A system for hoisting and positioning a whole segment of curved beam cantilever pouring reinforcement

Abstract

The application discloses a kind of curved beam cantilever pouring segment steel bar integral hoisting positioning system, it is related to steel bar positioning technical field, data acquisition module is used to collect gravity data, hoisting site image data and wind data, data fusion module is used to establish flatness compensation model according to hoisting site image data, wind compensation model is established according to wind data, the output result of combining flatness compensation model and wind compensation model is superimposed analysis, and output compensation amount data, position adjustment module is used to control signal according to compensation amount data output, the present application is reduced by data acquisition and fusion, the error of hoisting site flatness, wind and artificial control is effectively reduced, real-time acquisition and analysis site image and wind data, accurately calculate and compensate vertical and horizontal displacement, realize automatic control, without manual intervention, significantly improve the accuracy and stability of steel segment positioning, improve construction efficiency and engineering quality.

Description

Technical Field

[0001] This invention relates to the field of rebar positioning technology, and in particular to an integral hoisting and positioning system for segmental rebar in cantilevered curved beam casting. Background Technology

[0002] In the construction of large bridges, cantilever casting of curved beams is a common construction method. This method involves the hoisting and splicing of multiple steel reinforcement segments, which requires extremely high positioning accuracy. However, in the actual construction process, a variety of factors can affect the precise positioning of the steel reinforcement segments, including but not limited to the flatness of the hoisting site, wind conditions, and the operating skills of the operators.

[0003] Currently, Chinese invention patent application number CN2024100065391 discloses a prefabricated transfer layer rebar positioning construction method. This method includes: detecting the stress distribution of the rebar positioning frame during installation by using a stress detection array set within the rebar positioning frame; determining the torque of the rebar positioning frame based on the stress distribution, and comparing the torque with the maximum withstand torque of the rebar positioning frame to determine the adjustment method for multiple pushing devices set on the rebar positioning frame; detecting the stress change evaluation value before and after adjustment to predict the force feedback sensitivity of the rebar positioning frame; and determining the maximum number of adjustments to the rebar positioning frame based on the force feedback sensitivity, so as to complete the stress adjustment of the rebar positioning frame within the maximum number of adjustments.

[0004] The aforementioned technologies are insufficient to reduce the impact of site flatness, wind force, and human operation by integrating gravity data, wind data, and site flatness level analysis. Positioning is easily affected by environmental factors, making it difficult to improve positioning accuracy. Summary of the Invention

[0005] The technical problem solved by this invention is that the above-mentioned technologies are difficult to reduce the impact of the flatness of the hoisting site, wind force and human operation by integrating and analyzing gravity data, wind data and site flatness level. The positioning is easily affected by environmental factors and it is difficult to improve the positioning accuracy.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A system for hoisting and positioning segmental reinforcement in cantilevered curved beam casting includes a data acquisition module, a data fusion module, and a position adjustment module; The data acquisition module is used to collect gravity data, hoisting site image data, and wind data. The data fusion module is used to establish a flatness compensation model based on the hoisting site image data, establish a wind force compensation model based on the wind force data, and perform superposition analysis by combining the output results of the flatness compensation model and the wind force compensation model to output compensation amount data. The position adjustment module is used to output control signals based on the compensation data.

[0007] Preferably, the data acquisition module includes a gravity data acquisition unit, an image data acquisition unit, and a wind data acquisition unit; The gravity data acquisition unit is used to acquire gravity data, which includes current height data and current acceleration data. The image data acquisition unit is used to acquire images of the hoisting site and the reinforcing bars, perform noise reduction and contrast enhancement processing on the hoisting site images and the reinforcing bars images, and output hoisting site image data and reinforcing bars image data. The wind data acquisition unit is used to collect wind data, which includes wind speed data and air density data.

[0008] Preferably, the data fusion module includes a flatness compensation model unit, a wind force compensation model unit, and a data fusion analysis unit; The flatness compensation model unit is used to establish a flatness compensation model based on the hoisting site image data. The logic of the flatness compensation model is as follows: A pre-trained image recognition model is used to identify the image data of the hoisting site and extract the coordinate information corresponding to the contour of the uneven area. Vertical displacement data is calculated based on visual parameter data and the corresponding coordinate information of the uneven area contour. The visual parameter data includes sensor size data and camera height data. Flatness vertical displacement compensation value data is obtained based on the vertical displacement data.

