Intelligent adjustment method and system suitable for short-line precast method of concrete segmental beam

Abstract

The application belongs to the technical field of bridge segment beam prefabrication, and particularly discloses an intelligent adjustment method and system suitable for a short-line prefabrication method of a concrete segment beam, which comprises the following steps: obtaining three-dimensional coordinates of a prefabricated segment beam measuring point and comparing the three-dimensional coordinates with theoretical coordinates, separating translation and rotation deviations, and synthesizing a joint section space comprehensive deviation vector; introducing a generalized inverse matrix to eliminate redundant trolley multiple solution oscillation, and mapping the deviation to hydraulic jack basic stroke; using the zero space characteristics of a redundant mechanism to redistribute support force under the condition of keeping six-degree-of-freedom attitude constant to release internal stress; issuing an instruction under a negative feedback correction strategy based on current error to eliminate jack cooperative asynchronous disturbance; adjusting end decoupling translation and rotation residuals, constructing a Gaussian attenuation confidence model based on double normalized benchmarks, determining adjustment compliance, and triggering shutdown. The application organically integrates pose perception, geometric mapping, internal force optimization, synchronous cooperation and intelligent convergence criterion, and realizes full-link closed-loop optimization.

Description

Technical Field

[0001] This invention belongs to the field of bridge segmental beam prefabrication technology, and more specifically, relates to an intelligent adjustment method and system applicable to the short-line prefabrication method of concrete segmental beams. Background Technology

[0002] With the transformation of transportation infrastructure construction towards industrialization and intelligentization, the short-line precast assembly process has become the mainstream technology for the production of large-span precast concrete segmental beams due to its significant advantages such as small footprint, strong adaptability to different beam shapes, and short construction period. The core mechanism of this process lies in matching casting, which utilizes precast concrete segmental beams that have already been cast and reached a certain strength as matching beams. By precisely adjusting their six-degree-of-freedom posture in three-dimensional space (including three translational degrees of freedom and three rotational degrees of freedom), a high-precision geometric alignment match is achieved between them and the end mold of the segmental beam to be cast, thereby ensuring the overall smoothness of the bridge's alignment and its structural stress performance after completion. In this process, the accuracy and stability of the matching beam's posture adjustment directly determine the manufacturing quality of the precast segmental beams and are a key control link in the short-line process.

[0003] In current engineering practices and technological developments, to overcome the problems of low efficiency and poor accuracy of traditional manual line-pulling positioning, the industry has gradually introduced intelligent measurement and control systems and hydraulically adjustable intelligent trolleys. Existing mainstream technical solutions typically use distributed multi-point hydraulic jacks as actuators to support and drive the matching beam segments for spatial attitude adjustment. At the control strategy level, fuzzy controllers or geometric mapping algorithms based on offline static Jacobian matrices are often used to calculate the target attitude deviation as extension / retraction commands for each hydraulic jack, aiming to achieve automated attitude correction of the matching beam. These technologies, to a certain extent, replace mechanical trial-and-error operations, improve the level of mechanization in construction, and constitute the basic technical framework for the current intelligent upgrading of precast beam yards.

[0004] However, the aforementioned existing technologies and conventional intelligent control schemes still face the following technical bottlenecks in practical engineering applications: Existing control algorithms (such as fuzzy control or geometric mapping based on offline static Jacobian matrices) often neglect the dynamic and continuous changes in the three-dimensional coordinates and force angles of the mechanical support points during asynchronous lifting when handling continuous spatial motion with large tonnage and long stroke. Static geometric mapping produces nonlinear geometric truncation errors in the real physical world, causing mathematical distortion in control commands when approximating the target three-dimensional coordinates, leading to repeated physical oscillations in the control system. Secondly, in real hydraulic drive systems, the frictional resistance along the pipeline... Due to factors such as differences, uneven load distribution, and hydraulic compressibility, the dynamic response characteristics of each hydraulic jack have inherent differences. Existing solutions mostly adopt single-loop control for each actuator, lacking constraints and compensation for the coordinated motion of multiple cylinders. This results in faster-moving jacks reaching the designated position first, while slower-moving jacks experience execution lag. This asynchronous execution in the time dimension generates high-frequency parasitic spin and oscillation disturbances in three-dimensional space. These disturbances, combined with the aforementioned geometric truncation errors, further exacerbate the instability of the precast concrete segmental beam attitude adjustment, severely restricting the level of intelligence and finished product quality of the short-line precast assembly process. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an intelligent adjustment method and system applicable to the short-line prefabrication method for concrete segmental beams. By organically integrating precise pose perception, dynamic geometric mapping, internal force optimization, synchronous collaboration, and intelligent convergence criteria, it achieves closed-loop optimization across the entire chain from perception, calculation, force control, synchronization to convergence determination. This effectively overcomes the technical bottlenecks of spatial mapping truncation errors and asynchronous coupling disturbances in existing technologies, and significantly improves the accuracy, stability, and efficiency of short-line matching adjustment.

