatial coordinates and monitor the track layout status, and serves as a path reference point in trajectory control. The slide rail node spatial offset data set is a three-dimensional spatial offset set formed between the actual layout state of the slide rail node and the design position set in the drawing. It is used to describe the directionality and magnitude distribution of the overall installation error of the slide rail. S2: Call the sliding rail node spatial offset data group to detect the directional difference between the boundary component and the template design axis. By recording the offset change trend in a continuous period, determine the continuity and consistency of the component's directional change and generate a component axis offset direction sequence. Boundary members are the two-sided formwork units that define the edges of the formwork layout in the trench formwork structure. They are usually steel formwork or fixed formwork and are the direct reference objects for boundary positioning. The template design axis is the center line or structural positioning baseline set in the template layout drawings, which serves as the alignment basis for template boundaries and truss path structural reference points. The component axis offset direction sequence is an ordered sequence composed of direction markers, which records the trend of the change of the center position of the boundary component relative to the template design axis direction in multiple construction cycles. S3: Based on the component axis offset direction sequence, determine whether the forward direction of the path node is consistent with the slide rail offset direction, group the path nodes that meet the direction consistency, establish a positioning control node set, and generate a path direction consistent node set. Path nodes are spatial key points that constitute the control path of the gantry. They are set at the start, end, or change segment of the trajectory and are used to define the path direction and the operating rhythm of the gantry. The positioning control node set is a set of control nodes used for path constraints and frame positioning, obtained by filtering the path nodes by direction. The direction is consistent with the component offset trend. The path direction consistent node set is the set of nodes in the path node selection whose direction vector is the same as the component offset trend direction, and serves as the key node sequence in path control; S4: Extract spatial height information from continuous trajectory segments in a set of nodes with consistent path direction. By analyzing the height change trend between nodes, determine whether there is a situation of alternating directional fluctuations. This is used to identify segments with insufficient stability in the trajectory and generate trajectory jump identification flag groups. Spatial height information is the position information of path nodes in the vertical direction (Z-axis), which is used to determine the longitudinal fluctuation trend of the trajectory and the undulation characteristics of the path; Alternating directional fluctuations are the phenomenon where the slope between nodes changes alternately between positive and negative in a continuous path segment. This indicates that the trajectory direction is continuously reversed, affecting the judgment of path stability. The trajectory transition identification marker group is a set of nodes used to mark trajectory segments in the path where the slope direction changes alternately, and is used to identify local discontinuities or unstable structural segments of the trajectory. S5: Based on the starting point of the segment marked in the reference trajectory jump recognition flag group, and combined with the original path direction and offset direction of the node, generate multiple interpolation nodes along the component trend direction, and integrate them into the original path node sequence to generate a path interpolation control node sequence. Interpolation nodes are auxiliary control points added between existing path nodes. They are used for path smoothing, error correction, or structural synchronization transition. They have independent numbers and are incorporated into the control system for use. The path interpolation control node sequence is a complete control path sequence composed of interpolation nodes set by combining the component direction trend with the original path nodes, based on the trajectory jump segment.

[0020] The sliding rail node spatial offset data group includes horizontal offset, vertical offset, offset direction, node number, and measurement timestamp. The component axis offset direction sequence includes direction symbol, cycle number, continuity judgment result, and consistency coefficient. The path direction consistent node set includes consistent node group identifier, node order within the group, and associated sliding rail node reference code. The trajectory jump identification flag group includes flag type, segment start point, segment end point, and fluctuation amplitude threshold. The path interpolation control node sequence includes interpolation node coordinates, interpolation step size, trend direction label, and original path mapping index.

[0021] Please see Figure 2 Step S1 is as follows: S101: Based on the spatial coordinate information of the sliding rail contact point obtained in the template layout area, extract the current coordinate value of the sliding rail node in the three-dimensional direction, call the theoretical coordinate value in the trajectory layout drawing, calculate the difference between the two in the horizontal and vertical directions, and obtain the coordinate offset data set. First, number each node, from node 1 to node 3, and then read the three-dimensional measured coordinates of the nodes. These coordinate values ​​originate from high-precision data from a 3D scanning system, with a reading accuracy controlled within 0.1mm; subsequently, the system retrieves the theoretical coordinate values ​​under the corresponding node number from the drawing database. After matching the two pairs one by one, a single difference is calculated for each direction. The calculation formula is as follows: , , Each node is calculated sequentially according to its number, constructing its spatial offset value in three dimensions. Taking node 1 as an example, its measured coordinates are (1510.2mm, 1275.3mm, 95.1mm), corresponding to theoretical coordinates of (1510.0mm, 1275.0mm, 95.0mm). , , Each direction is calculated independently; similarly, the coordinate difference is calculated for nodes 2 and 3 in the same manner. For ease of further use, the spatial offset of each node is stored as a vector. Simultaneously calculate the horizontal offset Its calculation method is as follows This represents the overall offset of a node in the horizontal direction; for the vertical direction, simply take... That's it. The calculation results are shown in the table below: As shown in Table 1, each coordinate offset is calculated from the difference between the measured value and the theoretical value, and stored in a structured manner according to the dimension. It can be directly used for trend judgment and overall offset evaluation in the future.