[0009] Preferably, the mathematical expression for calculating the vertical displacement data in the flatness compensation model is: ; in, For vertical displacement data, This refers to the height data of the uneven area's outline. The pixel ordinate of the reference plane. The vertical coordinate of the pixel area is the outline of the uneven region. For sensor size data, For camera height data; The flatness vertical displacement compensation value data is as follows: .

[0010] Preferably, the wind compensation model unit is used to establish a wind compensation model based on wind data, and the logic of the wind compensation model is as follows: Calculate wind force data, establish horizontal and vertical displacement equations, discretize time data, perform iterative calculations and convergence checks, and obtain wind force vertical displacement compensation data and wind force horizontal displacement compensation data.

[0011] Preferably, the mathematical expression for calculating the wind force data is: ; in, This is wind force data. For air density data, This refers to the windward area data of the steel reinforcement segments. For wind speed data, This is the drag coefficient; The equation for the resultant force of the horizontal and vertical accelerations is calculated using Newton's second law. The mathematical expression for the horizontal acceleration is as follows: ; in, The acceleration is in the horizontal direction. For the quality of the steel reinforcement segments, The angle between the wind direction and the horizontal direction. For the tension of the suspension cable, The angle between the sling and the vertical direction; The mathematical expression for the acceleration in the vertical direction is: ;; in, The acceleration is in the vertical direction. It is the acceleration due to gravity; The current acceleration data is decomposed into vectors, into acceleration in the horizontal direction and acceleration in the vertical direction; The equation for the horizontal displacement is: ; in, This is wind-driven horizontal displacement data. The velocity of the steel reinforcement segment in the horizontal direction. This is the start time of the current control cycle. This is the end time of the current control cycle. For the current moment, For any time interval within the integration interval;

[0012] The equation for the vertical displacement is: ; in, This is data on vertical displacement due to wind force. The velocity of the steel reinforcement segment in the vertical direction; The discretization process is as follows: Time Divided into a series of time points Calculate wind force data at each point in time. and acceleration ; The iterative calculation is as follows: At each time point Above, based on wind force data and acceleration Calculate wind-driven horizontal displacement data Using wind-driven horizontal displacement data, the displacement at the previous time point is used as the initial condition for the next time point, and the calculation continues iteratively. The convergence criterion is as follows: A convergence criterion is established, wherein the convergence criterion is wind force horizontal displacement data. Wind force horizontal displacement data less than the wind force horizontal displacement threshold and wind force vertical displacement data If the wind displacement is less than the vertical displacement threshold, the iterative calculation stops when the convergence criterion is met, and the final horizontal displacement data is output. and wind vertical displacement data .

[0013] Preferably, the data fusion analysis unit is used to obtain the target positioning position of the rebar segment. A coordinate system is established with the lower left corner of the rebar image data as the origin, the horizontal direction as the x-axis and the vertical direction as the y-axis. The actual positioning position of the collected rebar segment is obtained according to the coordinate system. The spatial offset is calculated based on the target positioning position and the real-time positioning position. The wind force horizontal displacement data is substituted into the x-axis. The horizontal displacement compensation data is obtained based on the spatial offset. The flatness vertical displacement compensation value data and the wind force vertical displacement data are substituted into the y-axis. The flatness vertical displacement compensation value data and the wind force vertical displacement data are superimposed to obtain the vertical displacement compensation data. The spatial offset, horizontal displacement compensation data and vertical displacement compensation data are merged and output as compensation data.

[0014] Preferably, the spatial offset is calculated based on the target location and the real-time location, and the spatial offset includes the horizontal spatial offset. Spatial offset in the vertical direction ; Wherein, the target positioning position in the coordinate system is... Real-time location is ,but: ; ; The horizontal displacement compensation data is as follows: ; in, This is the data for horizontal displacement compensation. This is a preset horizontal position error gain coefficient. The preset horizontal damping gain coefficient, This represents the spatial offset in the horizontal direction. The superposition expression for the vertical displacement compensation data is: ; in, This is the data for vertical displacement compensation. This is the preset vertical position error gain coefficient. This is the preset damping gain coefficient in the vertical direction. This represents the spatial offset in the vertical direction.

[0015] Preferably, the position adjustment module includes a data receiving and processing unit and a control signal output unit; The data receiving and processing unit is used to receive compensation data, output the horizontal displacement compensation data in the compensation data as a horizontal control signal, and output the vertical displacement compensation data in the compensation data as a vertical control signal.