[0006] To achieve the above objectives, the present invention provides an intelligent adjustment method applicable to the short-line prefabrication method of concrete segmental beams, comprising the following steps: S1: Obtain the three-dimensional coordinates of the measuring points of the precast concrete segmental beam through independent measurement units, compare them with the theoretical design coordinates, separate the translational deviation and rotational deviation of the joint section, and synthesize the spatial comprehensive deviation vector of the joint section. S2: Introducing a generalized inverse matrix to eliminate the multi-solution oscillation of the redundant mechanism of the intelligent trolley, and mathematically mapping the spatial comprehensive deviation vector of the splice section to calculate the basic geometric stroke to be performed by multiple hydraulic jacks; S3: Utilizing the zero-space characteristics of the redundant mechanism of the intelligent trolley, the supporting force of each hydraulic jack of the intelligent trolley is redistributed while maintaining the constant six-degree-of-freedom spatial attitude of the precast concrete segmental beam, thereby releasing local concentrated internal stress. S4: In the hydraulic servo drive stage, a negative feedback correction strategy based on the current error is adopted to issue commands in order to eliminate asynchronous disturbances when each hydraulic jack is executed in coordination. S5: At the end of the negative feedback correction adjustment based on the current error, the translational and rotational residuals of the precast concrete segmental beam joint section are decoupled, and a Gaussian decay confidence model is constructed by introducing a double normalized benchmark to determine whether the adjustment meets the standard and trigger a shutdown.

[0007] Further, step S1 includes: S101: The independent measurement unit includes an automatic aiming total station arranged on a fixed reference point in the prefabrication site and multiple socket-type prisms embedded in the top of the prefabricated concrete segmental beam. The automatic aiming total station automatically searches for the socket-type prisms and obtains the real-time three-dimensional spatial coordinate data of each socket-type prism. S102: Based on real-time three-dimensional spatial coordinate data, the actual centroid spatial position of the precast concrete segmental beam splice section is calculated by the spatial geometric average algorithm, and the translational deviation vector of the splice section is calculated by the vector subtraction method. S103: The spatial plane least squares fitting algorithm is used to construct the actual spatial plane of the joint section and extract the actual normal vector. The vector cross product and norm operation are performed with the theoretical normal vector to decouple the joint section rotation deviation vector that only represents the spatial angle deflection. S104: Concatenate the translational deviation vector and the rotational deviation vector of the joint section to synthesize a unified state variable and generate the spatial comprehensive deviation vector of the joint section.

[0008] Further, step S2 includes: S201: Based on the spatial three-dimensional physical installation coordinate matrix of each hydraulic jack when the intelligent trolley is in the initial state of horizontal reference, establish the Jacobian matrix of the intelligent trolley and obtain the kinematic pseudo-inverse matrix of the intelligent trolley through the singular value decomposition algorithm. S202: Based on the splice section space comprehensive deviation vector, and to perform compliance verification on the dimension of the data matrix, to ensure that the comprehensive deviation vector is strictly aligned with the column number of the kinematic pseudo-inverse matrix of the intelligent trolley; S203: Perform matrix multiplication on the calibrated kinematic pseudo-inverse matrix of the intelligent trolley and the real-time received splice section spatial comprehensive deviation vector to reduce the six-degree-of-freedom spatial attitude deviation to the linear displacement required by each hydraulic jack.

[0009] Further, step S3 includes: S301: Based on the load sensors pre-installed at the bottom of each hydraulic jack on the intelligent trolley, the actual support pressure data is collected in real time. The actual support pressure data is compared with the set rigid body load-sharing safety threshold and the difference is calculated. The pressure and displacement compliance coefficients are used to convert it into an equivalent virtual displacement compensation amount, and an internal force redistribution compensation vector is generated. S302: Based on the previously calibrated Jacobian matrix of the intelligent trolley and its kinematic pseudo-inverse matrix, construct the zero-space projection matrix; S303: The acquired internal force redistribution compensation vector is mathematically projected and filtered through the null space projection matrix, and then superimposed on the basic hydraulic jack stroke adjustment vector to generate a comprehensive control target command that simultaneously takes into account attitude adjustment and stress release.

[0010] Furthermore, when the pressure data of all hydraulic jacks fed back by the load sensor does not exceed the rigid body load-equalization safety threshold, the internal force redistribution compensation vector is forcibly set to zero vector within this control sampling period. At this time, the hydraulic jacks do not perform internal stress release actions.

[0011] Further, step S4 includes: S401: The actual physical elongation is obtained by the displacement sensor installed on each hydraulic jack of the intelligent trolley, and the difference between the actual physical elongation and the theoretical expected displacement is calculated to extract the current stroke tracking error of each hydraulic jack in real time. S402: Extract the current stroke tracking error of all hydraulic jacks and perform extreme value comparison. Locate the hydraulic jack with the largest absolute value of the current error as the reference slow cylinder. Using the preset hydraulic stiffness constant as the reference, the gain elements corresponding to other faster hydraulic jacks are proportionally attenuated and scaled according to their error ratio with the reference slow cylinder, and a cross-synchronous proportional gain diagonal matrix is ​​dynamically generated. S403: By using a negative feedback correction strategy based on the current error, the diagonal matrix of the attenuated modulated cross synchronization proportional gain is multiplied with the stroke tracking error vector to synthesize the final hydraulic servo control output command vector.