[0022] S102: The acquired coordinate offset data set is compared with the preset offset reference value in the horizontal and vertical directions. Offset values ​​that exceed the reference range are identified, and the corresponding offset direction information is extracted. The judgment results are integrated to establish a two-way offset trend. The extracted coordinate offset data sets are sequentially subjected to a reference value determination operation. The horizontal offset reference value is set to 0.5mm, and the vertical offset reference value is set to 0.3mm. The reference values ​​are formulated according to the slide rail installation technical specifications. The horizontal offset value is calculated for each node. The absolute value of the result is then compared one by one with the horizontal offset reference value, while the vertical offset value is also compared. Compared to the vertical reference value, if the offset in a certain direction is greater than the corresponding reference value, then the node is defined as having an excessive offset in that direction. Taking node 2 as an example... , ,but It did not exceed the horizontal baseline value; The value did not exceed the vertical reference value; node 3 in the Z direction If the value is equal to the baseline value, it is not considered to be out of limit. Then, a direction determination is performed on each node, with the direction determination method set as follows: if... For positive X-axis offset, For the negative offset in the X direction, the Y and Z directions are treated the same. The positive and negative offsets in each direction are labeled +1 and -1 respectively, and the total offset value in all directions is summed to obtain the trend value. Taking a three-node example, the trend value in the X direction... Y-direction trend volume Z-direction trend volume This trend indicates that the node set exhibits an overall negative offset trend in the X direction and an overall upward trend in the Z direction. The trend is not normalized; the raw values ​​are used for subsequent joint offset analysis.

[0023] S103: Call the bidirectional offset trend, combine the offset in the spatial height direction, and the node number, node spacing and layout area density information to jointly process the overall offset performance of the sliding rail node in three-dimensional space, obtain the degree of change of each node in the omnidirectional offset state, and generate the sliding rail node spatial offset data group. Call the bidirectional offset trend amount , , In conjunction with the node number (1, 2, 3), the distance between adjacent nodes (set to 300mm), and the area density information (set to 9 nodes per square meter), the overall offset state of the sliding rail node in the three-dimensional direction is jointly processed. First, calculate the omnidirectional offset of each node. ; The result of node 1 is ; Node 2 is ; Node 3 is ; The average of the omnidirectional offset values ​​of all nodes is calculated to obtain... Then, for each node, the offset scaling factor is further calculated. Node 1 is Node 2 is Node 3 is The offset of each node is represented by a dimensionless factor to facilitate the assessment of regional offset. The offset determination condition is set as follows: if... This indicates a significant shift. The deviation is moderate. The offset is slight. Based on this, nodes 2 and 3 are moderately offset, node 1 is slightly offset, and there is no significant offset in the overall node layout area. Combining the trend data, the overall offset is concentrated in the negative X direction and the positive Z direction.

[0024] Please see Figure 3 Step S2 is as follows: S201: Based on the spatial offset data set of the sliding rail node, extract the coordinate position of the node on the template design axis in a continuous period, calculate the offset increment sequence of the node in the different directions, identify the differences in the direction changes in the sequence, obtain the consistency sequence of the offset direction within the node period, and generate the node offset direction consistency sequence. Based on the spatial offset data set of the sliding rail nodes, it is necessary to extract the relative displacement of the component nodes in multiple time periods in a structured manner. First, the original spatial coordinates of each node in each period are read. A local coordinate system is established with reference to the template design axis, and all original coordinate data are uniformly transformed to prevent errors in the determination of the offset direction due to template system errors. In practice, the units are kept to three decimal places in millimeters. After the coordinate transformation, the displacement change of each node in the x and y directions in each period is determined by the coordinate difference between adjacent periods. For example, between periods 1 and 2, the displacement of node 101 in the x direction changes from 1032.110mm to 1035.240mm, and in the y direction changes from 523.870mm to 524.430mm. The directional offset increment is 3.130mm, and the y-direction offset increment is 0.560mm. The directional change trend is then determined through vector calculation. If the vector angle change is within ±10°, it is defined as directional consistency; otherwise, it is recorded as directional change. A sequence of directional consistency values ​​is constructed, and a minimum increment identification threshold is set. If the displacement change in a certain direction is less than 0.5mm, the offset is considered invalid and does not participate in the directional judgment. This threshold is set comprehensively based on the width of the component connection gap and the measurement instrument error, and has been verified through on-site calibration. For example, the x-direction displacement difference of node 102 between periods 1 and 2 is 0.32mm, which is less than the 0.5mm threshold, and is recorded as an invalid direction with an empty directional consistency value. The node directional consistency results are shown below: As shown in Table 2, the direction change angle of node 101 is small and is recorded as consistent (1). The change of node 102 is below the minimum threshold and is not included in the judgment. The direction of node 103 changes abruptly and is judged as inconsistent (0). By summarizing the direction consistency values ​​of each node in the continuous period, a sequence of node offset direction consistency can be formed.