[0016] Preferably, the control signal output unit is used to combine the horizontal control signal and the vertical control signal into a control signal, and input the control signal to the cantilever control end; The signal output unit also includes constructing displacement and acceleration time-series data using the position change of the steel bar segment at the end of the hoisting as a time function, performing frequency domain analysis on the time-series signal using a sliding window Fourier transform, identifying frequency stability and peak fluctuation rate, and setting an amplitude change rate threshold. The amplitude change rate threshold includes the acceleration amplitude change rate threshold, the coefficient of variation of the main frequency energy density, and the degree of periodic disturbance of the displacement signal. When changes exceeding the acceleration amplitude change rate threshold, the coefficient of variation of the main frequency energy density, and the degree of periodic disturbance of the displacement signal are detected within a preset time period, the control signal output is paused and a manual confirmation signal is triggered. In subsequent iterative compensation, a damping correction term is introduced to control the response speed.

[0017] The beneficial effects of this invention are as follows: By collecting and fusing data, this invention effectively reduces errors caused by the flatness of the hoisting site, wind force, and human operation. It collects and analyzes site images and wind data in real time, accurately calculates and compensates for vertical and horizontal displacements, and realizes automated control without human intervention. This significantly improves the accuracy and stability of steel bar segment positioning, thereby enhancing construction efficiency and project quality. Attached Figure Description

[0018] Figure 1 This is a basic flowchart illustrating a segmental reinforcement hoisting and positioning system for cantilevered curved beam casting, provided in one embodiment of the present invention. Figure 2 A schematic diagram of the overall hoisting of segmental reinforcement for cantilevered curved beams; Figure 3 Detailed diagram of the reinforcement connection during the cantilever casting of segmental reinforcement for a curved beam. Detailed Implementation

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Example, refer to Figure 1 This paper presents a system for hoisting and positioning segmental steel reinforcement in cantilevered curved beam casting, which includes a data acquisition module, a data fusion module, and a position adjustment module.

[0021] The data acquisition module is used to collect gravity data, hoisting site image data, and wind data.

[0022] The data fusion module is used to establish a flatness compensation model based on the image data of the hoisting site and a wind force compensation model based on the wind force data. The output results of the flatness compensation model and the wind force compensation model are combined and analyzed to output the compensation amount data.

[0023] The position adjustment module is used to output control signals based on the compensation data.

[0024] The data acquisition module includes a gravity data acquisition unit, an image data acquisition unit, and a wind data acquisition unit.

[0025] The gravity data acquisition unit is used to collect gravity data, which includes current height data and current acceleration data.

[0026] The image data acquisition unit is used to acquire images of the hoisting site and the reinforcing steel, and to perform noise reduction and contrast enhancement processing on the hoisting site images and the reinforcing steel images, outputting hoisting site image data and reinforcing steel image data.

[0027] The image data acquisition unit acquires and optimizes images of the hoisting site and reinforcing bars, removes noise, and enhances contrast, providing a clear visual reference for the present invention, which facilitates accurate identification and positioning.

[0028] The wind data acquisition unit is used to collect wind data, which includes wind speed data and air density data.

[0029] The wind data acquisition unit acquires wind speed and air density data in real time to analyze the impact of wind on hoisting operations.

[0030] The data acquisition module integrates various data sources to provide comprehensive environmental information for the hoisting operation, ensuring the stability and accuracy of the steel bar segment hoisting process.

[0031] The data fusion module includes a flatness compensation model unit, a wind force compensation model unit, and a data fusion analysis unit.

[0032] The flatness compensation model unit is used to establish a flatness compensation model based on the hoisting site image data. The logic of the flatness compensation model is as follows: A pre-trained image recognition model is used to identify the image data of the hoisting site and extract the coordinate information corresponding to the contour of the uneven area. Vertical displacement data is calculated based on visual parameter data and the corresponding coordinate information of the uneven area contour. The visual parameter data includes sensor size data and camera height data. Flatness vertical displacement compensation value data is obtained based on the vertical displacement data.

[0033] The mathematical expression for calculating vertical displacement data in the flatness compensation model is: ; in, For vertical displacement data, This refers to the height data of the uneven area's outline. The pixel ordinate of the reference plane. The vertical coordinate of the pixel area is the outline of the uneven region. For sensor size data, This is the camera height data.

[0034] The flatness vertical displacement compensation value data is as follows: .