[0012] Further, step S5 includes: S501: Based on the translational deviation vector and rotational deviation vector of the joint section, the vector norm operation is used to decouple and reduce the dimension to the current translational matching residual and the current rotational matching residual; S502: Introduce explicit physical tolerance boundaries as the normalization denominator reference, and obtain the translation residual normalization reference parameters and rotation residual normalization reference parameters; S503: Substitute the current translational matching residual and the current rotational matching residual decoupled in real time, as well as the introduced translational residual normalized reference parameters and rotational residual normalized reference parameters, into the Gaussian decay function to synthesize the final confidence score of the splice matching. When the final confidence score of the splice matching reaches the set shutdown threshold and the pressure data of each hydraulic jack is stable, it is determined that the intelligent adjustment of the precast concrete segment beam is completed.

[0013] A second aspect of the present invention provides an intelligent adjustment system applicable to the short-line prefabrication method for concrete segmental beams, employing the intelligent adjustment method described above, comprising: The spatial error analysis module is used to obtain the three-dimensional coordinates of the measuring points of the precast concrete segmental beam through independent measurement units, compare them with the theoretical design coordinates, separate the translational deviation and rotational deviation of the joint section, and synthesize the spatial comprehensive deviation vector of the joint section. The inverse kinematics mapping module is used to introduce a generalized inverse matrix to eliminate the multi-solution oscillation of the redundant mechanism of the intelligent trolley, and to perform mathematical mapping on the spatial comprehensive deviation vector of the splice section to calculate the basic geometric stroke that multiple hydraulic jacks need to perform. The internal stress relief module is used to utilize the zero-space characteristics of the redundant mechanism of the intelligent trolley to redistribute the supporting force of each hydraulic jack of the intelligent trolley while maintaining the constant six-degree-of-freedom spatial posture of the precast concrete segmental beam, thereby releasing local concentrated internal stress. The negative feedback control module is used in the hydraulic servo drive stage to issue commands using a negative feedback correction strategy based on the current error, so as to eliminate asynchronous disturbances when each hydraulic jack is executed in coordination. The confidence evaluation module is used to decouple the translational and rotational residuals of the precast concrete segmental beam joint section at the end of the negative feedback correction adjustment based on the current error, introduce a double normalized benchmark to construct a Gaussian decay confidence model, and determine whether the adjustment meets the standard and trigger a shutdown.

[0014] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the intelligent adjustment method described above.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium comprising a stored computer program, wherein the computer program, when executed by a processor, controls the device in which the storage medium is located to perform the intelligent adjustment method as described above.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. The intelligent adjustment method of the present invention organically integrates precise pose perception, dynamic geometric mapping, internal force optimization, synchronous cooperation and intelligent convergence criteria, and realizes full-link closed-loop optimization from perception, calculation, force control, synchronization to convergence judgment. It effectively overcomes the technical bottlenecks of spatial mapping truncation error and asynchronous coupling disturbance in the prior art, and significantly improves the accuracy, stability and efficiency of short-line matching adjustment.

[0017] 2. The intelligent adjustment method of the present invention focuses the control benchmark of spatial attitude adjustment directly and uniquely on the joint section of the precast concrete segmental beam, and uses an independent measurement unit to achieve precise dimensionality reduction and dual-objective decoupling of complex six-degree-of-freedom spatial errors. This separates the collected three-dimensional coordinate data into mutually independent translational deviation and rotational deviation of the joint section, thereby completely eliminating the interference of global comprehensive error.

[0018] 3. The intelligent adjustment method of the present invention accurately converts the abstract splice section spatial comprehensive deviation vector into the basic geometric stroke required by each hydraulic jack, ensuring that the intelligent trolley's action group can achieve highly coordinated spatial attitude calibration with minimal overall displacement cost, providing an absolutely reliable pure kinematic benchmark for subsequent safety adjustment and local concentrated stress release.

[0019] 4. The intelligent adjustment method of the present invention, by introducing the kinematic zero-space control theory of redundant mechanical mechanisms, can construct a zero-space projection operator to mathematically filter and modulate the internal force redistribution compensation vector without changing the current six-degree-of-freedom external pose of the precast concrete segmental beam. This allows the local concentrated load of the overloaded hydraulic jack to be smoothly transferred and distributed to other hydraulic jacks with lower loads in a safe and non-destructive manner. While achieving the goal of precise kinematic tracking, it perfectly releases the potential destructive torsional internal stress.

[0020] 5. The intelligent adjustment method of the present invention establishes a cross-synchronization coordinator within the algorithm, enabling real-time extraction of stroke tracking errors to locate the slowest hydraulic jack, and forcing the fast hydraulic jack to decelerate and match by dynamically attenuating the proportional gain, thereby aligning the asynchronous execution of multiple cylinders into precise synchronous motion in the time dimension; furthermore, by strictly adopting the most stable and reliable negative feedback correction strategy based on the current error, the complex calculus control terms that are prone to causing system instability are directly eliminated, thereby ensuring that the comprehensive adjustment of the target hydraulic jack stroke can be smoothly distributed to each hydraulic proportional valve with strong anti-interference capability and robustness, achieving precise and monotonic convergence of the spatial pose of the precast concrete segmental beam.

[0021] 6. The intelligent adjustment method of the present invention, by strictly reducing and decoupling the translational and rotational residuals of the joint section at the adjustment end, and specifically introducing the physical tolerance boundary allowed by the bridge construction specifications as a dual normalization benchmark, constructs a rigorous dual-benchmark Gaussian attenuation confidence model. This not only smooths the numerical disturbance caused by the minimal geometric residuals at the underlying mathematical logic, but also accurately reflects the rigid geometric compatibility of the precast concrete segmental beam and the compliance rate with engineering specifications. This ensures that the hydraulic servo command can be decisively cut off when the spatial posture perfectly matches the design requirements, thus declaring the safe, compliant, and complete completion of the intelligent adjustment task. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the steps of the intelligent adjustment method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the intelligent adjustment system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention.