[0025] S202: Call the node offset direction consistency degree sequence, extract the coordinate relationship between the boundary component axis and the template design axis, identify the angle difference sequence in the direction, and combine the node direction consistency characteristics to determine the matching segment between angle change and direction stability, and obtain the direction difference abrupt change intensity sequence. The sequence of node offset direction consistency is invoked to extract the coordinate information of the template design axis and the actual axis of the component boundary. The boundary axis is constructed using the node coordinates within the cycle. The slope value between any three points is calculated, and the axis expression of the component in that cycle is derived from this. This is then compared with the slope of the template design axis, and the included angle is calculated as the angle difference. This angle is expressed in radians to match subsequent normalization processing. If the component node positions in cycle 2 are (1035.240, 524.430), (1038.310, 524.850), and (1041.270, 525.160), then the slope of the component boundary axis is approximately: (525.160-524.430) / (1041.270-1035.240)≈0.117. If the template design axis is a horizontal line (slope=0), then the angle between the two is arctangent(0.117)≈0.116rad. After similar processing of the component axis in each cycle, an angle difference sequence is formed. This sequence is then paired with the direction consistency sequence. A mutation identification threshold is set to determine the direction mutation segment. If the angle difference is greater than 0.05rad and the direction consistency value is 0, then the cycle is considered a mutation cycle. This threshold is set based on the component axis deformation experiments in previous tests. In the comparison of 20 construction site data, it was found that the angle difference of most mutation cycles was above 0.07rad. To avoid misjudgment, a conservative threshold of 0.05rad is set. For example, in cycle 2, the angle difference of node 103 is 0.116rad and the consistency value is 0, so it is marked as a mutation cycle. The nodes are classified and recorded according to the cycle number, and the direction difference mutation intensity sequence is output.

[0026] S203: Based on the directional difference mutation intensity sequence, combined with the directional change rate, volatility, and period offset, a directional offset conflict factor is constructed. The specific calculation formula for the stability index of the component axis offset trend during the period is as follows: ; The stability index of the axis offset trend corresponding to the cycle is calculated and arranged in chronological order to establish a sequence of component axis offset directions; in, Representative period The stability index of axis offset trend. Indicates the first Cycle number Intensity of directional mutation at nodes Indicates the first Cycle number The angle difference between the node and the template design axis, Indicates period The rate of change of the direction of the offset trend within the area. Indicates period volatility Indicates period The total period offset. This represents the total number of nodes in the current period. This represents the standard value of a circular angle, used to normalize angles to dimensionless ratios. Based on the sequence of directional difference mutation intensity, combined with the rate of change of offset direction, relative volatility and total offset within the period, the stability index of component axis offset trend is calculated by constructing a joint conflict factor. in, Indicates period The stability index of axis offset trend. Indicates period The Middle The intensity of the directional change of a node (mm) is obtained by the node offset increment under the direction of the change. For example, the offset of node 101 from 1032.110mm to 1035.240mm is 2.5mm. This represents the angular difference (rad) between the component node and the template design axis, which is derived by inversely calculating the slope angle; for example, it is 0.12 rad. The total offset of the period (mm) is the sum of the offsets of all nodes within the period. For example, the total offset in period 1 is 10mm. The direction change rate is defined as the ratio of the number of nodes whose direction changes within a period to the total number of nodes. If two out of three nodes in period 1 change direction, then... ; The relative volatility is defined as the ratio of the variance of the offset within a period to the average offset. For example, if the offset is [2.5, 1.8, 3.1], the mean is 2.47 mm, and the variance is approximately 0.28, then... Substituting this into the formula, the calculation is as follows: ; Stability index of offset trend in period 1 This indicates that the overall stability of the offset trend within this period is in the moderate to weak range. Compared to the preset stability benchmark range [0.2, 0.5], this value is at the lower limit of the allowable range, and this value directly constitutes the first term of the component axis offset direction sequence. The advantage of the formula is that it reflects the offset trend of the node in the spatial structure by normalizing the direction change amplitude and the angle adjustment term. Combined with the trend change rate and volatility, the structural deformation trend behavior can be quantified into an identifiable sequence term, which is convenient for direct use of this indicator for threshold judgment and abnormal period identification in subsequent structural monitoring or template verification. The calculation logic of this formula is based on the multi-dimensional quantification of the component node offset behavior within the period. First, in the summation term, the directional mutation intensity of each node is normalized to a relative offset ratio and multiplied with its corresponding angle difference. This reflects the linkage between the offset amplitude and the degree of directional angle deviation. This product term can be understood as the weighted contribution of unit offset in the angular offset direction. Then, the directional difference is eliminated by absolute value processing to ensure that the offset changes in different directions are effectively included. The sum of the weighted mutation amounts of all nodes can represent the overall directional disturbance intensity within the period. Subsequently, the sum of the squares of the offset trend change rate and the relative volatility rate is introduced. The square operation enhances the expressiveness of the mutation change in the index. Then, the square root processing restores it to the original dimension level, forming a trend term with the same dimension as the previous term. The two parts are added together and then divided by 2 to achieve a balanced integration of the directional offset intensity and the influence of trend fluctuation. This allows the calculated stability index to reflect both the local disturbance in the spatial offset direction and the stability of the overall offset trend. The stability index of axis offset trend corresponding to the period is used to quantify whether the overall offset behavior of each node of the component relative to the template design axis remains consistent in direction and balanced in amplitude within a time period. Its value comprehensively reflects the frequency and intensity of local directional changes, the dispersion of offset angles, and the stability of offset trend. When the index value is low, it indicates that the offset direction of most nodes of the component tends to be consistent with the design axis, the offset amplitude distribution is relatively concentrated, the trend change is gentle, and the system structure maintains strong geometric stability. Conversely, a high index value indicates that there is a large range of disturbances in the offset direction, large angle changes, and strong trend fluctuations, indicating that the component offset state is unstable in the current period and structural monitoring and correction are required. Therefore, as a characteristic indicator in the periodic sequence, this index can be used to identify abnormal periods and assist in the decision-making basis for structural offset control and template adjustment.