[0035] The flatness compensation model unit uses a pre-trained image recognition model to identify uneven areas in the hoisting site image and extract their contour coordinate information. Based on this information, combined with visual parameter data, it calculates the flatness vertical displacement compensation value, which is the amount of vertical displacement compensation caused by the unevenness of the site. This unit can automatically identify uneven areas, reduce errors in manual measurement, and improve the accuracy of compensation calculation.

[0036] The wind compensation model unit is used to establish a wind compensation model based on wind data. The logic of the wind compensation model is as follows: Calculate wind force data, establish horizontal and vertical displacement equations, discretize time data, perform iterative calculations and convergence checks, and obtain wind force vertical displacement compensation data and wind force horizontal displacement compensation data.

[0037] The mathematical expression for calculating wind force data is: ; in, This is wind force data. For air density data, This refers to the windward area data of the steel reinforcement segments. For wind speed data, This is the drag coefficient.

[0038] The equation for the resultant force of the horizontal and vertical accelerations is calculated using Newton's second law. The mathematical expression for the horizontal acceleration is: ; in, The acceleration is in the horizontal direction. For the quality of the steel reinforcement segments, The angle between the wind direction and the horizontal direction. For the tension of the suspension cable, The angle between the sling and the vertical direction.

[0039] The mathematical expression for acceleration in the vertical direction is: ; in, The acceleration is in the vertical direction. It is the acceleration due to gravity; The current acceleration data is decomposed into vectors, which are the accelerations in the horizontal direction and the accelerations in the vertical direction.

[0040] The equation for horizontal displacement is: ; in, This is wind-driven horizontal displacement data. The velocity of the steel reinforcement segment in the horizontal direction. This is the start time of the current control cycle. This is the end time of the current control cycle. For the current moment, Let be any time interval within the integration interval or .

[0041] The equation for vertical displacement is: ; in, This is data on vertical displacement due to wind force. The velocity of the steel bar segment in the vertical direction.

[0042] Discretization is performed as follows: Time Divided into a series of time points Calculate wind force data at each point in time. and acceleration .

[0043] The iterative calculation is as follows: At each time point Above, based on wind force data and acceleration Calculate wind-driven horizontal displacement data Using wind-induced horizontal displacement data, the displacement at the previous time point is used as the initial condition for the next time point, and the calculation continues iteratively.

[0044] Convergence is determined as follows: A convergence criterion is established, which is based on wind force horizontal displacement data. Wind force horizontal displacement data less than the wind force horizontal displacement threshold and wind force vertical displacement data If the wind displacement is less than the vertical displacement threshold, the iterative calculation stops when the convergence criterion is met, and the final horizontal displacement data is output. and wind vertical displacement data .

[0045] The wind compensation model unit calculates wind force values ​​based on wind data and establishes horizontal and vertical displacement equations. Through discretization of time data, iterative calculation, and convergence judgment, it obtains wind-induced vertical and horizontal displacement compensation values. This unit can consider the impact of wind on hoisting operations, calculating the horizontal and vertical displacement compensation caused by wind, thereby improving the accuracy and safety of hoisting operations. Discretization divides time into a series of time points, allowing wind force and acceleration data to be calculated at each time point, providing a basis for subsequent iterative calculations. Iterative calculations gradually approach the actual displacement values ​​through continuous iteration, improving the accuracy of the calculations. Convergence judgment establishes convergence criteria to ensure that iterative calculations stop under certain conditions, avoiding infinite iterations and improving computational efficiency.

[0046] The data fusion analysis unit is used to obtain the target positioning position of the rebar segment. A coordinate system is established with the lower left corner of the rebar image data as the origin, the horizontal direction as the x-axis and the vertical direction as the y-axis. The actual positioning position of the collected rebar segment is obtained according to the coordinate system. The spatial offset is calculated based on the target positioning position and the real-time positioning position. The wind force horizontal displacement data is substituted into the x-axis, and the horizontal displacement compensation data is obtained based on the spatial offset. The flatness vertical displacement compensation value data and the wind force vertical displacement data are substituted into the y-axis, and the flatness vertical displacement compensation value data and the wind force vertical displacement data are superimposed to obtain the vertical displacement compensation data. The spatial offset, horizontal displacement compensation data and vertical compensation data are merged and output as compensation data.

[0047] The spatial offset is calculated based on the target location and the real-time location. The spatial offset includes the horizontal spatial offset. Spatial offset in the vertical direction .