[0023] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1000-electronic device, 1001-processor, 1002-communication bus, 1003-user interface, 1004-network interface, 1005-memory. Detailed Implementation

[0024] 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. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0025] Example 1 Please refer to Figure 1 This invention provides an intelligent adjustment method and system applicable to the short-line prefabrication method of concrete segmental beams, comprising the following steps: S1: Obtain the three-dimensional coordinates of the measuring points of the precast concrete segmental beam through independent measurement units, compare them with the theoretical design coordinates, separate the translational deviation and rotational deviation of the joint section, and synthesize the spatial comprehensive deviation vector of the joint section. S2: Introducing a generalized inverse matrix to eliminate the multi-solution oscillation of the redundant mechanism of the intelligent trolley, and mathematically mapping the spatial comprehensive deviation vector of the splice section to calculate the basic geometric stroke to be performed by multiple hydraulic jacks; S3: Utilizing the zero-space characteristics of the redundant mechanism of the intelligent trolley, the supporting force of each hydraulic jack of the intelligent trolley is redistributed while maintaining the constant six-degree-of-freedom spatial attitude of the precast concrete segmental beam, thereby releasing local concentrated internal stress. S4: In the hydraulic servo drive stage, a negative feedback correction strategy based on the current error is adopted to issue commands in order to eliminate asynchronous disturbances when each hydraulic jack is executed in coordination. S5: At the end of the negative feedback correction adjustment based on the current error, the translational and rotational residuals of the precast concrete segmental beam joint section are decoupled, and a Gaussian decay confidence model is constructed by introducing a double normalized benchmark to determine whether the adjustment meets the standard and trigger a shutdown.

[0026] Specifically, in the short-line prefabrication construction of precast concrete segmental beams, existing adjustment techniques typically calculate the overall spatial error of the precast concrete segmental beams comprehensively, failing to effectively eliminate the interference of global manufacturing errors, such as local deformation of the precast concrete segmental beams, on the actual fitting posture. This approach, which conflates spatial translation errors with rotational errors, severely masks the most critical micro-rotation angle deviation of the joint section in short-line matching. This results in the spatial posture evaluation model lacking a true constraint on the actual engineering physical boundaries, leading to mathematical distortion in the underlying input data provided to the intelligent trolley, which easily triggers repeated oscillations and geometric interference during the matching adjustment process. Therefore, this embodiment synthesizes a high-fidelity joint section spatial comprehensive deviation vector through step S1, providing accurate and unambiguous six-degree-of-freedom target error guidance for the downstream intelligent trolley to perform generalized inverse kinematic mapping. Among them: Step S1 includes: S101: The independent measurement unit includes an automatic aiming total station arranged on a fixed reference point in the prefabrication site and multiple socket-type prisms embedded in the top of the prefabricated concrete segmental beam. The automatic aiming total station automatically searches for the socket-type prisms and obtains the real-time three-dimensional spatial coordinate data of each socket-type prism. S102: Based on real-time three-dimensional spatial coordinate data, the actual centroid spatial position of the precast concrete segmental beam splice section is calculated by the spatial geometric average algorithm, and the translational deviation vector of the splice section is calculated by the vector subtraction method. S103: The spatial plane least squares fitting algorithm is used to construct the actual spatial plane of the joint section and extract the actual normal vector. The vector cross product and norm operation are performed with the theoretical normal vector to decouple the joint section rotation deviation vector that only represents the spatial angle deflection. S104: Concatenate the translational deviation vector and the rotational deviation vector of the joint section to synthesize a unified state variable and generate the spatial comprehensive deviation vector of the joint section.

[0027] Specifically, in sub-step S101, the core hardware of an independent measurement unit, such as an automatic aiming total station, is installed on a fixed measuring tower at the actual precast engineering site. Sleeves are pre-embedded at various control measuring points on the top of the precast concrete segmental beam to be adjusted, and socket-type prisms are inserted into the sleeves. Then, the automatic aiming total station performs an automatic panoramic scan, utilizing the working principle of infrared laser ranging and a dual-axis angle encoder to automatically search for and aim at each socket-type prism on the precast concrete segmental beam, acquiring real-time three-dimensional spatial coordinate data of each socket-type prism with millimeter-level accuracy. Subsequently, the automatic aiming total station can transmit this batch of three-dimensional coordinate data in real-time as high-frequency digital signals to the control unit of the intelligent trolley via industrial Ethernet or a wireless communication module, completing the acquisition and conversion of the underlying physical coordinates into digital signals.

[0028] It should be noted that in other embodiments, other types of independent measurement units may also be used, which are not specifically limited here.

[0029] Specifically, in sub-step S102, after receiving the three-dimensional coordinate data of each socket prism, it is necessary to first filter out abnormal noise points, and then use the spatial geometric centroid analysis algorithm to calculate the actual centroid spatial absolute position of the current precast concrete segment beam splice section by performing a three-dimensional spatial arithmetic mean operation on the coordinates of the measuring points distributed on the edge of the splice section. Thus, the pure translation deviation is calculated by three-dimensional vector subtraction.