[0027] Please see Figure 4 Step S3 is as follows: S301: Based on the component axis offset direction sequence, extract the spatial offset direction information of the path nodes, identify the direction change of the nodes in the continuous cycle, determine the relationship between the nodes and the slide rail offset direction, and obtain the path node direction consistency judgment value. Based on the component axis offset direction sequence, the spatial distribution positions of path nodes in the slide rail are first extracted. A node trajectory record table with the cycle number as the time axis is established. After extracting the coordinate values ​​of the nodes in each cycle, the principal direction vector of the node in the continuous cycle is obtained. The principal direction vector is generated by constructing the offset vector from the node positions during two cycles and further compared with the component principal axis direction vector. The sign of the angle between the two vectors is used to determine whether the node is moving in the direction of the component axis. In the judgment process, whether the angle falls within ±15° is used as the judgment condition. Nodes that meet the condition are marked as having the same direction, and those that do not are marked as having an inconsistent direction. The judgment results are recorded for subsequent path node filtering. For example, nodes numbered 101, 102, and 103 have the following spatial variations under a cycle number of 1: the directional angle of node 101 is 0.18 rad, that of node 102 is 0.15 rad, and that of node 103 is 0.12 rad. The main axis of the component is fixed horizontally eastward. In this case, all three are less than the judgment threshold and can be recorded as nodes with consistent directions. At the same time, the offset distance between each node is extracted as the basis for subsequent grouping judgment. The distance between nodes 101 and 102 is 1.0 mm, the distance between 102 and 103 is 1.5 mm, the directional interval is set to 4.0 mm, and the maximum reference distance is 5.0 mm. The statistical results of the node numbers are shown in the table below: As shown in Table 3, all nodes under node group number 1 meet the direction angle determination criteria, providing basic data support for subsequent path node grouping and generating path node direction consistency determination values.

[0028] S302: Based on the path node direction consistency judgment value, determine the node number range that meets the direction condition, extract the set of consecutively numbered nodes, judge the offset continuity status, and obtain the path node same-direction grouping sequence. Based on the directional consistency judgment value data in Table 3, the node number information is called to sort the nodes sequentially and obtain the continuous number sequence of nodes with consistent directions. The offset distance tolerance between the numbers is set to 5.0mm. The offset distance of adjacent nodes is compared one by one to determine whether the continuity grouping condition is met. First, the offset distance between node 101 and node 102 is 1.0mm, which is less than the tolerance threshold and meets the grouping condition. Then, the distance between nodes 102 and 103 is 1.5mm, which is also less than the threshold and can be grouped into the same group, forming path group number 1. Its number set is recorded. At the same time, the directional interval value and angle difference are called to provide participation items for subsequent consistency level calculation. For example, the "directional interval δ_k" recorded in Table 3 is 4.0mm, the maximum distance Δ_k is 5.0mm, the number standard deviation is 0.82, the mean is 102.0, and the angle variance is 0.0025. Based on this path number group, a path node same-direction grouping sequence is established.

[0029] S303: The specific formula for calculating the directional consistency level value of path nodes within a group, based on the same-direction grouping sequence of path nodes, is as follows: ; The calculation obtains the direction consistency level value of each group of path nodes, filters the path node groups that meet the conditions, and generates a set of nodes with consistent path direction. in, Indicates the path node number Group directional consistency level value, Indicates the first The first in the group The angle between each node and the axis of the component Indicates the first The maximum directional offset interval of nodes within a group. Indicates the first The difference in offset distance between each node and its predecessor. Indicates the first The maximum distance between nodes within a group. This represents the standard deviation of the sequence of node numbers within the group. This represents the average value of the node number sequence. This represents the variance of the node offset angle for that group. This represents the standard value of the inscribed angle. Indicates the first Group CCP Summation of nodes; Based on the path node directional grouping sequence and parameter information in Table 3, the directional consistency level value of path group number 1 is calculated. After substituting the parameters in Table 3, the first directional normalization weighted term is calculated as follows: The second item, trend fluctuation, is: ; The path consistency level is calculated as follows: ; The results show that the directional consistency level of path group 1 is 0.0735, which is within the standard range of 0 to 1. After comparison with the path directional consistency threshold of 0.35, it is determined that the path group meets the directional consistency requirement, and a set of path directional consistent nodes is generated. The calculation logic of this formula lies in comprehensively evaluating the consistency characteristics of the path node group in terms of spatial offset direction and number distribution structure. First, the directional angle value of each node is normalized to a relative angle ratio, and combined with the ratio relationship between the node and the component directional interval and relative offset distance. The absolute value is used to eliminate directional differences and construct a relative amplitude sequence of node directional disturbance. The overall directional consistency strength is obtained by summing the sequence. Then, the statistical dispersion of the node number is introduced, that is, the concentration of the node distribution is measured by the ratio of the standard deviation to the mean. At the same time, the variance of the node group angle change is introduced and normalized to a relative angle variation term. The two terms are then summed and the square root is taken to reflect the overall numbering and angle fluctuation characteristics of the node group. The total directional disturbance and the number fluctuation term are summed and the average value is taken to balance the comprehensive consistency of the component path direction and the node structure distribution, thereby obtaining a directional consistency level value that can simultaneously reflect the degree of directional and structural stability. The directional consistency level value of each path node group is used to quantify the synergy of the path node group in the component offset direction and the stability of the structural arrangement. This value comprehensively considers the angular relationship between the node and the component's main axis, the relative offset distribution between nodes, and the distribution pattern of node numbers on the path. After unified normalization and fusion calculation of the multi-dimensional characteristics of directional offset amplitude, node arrangement continuity, and directional change fluctuation, the resulting numerical index can reflect the consistency level of the overall directional characteristics of the path node group. The closer the value is to zero, the more concentrated the direction of the node group, the stable spacing, and the regular numbering, indicating strong directional consistency and structural orderliness. On the other hand, the larger the value, the more significant the directional deviation, the discrete node distribution, or the disordered numbering. The directional consistency level value can serve as an important basis for the selection of component slide rail path nodes and the construction of path connectivity.