[0048] Among them, the target positioning position in the coordinate system is taken as Real-time location is ,but: ; ; The horizontal displacement compensation data are as follows: ; in, This is the data for horizontal displacement compensation. This is a preset horizontal position error gain coefficient. The preset horizontal damping gain coefficient, This represents the spatial offset in the horizontal direction.

[0049] The superposition expression for the vertical displacement compensation data is: ; in, This is the data for vertical displacement compensation. This is the preset vertical position error gain coefficient. This is the preset damping gain coefficient in the vertical direction. This represents the spatial offset in the vertical direction.

[0050] It should be noted that the wind force compensation model outputs horizontal and vertical displacement data as drift predictions caused by external wind load disturbances under given wind speed and direction conditions. The cable tension and cable angle are only used to establish the force geometry and attitude constraints of the steel segment, and do not take the tension change applied by the control end as the source of disturbance displacement. The control signals output by the position adjustment module are the displacement and speed setpoints of the cantilever or the motion commands of the actuator, which are used to offset the positioning error (i.e., spatial offset) and drift prediction (i.e., horizontal and vertical displacement data) caused by external disturbances, thereby achieving closed-loop correction.

[0051] The data fusion analysis unit establishes a coordinate system with the lower left corner of the rebar image data as the origin. It substitutes the wind-induced horizontal displacement data into the x-axis to obtain the horizontal displacement compensation data. The flatness vertical displacement compensation data and the wind-induced vertical displacement data are then substituted into the y-axis and superimposed to obtain the vertical displacement compensation data. Finally, the horizontal and vertical displacement compensation data are merged and output as the total compensation data. This unit can fuse and analyze the results of flatness compensation and wind-induced compensation to derive the final compensation data, providing precise displacement compensation guidance for hoisting operations. Furthermore, establishing a coordinate system with the lower left corner of the rebar image data as the origin makes the calculation process more intuitive and easier to understand.

[0052] The flatness compensation model unit processes image data of the hoisting site and combines it with wind data to establish a comprehensive displacement compensation model. This model accurately calculates the horizontal and vertical displacement compensation caused by unevenness of the site and the influence of wind during the hoisting process, which helps to improve accuracy and safety in hoisting operations.

[0053] The position adjustment module includes a data receiving and processing unit and a control signal output unit.

[0054] The data receiving and processing unit is used to receive compensation data, output the horizontal displacement compensation data in the compensation data as a horizontal control signal, and output the vertical displacement compensation data in the compensation data as a vertical control signal.

[0055] The data receiving and processing unit is responsible for receiving compensation data, which includes horizontal and vertical displacement compensation caused by factors such as uneven site and wind. The data receiving and processing unit can accurately analyze this data and convert the horizontal displacement compensation data into horizontal control signals and the vertical displacement compensation data into vertical control signals. The data receiving and processing unit can ensure the accurate reception and analysis of compensation data, providing a reliable basis for subsequent control output.

[0056] The control signal output unit is used to combine the horizontal control signal and the vertical control signal into a control signal, and input the control signal to the cantilever control end.

[0057] The signal output unit also includes constructing displacement and acceleration time-series data using the position change of the steel bar segment at the end of the hoisting as a time function, performing frequency domain analysis on the time-series signal using a sliding window Fourier transform, identifying frequency stability and peak fluctuation rate, and setting an amplitude change rate threshold. The amplitude change rate threshold includes the acceleration amplitude change rate threshold, the coefficient of variation of the main frequency energy density, and the degree of periodic disturbance of the displacement signal. When changes exceeding the acceleration amplitude change rate threshold, the coefficient of variation of the main frequency energy density, and the degree of periodic disturbance of the displacement signal are detected within a preset time period, the control signal output is paused and a manual confirmation signal is triggered. In subsequent iterative compensation, a damping correction term is introduced to control the response speed.

[0058] The control signal output unit is responsible for merging the horizontal and vertical control signals into a unified control signal, which is then input to the cantilever control end. By adjusting the parameters of the control signal, the movement of the cantilever in the horizontal and vertical directions can be controlled, thereby achieving precise adjustment of the hoisting position. The control signal output unit can achieve precise output and adjustment of the control signal, ensuring that the cantilever can move to the expected position. At the same time, by merging the horizontal and vertical control signals, the structure of the control system is simplified, and the reliability and stability of the system are improved.