[0030] In an optional embodiment, the translational deviation vector of the joint section is: ; In the formula, This is the translational deviation vector of the joint section; The actual centroid coordinate vector of the joint section; The coordinate vector of the theoretical centroid of the joint section.

[0031] Specifically, in sub-step S103, to eliminate the interference of global comprehensive errors such as the deformation of the precast concrete segmental beam on the attitude of the joint surface, a spatial plane least squares fitting technique is adopted. A socket prism coordinate point cloud near the joint section is selected to fit an optimally approximating spatial virtual geometric plane of the actual physical end face, and the actual normal vector component perpendicular to this virtual geometric plane is extracted. Subsequently, this component is subjected to a cross product and norm operation with the bridge design theory normal vector. Using the arcsine function in mathematics, the rotational deviation, which only represents spatial angular deflection, is completely decoupled.

[0032] In an optional embodiment, the joint section rotation deviation vector is: ; ; ; In the formula, The rotational deviation vector of the joint section; The unit vector of the rotation axis; The rotation angle; This is the actual normal vector of the joint section; This is the theoretical normal vector of the joint section.

[0033] Specifically, in sub-step S104, after obtaining the independent translational and rotational deviations, a matrix dimension splicing instruction is executed. By mathematically concatenating the three-dimensional column vectors representing translation and rotation, a unified six-dimensional column vector state quantity is synthesized, thereby generating a splice section space comprehensive deviation vector. This comprehensive deviation vector will serve as a unique and standard target error input matrix, providing precise geometric pathfinding guidance for the generalized inverse kinematics calculation of the intelligent trolley.

[0034] In an optional embodiment, the spatial comprehensive deviation vector of the joint section is: ; In the formula, This represents the spatial comprehensive deviation vector of the joint section; This is the transpose matrix of the translational deviation vector of the joint section; It is the transpose of the rotational deviation vector of the joint section.

[0035] Specifically, in existing short-line precast construction of concrete segmental beams, the intelligent trolley is typically equipped with multiple hydraulic jacks to provide sufficient support and adjustment capabilities. This results in the total number of actuators at the bottom layer often exceeding the six degrees of freedom of the precast concrete segmental beam in three-dimensional space, thus constituting a highly redundant mechanical power system. When attempting to correct the spatial attitude of the precast concrete segmental beam, if the conventional kinematic inverse matrix is ​​used for solution, the redundant system will inevitably fall into a predicament of no solution or multiple solutions in mathematical analysis. In the physical world, this directly leads to motion interference, uncoordinated actions, and repeated oscillations of multiple solutions in control commands among the multiple hydraulic jacks. This not only fails to accurately eliminate spatial deviations but also easily generates nonlinear geometric truncation errors. Therefore, this embodiment constructs an accurate dimensionality reduction mapping path from the six-degree-of-freedom spatial attitude deviation to the one-dimensional linear actuator through step S2. Wherein: Step S2 includes: S201: Based on the spatial three-dimensional physical installation coordinate matrix of each hydraulic jack when the intelligent trolley is in the initial state of horizontal reference, establish the Jacobian matrix of the intelligent trolley and obtain the kinematic pseudo-inverse matrix of the intelligent trolley through the singular value decomposition algorithm. S202: Based on the splice section space comprehensive deviation vector, and to perform compliance verification on the dimension of the data matrix, to ensure that the comprehensive deviation vector is strictly aligned with the column number of the kinematic pseudo-inverse matrix of the intelligent trolley; S203: Perform matrix multiplication on the calibrated kinematic pseudo-inverse matrix of the intelligent trolley and the real-time received splice section spatial comprehensive deviation vector to reduce the six-degree-of-freedom spatial attitude deviation to the linear displacement required by each hydraulic jack.

[0036] Specifically, in sub-step S201, before the intelligent trolley's factory commissioning or before each formal entry into the prefabrication site, offline calibration of kinematic parameters must be performed on a horizontal reference site. Engineers or the calibration program first obtain the physical installation three-dimensional coordinate matrix of each hydraulic jack relative to the intelligent trolley's center of mass or geometric center. Based on multi-rigid-body spatial kinematics theory, a Jacobian matrix describing the mapping relationship between the linear motion of each support point of the intelligent trolley and the overall six-degree-of-freedom spatial motion of the precast concrete segmental beam is established. Due to the characteristics of a redundant system, this Jacobian matrix is ​​not a square matrix. To obtain its optimal generalized inverse in the least-squares sense, a singular value decomposition algorithm needs to be performed on this matrix.

[0037] In an optional embodiment, the Jacobian matrix and the pseudo-inverse kinematic matrix of the smart trolley are: ; ; In the formula, Jacobian matrix for intelligent trolleys; It is a left singular vector matrix; It is a singular value diagonal matrix; It is the transpose of the right singular vector matrix; The pseudo-inverse matrix of the kinematics of the intelligent trolley; It is a right singular vector matrix; It is the pseudo-inverse of the singular value diagonal matrix; It is the transpose of the left singular vector matrix.

[0038] Specifically, in sub-step S202, during the real-time precast concrete segmental beam attitude adjustment cycle, to prevent control program crashes and illegal memory accesses, a strict data dimensionality compliance check must be performed before mathematical mapping. This involves verifying whether the splice section spatial comprehensive deviation vector is a standard six-dimensional single-column vector, and simultaneously checking whether the number of columns in the pre-loaded intelligent trolley kinematic pseudo-inverse matrix is ​​exactly equal to six. Only under algebraic configurations with fully aligned dimensions is the operation channel for underlying matrix multiplication allowed to be opened, thereby ensuring that the physical geometric meaning of subsequent mapping calculations is not distorted or misaligned.