[0030] Please see Figure 5 Step S4 is as follows: S401: Based on the set of nodes with consistent path direction, extract the vertical spatial data of nodes in continuous trajectory segments, calculate the height change trend of nodes within the trajectory segment, and obtain the height change rate sequence. Based on a set of nodes with consistent path direction, the serial node numbers and their corresponding spatial coordinate data within each trajectory segment are extracted. The vertical coordinate values ​​of the nodes are selected as the spatial height data source. A height sequence for the trajectory segment is established according to the node number order. By traversing the nodes, the height variation amplitude between nodes is identified. Then, a trend analysis is performed on the height variation of all nodes in the segment to form the average height variation rate of the trajectory segment. Nodes numbered 101 to 105 in trajectory segment 1 have corresponding height values ​​of 149.8 mm, 151.1 mm, 152.0 mm, and 150 mm, respectively. The heights of the two trajectory segments are 0.7mm and 149.5mm, with adjacent node height changes of 1.3mm, 0.9mm, 1.3mm, and 1.2mm, respectively. The corresponding node numbers for trajectory segment 2 are 106 to 110, with height values ​​of 147.5mm, 148.2mm, 149.0mm, 148.7mm, and 149.1mm, respectively, and adjacent node height changes of 0.7mm, 0.8mm, 0.3mm, and 0.4mm, respectively. The average height change rate of the two trajectory segments is calculated and recorded in the table below, thus obtaining the height change rate sequence. As shown in Table 4, trajectory segment 1 has a higher height fluctuation value and jump frequency, while trajectory segment 2 is relatively stable. The height parameter is extracted based on the combination of node number pairing and coordinate information. The average height of the trajectory segment is calculated by the arithmetic mean of the heights of all nodes in the segment. The maximum fluctuation value is taken from the maximum difference between the height of a single point in the segment and its adjacent heights. The jump frequency is obtained by the statistics of the number of height changes in the segment.

[0031] S402: Based on the altitude change rate sequence, analyze the altitude fluctuation in the trajectory segment, identify the trajectory segments with frequent alternation trends, and obtain a list of altitude jump risk zones; Based on the altitude change rate sequence, the altitude fluctuation characteristics of the track segments recorded in the table are further analyzed. The ratio of the maximum altitude jump value to the average altitude of each track segment is calculated as the standard for judging whether there is abnormal fluctuation in the segment. The jump frequency and the number of nodes of the track segment are used to calculate the jump density. The spatial jump threshold is set to 0.06. When the maximum jump ratio of a certain segment is greater than the threshold, it is marked as a track segment with a jump trend. The ratio of the maximum jump value to the average altitude of track segment 1 is 13.6 / 150.2=0.0906, and the ratio of track segment 2 is 7.2 / 148.5=0.0485. The judgment results show that track segment 1 is higher than the threshold, and track segment 2 is lower than the threshold. Thus, track segment 1 is selected as a jump risk segment, and the node pairs that produce jumps in track segment 1 are located. It is confirmed that the jump points appear between nodes 101 to 102, 102 to 103, and 104 to 105. This segment is marked as a jump segment, and a list of altitude jump risk intervals is obtained.

[0032] S403: Call the list of height change risk zones, extract the range of node numbers with height fluctuations within the trajectory segment, establish a segmented marking structure, and obtain the trajectory change identification flag group; The list of high-risk transition intervals is invoked. For trajectory segments marked as transition segments, the node pairs corresponding to the transition positions in their node number sequences are extracted to establish a trajectory segment transition node index set. In the node index set, the transition frequency, transition amplitude, and start and end positions of each node in the transition segment are recorded in sequence. By comparing whether the transition frequency and transition amplitude in the trajectory segment are within the evaluation range, transition level intervals are divided. The trajectory segments with transition times ≥ 3 in the numbering from 101 to 105 are encoded as Level 1 transition segments. The trajectory segment number 1 is marked as transition level 1, with the node numbering interval from 101 to 105, forming complete transition identification label information for this segment and generating a trajectory transition identification mark group.