[0059] The position adjustment module receives compensation data and converts it into corresponding control signals to precisely adjust the cantilever position. This helps ensure that reinforcing bars or other hoisted objects accurately reach the target position during lifting operations, improving work efficiency and safety. Actual results can be seen by referring to [reference needed]. Figure 2 The installation process can be found by referring to Figure 3 .

[0060] This invention utilizes an image data acquisition unit in the data acquisition module to collect real-time image data of the hoisting site. The flatness compensation model unit in the fusion module employs a pre-trained image recognition model to identify and extract the contours of uneven areas in the hoisting site. It then combines this with visual parameter data to calculate vertical displacement data and outputs flatness vertical displacement compensation values. This process can compensate for vertical displacement caused by uneven ground in real time, ensuring the precise vertical positioning of the rebar segments. Furthermore, the wind data acquisition unit in the data acquisition module collects real-time wind speed and air density data. Based on this wind data, the wind compensation model unit in the data fusion module establishes... The displacement equations in the horizontal and vertical directions are discretized, iteratively calculated, and converged to obtain wind-induced vertical and horizontal displacement compensation data. This process can compensate for horizontal and vertical displacements caused by wind in real time, ensuring the precise positioning of the rebar segments in the horizontal and vertical directions. Through the position adjustment module, control signals are automatically generated based on the compensation data output by the data fusion module. The control signals are directly input to the cantilever control end without manual intervention, thereby reducing errors and uncertainties caused by human operation. This process realizes the automation and intelligence of rebar segment positioning, improving the accuracy and stability of positioning.

[0061] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a processFigure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0062] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A system for hoisting and positioning segmental reinforcing bars in cantilevered curved beam casting, characterized in that, It includes a data acquisition module, a data fusion module, and a position adjustment module; The data acquisition module is used to collect gravity data, hoisting site image data, and wind data. The data fusion module is used to establish a flatness compensation model based on the hoisting site image data, establish a wind force compensation model based on the wind force data, and perform superposition analysis by combining the output results of the flatness compensation model and the wind force compensation model to output compensation amount data. The position adjustment module is used to output control signals based on the compensation data.

2. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 1, characterized in that, The data acquisition module includes a gravity data acquisition unit, an image data acquisition unit, and a wind data acquisition unit; The gravity data acquisition unit is used to acquire gravity data, which includes current height data and current acceleration data. The image data acquisition unit is used to acquire images of the hoisting site and the reinforcing bars, perform noise reduction and contrast enhancement processing on the hoisting site images and the reinforcing bars images, and output hoisting site image data and reinforcing bars image data. The wind data acquisition unit is used to collect wind data, which includes wind speed data and air density data.

3. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 2, characterized in that, The data fusion module includes a flatness compensation model unit, a wind force compensation model unit, and a data fusion analysis unit. The flatness compensation model unit is used to establish a flatness compensation model based on the hoisting site image data. The logic of the flatness compensation model is as follows: A pre-trained image recognition model is used to identify the image data of the hoisting site and extract the coordinate information corresponding to the contour of the uneven area. Vertical displacement data is calculated based on visual parameter data and the corresponding coordinate information of the uneven area contour. The visual parameter data includes sensor size data and camera height data. Flatness vertical displacement compensation value data is obtained based on the vertical displacement data.

4. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 3, characterized in that, The mathematical expression for calculating the vertical displacement data in the flatness compensation model is as follows: ； in, For vertical displacement data, This refers to the height data of the uneven area's outline. The pixel ordinate of the reference plane. The vertical coordinate of the pixel area is the outline of the uneven region. For sensor size data, For camera height data; The flatness vertical displacement compensation value data is as follows: .

5. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 3, characterized in that, The wind compensation model unit is used to establish a wind compensation model based on wind data. The logic of the wind compensation model is as follows: Calculate wind force data, establish horizontal and vertical displacement equations, discretize time data, perform iterative calculations and convergence checks, and obtain wind force vertical displacement compensation data and wind force horizontal displacement compensation data.

6. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 5, characterized in that, The mathematical expression for calculating the wind force data is: ； in, This is wind force data. For air density data, This refers to the windward area data of the steel reinforcement segments. For wind speed data, This is the drag coefficient; The equation for the resultant force of the horizontal and vertical accelerations is calculated using Newton's second law. The mathematical expression for the horizontal acceleration is as follows: ； in, The acceleration in the horizontal direction, For the quality of the steel reinforcement segments, The angle between the wind direction and the horizontal direction. For the tension of the suspension cable, The angle between the sling and the vertical direction; The mathematical expression for the acceleration in the vertical direction is: ； in, The acceleration is in the vertical direction. It is the acceleration due to gravity; The current acceleration data is decomposed into vectors, into acceleration in the horizontal direction and acceleration in the vertical direction; The equation for the horizontal displacement is: ； in, This is wind-driven horizontal displacement data. The velocity of the steel reinforcement segment in the horizontal direction. This is the start time of the current control cycle. This is the end time of the current control cycle. For the current moment, For any time interval within the integration interval; The equation for the vertical displacement is: ； in, This is data on vertical displacement due to wind force. The velocity of the steel reinforcement segment in the vertical direction; The discretization process is as follows: Time Divided into a series of time points Calculate wind force data at each point in time. and acceleration ; The iterative calculation is as follows: At each time point Above, based on wind force data and acceleration Calculate wind-driven horizontal displacement data Using wind-driven horizontal displacement data, the displacement at the previous time point is used as the initial condition for the next time point, and the calculation continues iteratively. The convergence criterion is as follows: A convergence criterion is established, wherein the convergence criterion is wind force horizontal displacement data. Wind force horizontal displacement data less than the wind force horizontal displacement threshold and wind force vertical displacement data If the wind displacement is less than the vertical displacement threshold, the iterative calculation stops when the convergence criterion is met, and the final horizontal displacement data is output. and wind vertical displacement data .

7. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 3, characterized in that, The data fusion and analysis unit is used to obtain the target positioning position of the rebar segment. A coordinate system is established with the lower left corner of the rebar image data as the origin, the horizontal direction as the x-axis and the vertical direction as the y-axis. The actual positioning position of the collected rebar segment is obtained according to the coordinate system. The spatial offset is calculated based on the target positioning position and the real-time positioning position. The wind force horizontal displacement data is substituted into the x-axis. The horizontal displacement compensation data is obtained based on the spatial offset. The flatness vertical displacement compensation value data and the wind force vertical displacement data are substituted into the y-axis. The flatness vertical displacement compensation value data and the wind force vertical displacement data are superimposed to obtain the vertical displacement compensation data. The spatial offset, horizontal displacement compensation data and vertical compensation data are merged and output as compensation data.

8. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 7, characterized in that, The spatial offset is calculated based on the target location and the real-time location. The spatial offset includes the horizontal spatial offset. Spatial offset in the vertical direction ; Wherein, the target positioning position in the coordinate system is... Real-time location is ,but: ； ； The horizontal displacement compensation data is as follows: ； in, This is the data for horizontal displacement compensation. This is a preset horizontal position error gain coefficient. The preset horizontal damping gain coefficient, This represents the spatial offset in the horizontal direction. The superposition expression for the vertical displacement compensation data is: ； in, This is the data for vertical displacement compensation. This is the preset vertical position error gain coefficient. This is the preset damping gain coefficient in the vertical direction. This represents the spatial offset in the vertical direction.

9. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 8, characterized in that, The position adjustment module includes a data receiving and processing unit and a control signal output unit; The data receiving and processing unit is used to receive compensation data, output the horizontal displacement compensation data in the compensation data as a horizontal control signal, and output the vertical displacement compensation data in the compensation data as a vertical control signal.

10. The integral hoisting and positioning system for segmental reinforcement in cantilevered curved beam casting as described in claim 9, characterized in that, The control signal output unit is used to combine the horizontal control signal and the vertical control signal and output them as a control signal, and input the control signal to the cantilever control end; The signal output unit also includes constructing displacement and acceleration time-series data using the position change of the steel bar segment at the end of the hoisting as a time function, performing frequency domain analysis on the time-series signal using a sliding window Fourier transform, identifying frequency stability and peak fluctuation rate, and setting an amplitude change rate threshold. The amplitude change rate threshold includes the acceleration amplitude change rate threshold, the coefficient of variation of the main frequency energy density, and the degree of periodic disturbance of the displacement signal. When changes exceeding the acceleration amplitude change rate threshold, the coefficient of variation of the main frequency energy density, and the degree of periodic disturbance of the displacement signal are detected within a preset time period, the control signal output is paused and a manual confirmation signal is triggered. In subsequent iterative compensation, a damping correction term is introduced to control the response speed.

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