[0039] In an optional embodiment, the stroke adjustment vector of the basic hydraulic jack is: ; In the formula, The basic hydraulic jack stroke adjustment vector; The pseudo-inverse matrix of the kinematics of the intelligent trolley; This is the spatial comprehensive deviation vector of the joint section.

[0040] Understandably, during use, the basic hydraulic jack stroke adjustment vector is the theoretical target linear displacement matrix that each hydraulic jack participating in attitude adjustment within the intelligent trolley needs to execute synchronously in the physical world to eliminate the current six-degree-of-freedom spatial attitude deviation, under the assumption of ideal pure rigid body motion without considering the gravity deformation of the precast concrete segment beam itself and complex dynamic factors such as internal secondary stress.

[0041] Specifically, in the short-line precast construction of precast concrete segmental beams, the redundant hydraulic jack system at the bottom of the intelligent trolley often experiences severe overloading and uneven stress on some hydraulic jacks when performing spatial attitude adjustment due to mechanical manufacturing errors or unevenness of the local contact surface at the support points. If the control system simply tracks pure kinematic geometric displacement commands, ignoring the mechanical coupling conflict caused by asynchronous force states at the execution end, forcibly driving the overloaded hydraulic jacks will not only fail to effectively relieve the load, but will also force the high-rigidity precast concrete segmental beam to undergo forced torsional deformation. This blind adjustment, which violates the geometric compatibility of rigid bodies, will induce extremely dangerous torsional internal stress and structural hidden cracks inside the precast concrete segmental beam, seriously threatening the service life and structural safety of the bridge after completion. Therefore, this embodiment, through step S3, thoroughly resolves the compatibility conflict between pure spatial geometric displacement control and the internal structural stress of the precast concrete segmental beam from a physical level, ensuring the absolute physical integrity of the precast components while achieving precise spatial attitude adjustment. Among them: Step S3 includes: S301: Based on the load sensors pre-installed at the bottom of each hydraulic jack on the intelligent trolley, the actual support pressure data is collected in real time. The actual support pressure data is compared with the set rigid body load-sharing safety threshold and the difference is calculated. The pressure and displacement compliance coefficients are used to convert it into an equivalent virtual displacement compensation amount, and an internal force redistribution compensation vector is generated. S302: Based on the previously calibrated Jacobian matrix of the intelligent trolley and its kinematic pseudo-inverse matrix, construct the zero-space projection matrix; S303: The acquired internal force redistribution compensation vector is mathematically projected and filtered through the null space projection matrix, and then superimposed on the basic hydraulic jack stroke adjustment vector to generate a comprehensive control target command that simultaneously takes into account attitude adjustment and stress release.

[0042] Specifically, in sub-step S301, during the actual bearing of the precast concrete segmental beam by the intelligent trolley, load sensors pre-installed at the bottom of each hydraulic jack on the intelligent trolley collect actual support pressure data in real time at a millisecond frequency. The received actual support pressure data is compared with a pre-set rigid body load-sharing safety threshold, and the difference is calculated. For the portion exceeding the rigid body load-sharing safety threshold, the overload pressure value in the pure mechanical dimension can be converted into an equivalent virtual displacement compensation amount through a preset pressure and displacement compliance coefficient matrix, thereby generating an initial internal force redistribution compensation vector. To prevent meaningless micro-oscillation adjustments within the safe load range, a strict logic trigger defense is set: when the pressure data of all hydraulic jacks fed back by the load sensors does not exceed the rigid body load-sharing safety threshold, the internal force redistribution compensation vector is forcibly set to a zero vector within this control sampling period, and the hydraulic jacks do not perform internal stress release actions at this time.

[0043] Specifically, in sub-step S302, in robot control terminology, the null space of a redundant mechanism refers to a special vector space where any combined motion of actuators (i.e., individual hydraulic jacks) within this space will cancel each other out within the mechanical system, and will absolutely not cause any physical change in the six-degree-of-freedom pose of the end effector (i.e., the precast concrete segmental beam) in three-dimensional space. Furthermore, by utilizing the previously offline calibrated Jacobian matrix of the intelligent trolley and its kinematic pseudo-inverse matrix calculated in step S2, a null space projection operator can be constructed through matrix algebra operations.

[0044] In an optional embodiment, the null projection matrix is: ; In the formula, The zero-space projection matrix; It is the identity matrix; The pseudo-inverse matrix of the kinematics of the intelligent trolley; Jacobi matrix for intelligent trolleys.

[0045] It should be noted that, It is a standard unit diagonal matrix, and the dimensions of this matrix are strictly consistent with the total number of hydraulic jacks in the physical configuration of the intelligent trolley.

[0046] Specifically, in sub-step S303, after obtaining the initial vector representing the internal force release requirement and the null-space projection operator, the internal force redistribution compensation vector calculated in sub-step S301 can be substituted into the null-space projection matrix constructed in sub-step S302 for mathematical projection filtering. The compensation component after projection filtering ensures that it will not interfere with the external attitude of the precast concrete segmental beam during physical execution. Subsequently, by superimposing the filtered safety compensation component onto the basic hydraulic jack stroke adjustment vector input in the preceding step S2 using matrix addition, a comprehensive control target command that simultaneously considers spatial attitude geometric adjustment and internal stress safety release can be generated.