[0033] Please see Figure 6 The S5 steps are as follows: S501: Based on the starting point of the segment marked in the trajectory jump recognition flag group, extract the spatial coordinate information of the corresponding node in the original path and the directional relationship between adjacent nodes, call the path direction and offset direction of the node, combine the structural orientation of the component, analyze the spatial angle relationship with the original path, determine that the jump segment should be interpolated along the trend direction of the component, and obtain the trend direction vector sequence. The node index information in the original path is extracted, and its three-dimensional spatial coordinate data is obtained. By calculating the direction vector between the node and its adjacent nodes, the actual direction of the path segment in space is determined. Furthermore, the angle between the original path direction of the node and the central trend direction of the component is obtained. The cosine of the angle between the direction vectors is calculated to determine whether the path interpolation execution standard is met. The angle threshold range is set to 10° to 45°. An angle within this range indicates a significant deviation in direction and can be used as the starting point for the trend direction interpolation segment. Simultaneously, node direction projection calculations are performed on all transition segments in the path segment. The overall component trend direction of the segment is obtained through vector weighting. Then, the spatial angles between all nodes in each segment and the trend direction are summarized and judged. Path segments deviating from the trend direction by more than 45° are removed, and path node pairs with good consistency with the trend direction are retained to construct the trend direction vector sequence. The following are examples of the spatial coordinates and direction data of nodes N144, N145, and N146 selected in the actual transition segment: As shown in Table 5, the angle between node N145 and its adjacent node is 31.0°, which is within the interpolation execution range. Therefore, this path segment is included in the trend direction vector sequence construction range to obtain the trend direction vector sequence.

[0034] S502: Based on the trend direction vector sequence, call the path length, offset amplitude and original node interval information of the jump segment, determine the insertion density of the interpolation node, combine the trend direction and offset changes, calculate the coordinate position of the interpolation node in space, summarize the corresponding interpolation nodes in the trajectory segment, and generate the interpolation node coordinate set. Based on the trend direction vector sequence, combined with the spatial span length of the transition segment and the node spacing configuration value, the number of interpolation nodes to be inserted in the path is calculated. The interpolation node spacing is set to 0.50 meters. If the spatial distance of a path segment is 2.00 meters, then 3 nodes need to be inserted at equal intervals. After the component trend direction is determined, the three-dimensional coordinates of the starting node are used as a reference. The target coordinate positions of the interpolation nodes are calculated along the trend direction vector. Combined with the offset direction correction strategy during the interpolation process, the coordinates of each interpolation node are adjusted to prevent geometric problems such as overlap with the original path or deviation. The interpolation nodes are temporarily coded and identified, while maintaining their continuity in the numbering order. In the example, the starting point N145 and the ending point N146 of the path segment are used as the reference to construct interpolation points I145-1, I145-2, and I145-3, with coordinates of (0.15, 1.07, 3.10), (0.20, 1.08, 3.13), and (0.225, 1.095, 3.14), respectively. The above coordinates are obtained by multiplying the trend direction unit vector by the spatial interpolation interval, and then adding it to the reference node coordinates to complete the node positioning operation and generate the set of interpolation node coordinates.

[0035] S503: Call the set of interpolation node coordinates, insert the interpolation nodes into the original path structure in the order of the original path node numbers according to the trend direction, unify the node number index, complete the structural adjustment and sequence update of the path segment, and generate the path interpolation control node sequence. The interpolation node coordinate set is called, and the interpolation nodes are inserted into the original path node structure according to the path numbering order of the transition segment. The node numbering is represented by appending an identifier to the original path node number, and the path segment numbering index is kept unbroken. In the example, three nodes are inserted between N145 and N146, numbered N145-1, N145-2, and N145-3 respectively. At the same time, the connection order and spatial direction relationship of all nodes in the path segment are updated to form a continuous node transition path from N144 to N146. After the node insertion is completed, the numbering consistency check and spatial continuity verification of the overall path nodes are performed to confirm that the interpolation nodes have no spatial overlap or sequence errors. At the same time, the full sequence table of the path nodes in this segment is reconstructed, including the original nodes and the newly added interpolation nodes, as the input structure for the next stage of path offset evaluation and deformation compensation processing, generating the path interpolation control node sequence.

[0036] A mobile drainage ditch formwork scaffolding positioning system, comprising: The trajectory acquisition module acquires the spatial positioning data of the slide rail nodes within the template layout area, the theoretical position parameters in the trajectory layout drawing, and the automatically recorded actual position parameters of the nodes. It extracts the positional differences between the actual position and the theoretical position in the horizontal and vertical directions, determines whether there is a directional offset, and summarizes the node number, spatial coordinates, and offset direction information to form structured data and generate a slide rail node spatial offset data group. The direction determination module calls the offset direction information of the nodes in the slide rail node spatial offset data group, combines it with the axial direction parameters of adjacent components, identifies the directional difference between the node offset direction and the component direction, sorts out the directional change trend in continuous period, and generates the component axial offset direction sequence. The node screening module matches the offset direction of nodes in the slide rail node spatial offset data group with the direction attribute in the component axis offset direction sequence, extracts and clusters nodes with the same direction, forms a continuous region according to the arrangement order of nodes in the path, and generates a set of nodes with the same path direction. The jump recognition module calls the spatial height parameters of the path segments in the set of nodes with consistent path direction, identifies the height trend changes between adjacent nodes, determines whether there is an alternating change phenomenon in direction, marks the path segments where the phenomenon occurs, and generates a trajectory jump recognition flag group. The path reconstruction module references the starting point of the path segment marked in the trajectory jump recognition flag group, combines the path direction parameters and offset direction parameters of the nodes in the path direction consistent node set, inserts multiple nodes in the component direction trend, and incorporates them into the original path sequence to generate a path interpolation control node sequence.

[0037] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for positioning a mobile drainage ditch formwork scaffold, characterized in that, The method comprises the following steps: S1: obtaining the spatial coordinates of the sliding rail contact points in the template layout area, identifying the horizontal and vertical direction offsets of the sliding rail nodes according to the theoretical position of the track layout drawing, and generating a sliding rail node spatial offset data set; S2: calling the sliding rail node spatial offset data set, detecting the direction difference between the boundary component and the template design axis, generating a component axis offset direction sequence by recording the offset change trend in the continuous period; S3: determining the consistency of the path node forward direction and the sliding rail offset direction according to the component axis offset direction sequence, screening the path nodes with consistent directions and grouping them to generate a path direction consistent node set; S4: extracting the spatial height information of the continuous track segment in the path direction consistent node set, determining whether there is direction alternating fluctuation according to the height change trend, and generating a track jump identification flag set; S5: calling the starting point of the marked section in the track jump identification flag set as a reference, combining the original path direction and the offset direction, generating a plurality of interpolation nodes along the component trend direction, and integrating them into the original path node sequence to form a path interpolation control node sequence.

2. The method of positioning a mobile water trench formwork frame of claim 1, wherein, The sliding rail node spatial offset data set includes horizontal offset, vertical offset, offset direction, node number, and measurement timestamp. The component axis offset direction sequence includes direction symbol, period sequence number, continuity determination result, and consistency coefficient. The path direction consistent node set includes consistent node group identification, node sequence in the group, and associated sliding rail node reference code. The track jump identification flag set includes flag type, section start point, section end point, and fluctuation amplitude threshold. The path interpolation control node sequence includes interpolation node coordinates, interpolation step, trend direction label, and original path mapping index.

3. The method of positioning a mobile water trench formwork frame of claim 1, wherein, The S1 step is: S101: based on the spatial coordinate information of the sliding rail contact points obtained in the template layout area, extracting the current coordinate values of the sliding rail nodes in three-dimensional directions, calling the theoretical coordinate values in the track layout drawing, calculating the difference between the two in the horizontal and vertical directions, and obtaining the coordinate offset data set; S102: obtaining the coordinate offset data set, comparing the offset values in the horizontal and vertical directions with the preset offset reference value, identifying the offset values that exceed the reference range, extracting the corresponding offset direction information, integrating the judgment results, and establishing a two-way offset trend; S103: calling the two-way offset trend, combining the offset in the spatial height direction, and the node number, node spacing, and layout area density information, jointly processing the overall offset performance of the sliding rail nodes in three-dimensional space, obtaining the change degree of each node in the omnidirectional offset state, and generating the sliding rail node spatial offset data set.

4. The method of positioning a mobile form traveler of claim 3, wherein, The S2 step is: S201: based on the sliding rail node spatial offset data set, extracting the coordinate position of the node on the template design axis in the continuous period, calculating the offset increment sequence of the node in the difference direction, identifying the direction change difference in the sequence, and generating a node offset direction consistency degree sequence; S202: Call the node offset direction consistency degree sequence, extract the coordinate relationship between the boundary component axis and the template design axis, identify the angle difference sequence in the direction, and determine the matching section between the angle change and the direction stability by combining the node direction consistency characteristics, obtain the direction difference mutation intensity sequence; S203: According to the direction difference mutation intensity sequence, combine the direction change rate, fluctuation rate and period offset amount, construct the direction offset conflict factor, calculate the component axis offset trend stability index of the period, and arrange in time sequence to establish the component axis offset direction sequence.

5. The method of positioning a mobile water trench formwork frame of claim 4, wherein, The S3 step is: S301: According to the component axis offset direction sequence, extract the spatial offset direction information of the path node, identify the direction change of the node in the continuous period, determine the relationship state of the node and the sliding rail offset direction, and obtain the path node direction consistency judgment value; S302: According to the path node direction consistency judgment value, determine the node number interval that meets the direction condition, extract the set content of the continuous number node, judge the offset continuity state, and obtain the path node same direction grouping sequence; S303: Call the path node same direction grouping sequence, calculate the direction consistency level value of the path node in the group, filter the path node group that meets the condition, and generate a path direction consistent node set.