[0047] In an optional embodiment, the target hydraulic jack stroke comprehensive adjustment vector is: ; In the formula, The vector representing the comprehensive adjustment of the target hydraulic jack stroke; The basic hydraulic jack stroke adjustment vector; It is the identity matrix; The pseudo-inverse matrix of the kinematics of the intelligent trolley; Jacobian matrix for intelligent trolleys; The compensation vector for internal force redistribution.

[0048] Specifically, during the short-line prefabrication adjustment process of precast concrete segmental beams, the multiple hydraulic jacks at the bottom of the intelligent trolley face an extremely complex nonlinear fluid dynamics and mechanical impedance environment during physical execution. Due to the dynamic differences in frictional resistance, pipeline hydraulic resistance, and static and dynamic friction at the bottom of the precast concrete segmental beam, asynchronous disturbances due to inconsistent cylinder actions inevitably occur. Simultaneously, if the underlying control employs a complex feedback mechanism including integral or derivative components, under heavy load and high friction conditions, the integral component is prone to causing full-load saturation of the control quantity, while the derivative component will drastically amplify the high-frequency vibration noise of the mechanical structure. This superposition of physical actuator asynchrony and algorithmic complex high-frequency oscillations leads to repeated deflections and overshoots in the three-dimensional space of the precast concrete segmental beam, making it difficult for the final spatial attitude to converge smoothly. Therefore, this embodiment completely eliminates asynchronous disturbances during multi-cylinder collaborative execution from the algorithmic level through step S4, ensuring the absolute physical stability of the hydraulic servo system under complex conditions. Wherein: Step S4 includes: S401: The actual physical elongation is obtained by the displacement sensor installed on each hydraulic jack of the intelligent trolley, and the difference between the actual physical elongation and the theoretical expected displacement is calculated to extract the current stroke tracking error of each hydraulic jack in real time. S402: Extract the current stroke tracking error of all hydraulic jacks and perform extreme value comparison. Locate the hydraulic jack with the largest absolute value of the current error as the reference slow cylinder. Using the preset hydraulic stiffness constant as the reference, the gain elements corresponding to other faster hydraulic jacks are proportionally attenuated and scaled according to their error ratio with the reference slow cylinder, and a cross-synchronous proportional gain diagonal matrix is ​​dynamically generated. S403: By using a negative feedback correction strategy based on the current error, the diagonal matrix of the attenuated modulated cross synchronization proportional gain is multiplied with the stroke tracking error vector to synthesize the final hydraulic servo control output command vector.

[0049] Specifically, in sub-step S401, within each closed-loop sampling cycle of the hydraulic servo drive, the actual physical elongation of each hydraulic jack is read using a high-precision displacement sensor installed on each hydraulic jack of the intelligent trolley via a high-frequency communication protocol. Subsequently, a matrix-vector subtraction operation is performed between the theoretical expected displacement calculated in the previous step and the actual physical elongation to extract the current stroke tracking error of each hydraulic jack in real time.

[0050] In an optional embodiment, the trip tracking error vector is: ; In the formula, This is the trip tracking error vector; The vector representing the comprehensive adjustment of the target hydraulic jack stroke; This is the vector of actual physical elongation.

[0051] Specifically, in sub-step S402, the absolute values ​​of all elements in the acquired stroke tracking error vector are first extracted, and extreme value sorting and comparison are performed to locate the hydraulic jack with the largest absolute error value. This jack is then physically and logically marked as the slowest-performing reference cylinder. Subsequently, based on a preset hydraulic stiffness constant, the gain elements corresponding to the other faster-performing hydraulic jacks are proportionally attenuated and scaled according to their error ratio with the reference cylinder. This nonlinear scaling mechanism physically weakens the driving stiffness of the other faster-performing hydraulic jacks, causing them to automatically slow down and wait for the slower-performing hydraulic jacks, thereby generating a dynamic cross-synchronization proportional gain diagonal matrix.

[0052] In an optional embodiment, the cross-synchronization proportional gain diagonal matrix is: ; ; ; In the formula, This represents the absolute value of the maximum travel tracking error. For the first The stroke tracking error component of a hydraulic jack; This represents the total number of hydraulic jacks. For the first The dynamic proportional gain coefficient of a hydraulic jack; This is a preset hydraulic stiffness constant; This is a diagonal matrix for cross-synchronization proportional gain.

[0053] Specifically, in sub-step S403, after obtaining the dynamic adjustment stiffness, to prevent integral saturation and mechanical high-frequency noise introduced by differentiation, a negative feedback correction strategy based on the current error must be strictly implemented. Therefore, the final servo control output command is synthesized by matrix multiplication of the dynamically attenuated modulated cross-synchronous proportional gain diagonal matrix and the travel tracking error vector, and then sent to the corresponding physical actuator through a digital-to-analog converter circuit.

[0054] In an optional embodiment, the hydraulic servo control output command vector is: ; In the formula, This is the output command vector for hydraulic servo control; This is a diagonal matrix for cross-synchronization proportional gain; This is the trip tracking error vector.