6. The method of positioning a mobile water trench formwork frame of claim 5, wherein, The specific calculation formula of the direction consistency level value of the path node in the group is: ； The operation obtains the direction consistency level value of each group of path nodes, filters the path node group that meets the condition, and generates a path direction consistent node set; wherein, represents the direction consistency level value of the path node group, represents the direction angle value between the node and the component axis, represents the maximum direction offset interval value of the nodes in the group, represents the offset distance difference value between the node and its previous node, represents the maximum value of the node distance in the group, represents the standard deviation of the node number sequence in the group, represents the average value of the node number sequence, represents the offset angle variance value of the group nodes, represents the circular angle standard value, represents the summation operation on the nodes in the group, represents the summation operation on the nodes in the group.​​​​​​​ 7. The method of positioning a mobile trench formwork rack of claim 5, wherein, The S4 step is: S401: Based on the path direction consistent node set, extract the vertical direction spatial data of the node in the continuous trajectory segment, calculate the height change trend of the node in the trajectory segment, and obtain the height change rate sequence; S402: According to the height change rate sequence, analyze the height fluctuation in the trajectory segment, judge the trajectory segment with alternating trend, and obtain the height jump risk interval list; S403: Call the height jump risk interval list, extract the node number range with height fluctuation phenomenon in the trajectory segment, and obtain the trajectory jump identification flag group.

8. The method of positioning a mobile water trench formwork frame of claim 7, wherein, The S5 step is: S501: Based on the starting point of the section marked in the trajectory jump identification flag group, extract the spatial coordinate information of the corresponding node in the original path and the direction relationship formed between adjacent nodes, call the path direction and offset direction of the node, combine the structure trend of the component, analyze the spatial included angle relationship between the original path, and judge that the jump section should be interpolated along the component trend direction, obtain the trend direction vector sequence; S502: According to the trend direction vector sequence, call the path length, offset amplitude and original node interval information of the jump section, judge the insertion density of the interpolation node, combine the trend direction and offset change, calculate the coordinate position of the interpolation node in space, and generate an interpolation node coordinate set by summarizing the corresponding interpolation nodes in the trajectory segment; S503: Call the set of interpolation node coordinates, and insert the interpolation nodes into the original path structure in the trend direction according to the original path node numbering order, uniformly index the node numbers, complete the structure adjustment and sequence update of the path segment, and generate the path interpolation control node sequence.

9. The method of positioning a mobile trench formwork rack of claim 1, wherein, The slide rail contact point is a structural position point at which actual contact exists between the sliding frame sliding structure and the track; The slide rail node space offset data set is a three-dimensional space offset set formed between the actual layout state and the design position set in the drawing of the slide rail node; The boundary component is a two-side formwork that limits the edge of the formwork layout in the water ditch formwork structure; The formwork design axis is a center line or a structure positioning reference line set in the formwork layout drawing, which is used as a reference for aligning the reference points of the formwork boundary and the sliding frame path structure; The component axis offset direction sequence is a trend record result of the change of the center position of the boundary component with respect to the direction of the formwork design axis in multiple construction periods, which is an ordered sequence composed of direction markers; The path node is a space key point that constitutes a sliding frame control path, and is set at the starting point, the ending point or the path change segment of the track; The path direction consistent node set is a node set in which the direction vectors of the path nodes are the same as the component offset trend direction; The space height information is the position information of the path node in the vertical direction (Z-axis); The direction alternately fluctuates is a phenomenon in which the slope between the nodes alternately changes in sign in the continuous path segment, representing that the direction of the track continuously reverses, affecting the judgment of the path stability; The track jump identification marker group is a node set used for marking the track segments in which the slope direction alternately changes in the path; The interpolation node is an auxiliary control point newly added between the original path nodes; The path interpolation control node sequence is a complete control path sequence formed by the interpolation nodes set in combination with the original path nodes on the basis of the track jump segment and the component direction trend.

10. A mobile formwork positioning system for a trench formwork, the system comprising: The system is used to execute the method of any one of claims 1-9, comprising: The track acquisition module obtains the space positioning data of the slide rail nodes in the formwork layout area, the theoretical position parameters in the track layout drawing, and the automatically recorded actual position parameters of the nodes, extracts the position difference between the actual position and the theoretical position in the horizontal and vertical directions, judges whether there is a direction offset, and summarizes the node number, space coordinate, and offset direction information to form structured data, and generates the slide rail node space offset data set; The direction determination module calls the offset direction information of the nodes in the slide rail node space offset data set, combines the axis direction parameters of the adjacent components, identifies the direction difference between the node offset direction and the component direction, sorts out the direction change trend in the continuous period, and generates the component axis offset direction sequence; The node screening module extracts and clusters the nodes with consistent directions according to the direction attributes in the component axis offset direction sequence and the offset directions of the nodes in the slide rail node space offset data set, forms a continuous area according to the arrangement order of the nodes in the path, and generates the path direction consistent node set. The jump identification module calls the spatial height parameters of the path segments in the path direction consistent node set, identifies the height trend change between adjacent nodes, judges whether there is an alternating direction change phenomenon, and marks the path segment where the phenomenon occurs to generate a trajectory jump identification flag group; The path reconstruction module refers to the starting point of the path segment marked in the trajectory jump identification flag group, combines the path direction parameters and the offset direction parameters of the nodes in the path direction consistent node set, inserts multiple nodes in the component direction trend, and is included in the original path sequence to generate a path interpolation control node sequence.

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