[0055] Specifically, in existing intelligent adjustment systems for precast concrete segmental beams using the short-line method, conventional error evaluation models typically use a single comprehensive geometric distance to measure the matching accuracy of the joint sections. This evaluation method easily confuses translational deviations with fatal rotational angle deviations, thus masking minute angular defects during shear key engagement. More seriously, the exponential decay form of existing conventional confidence scoring formulas is overly sensitive to distance matching residuals and lacks a normalization benchmark for the residuals. This results in the evaluation model lacking an objective engineering physical tolerance measurement scale. Even minute measurement noise or extremely small geometric residuals within the allowable range of construction specifications can cause drastic nonlinear fluctuations in the evaluation score, making it impossible for the control unit to accurately determine the convergence state of the adjustment program. This can easily lead to ineffective reciprocating oscillations in the hydraulic servo system near the target point. Therefore, this embodiment, through step S5, completely overcomes the technical defects of existing evaluation models that are overly sensitive to minute residuals and lack a tolerance benchmark, providing an absolutely reliable quantitative criterion for the smooth shutdown of the adjustment system. Wherein: Step S5 includes: S501: Based on the translational deviation vector and rotational deviation vector of the joint section, the vector norm operation is used to decouple and reduce the dimension to the current translational matching residual and the current rotational matching residual; S502: Introduce explicit physical tolerance boundaries as the normalization denominator reference, and obtain the translation residual normalization reference parameters and rotation residual normalization reference parameters; S503: Substitute the current translational matching residual and the current rotational matching residual decoupled in real time, as well as the introduced translational residual normalized reference parameters and rotational residual normalized reference parameters, into the Gaussian decay function to synthesize the final confidence score of the splice matching. When the final confidence score of the splice matching reaches the set shutdown threshold and the pressure data of each hydraulic jack is stable, it is determined that the intelligent adjustment of the precast concrete segment beam is completed.

[0056] Specifically, in sub-step S501, based on the translational deviation vector and rotational deviation vector of the joint section output by the preceding spatial error analysis module, the three-dimensional spatial vector with directional attributes is strictly reduced in dimension and decoupled into absolute deviation distance and absolute deflection angle in scalar form by performing Euclidean norm (norm 2) operations.

[0057] In an optional embodiment, the current translation matching residual and the current rotation matching residual are respectively: ; ; In the formula, Matching residuals for the current translation; This is the translational deviation vector of the joint section; For the current rotation matching residual; This is the rotational deviation vector of the joint section.

[0058] Specifically, in sub-step S502, a simple exponential decay evaluation model without a normalized baseline for the residuals will cause drastic numerical fluctuations due to measurement noise or minor geometric errors. To eliminate this physical and logical defect, a clear engineering physical tolerance boundary must be introduced as the normalized denominator baseline in the mathematical model. The translational residual normalized baseline parameter is the upper limit of the physical range of shear key misalignment tolerance allowed by bridge construction specifications (e.g., if the specification requires that the misalignment of the joint not exceed 2 mm, then this baseline can be set to 2 mm). The rotational residual normalized baseline parameter is the upper limit of the allowable range of the mating surface deflection angle allowed by bridge construction specifications (used to limit the joint angle).

[0059] Specifically, in sub-step S503, the pure scalar residuals decoupled in real time and the introduced engineering normalized benchmark parameters are substituted into the Gaussian decay function to synthesize a final evaluation index that comprehensively reflects the rigid body geometric compatibility and the engineering specification compliance rate. Then, at the end of each hydraulic servo control cycle, the final confidence score of the joint matching is monitored in real time. When this score is greater than or equal to the set shutdown threshold (e.g., set to 98), and the pressure data of each hydraulic jack on the intelligent trolley fed back by the load sensor remains stable (i.e., the pressure change rate is within the minimum dead zone, proving that there are no residual internal stress abrupt changes in the structure), the shutdown interruption procedure is immediately triggered. At this time, by completely cutting off the hydraulic servo control output command vector sent to each hydraulic proportional valve, the position of each hydraulic jack is locked, and the corresponding components can be driven to issue an audible and visual prompt signal indicating successful joint matching, formally determining that the intelligent adjustment task of the precast concrete segmental beam is completely completed.

[0060] In an optional embodiment, the final confidence score for seam matching is: ; In the formula, Final confidence score for seam matching Matching residuals for the current translation; Normalized reference parameters for translation residuals For the current rotation matching residual; These are the normalized baseline parameters for the rotational residuals.

[0061] Example 2 Please refer to Figure 2 This invention provides an intelligent adjustment system suitable for the short-line prefabrication method of concrete segmental beams, comprising: The spatial error analysis module is used to obtain the three-dimensional coordinates of the measuring points of the precast concrete segmental beam through independent measurement units, compare them with the theoretical design coordinates, separate the translational deviation and rotational deviation of the joint section, and synthesize the spatial comprehensive deviation vector of the joint section. The inverse kinematics mapping module is used to introduce a generalized inverse matrix to eliminate the multi-solution oscillation of the redundant mechanism of the intelligent trolley, and to perform mathematical mapping on the spatial comprehensive deviation vector of the splice section to calculate the basic geometric stroke that multiple hydraulic jacks need to perform. The internal stress relief module is used to utilize the zero-space characteristics of the redundant mechanism of the intelligent trolley to redistribute the supporting force of each hydraulic jack of the intelligent trolley while maintaining the constant six-degree-of-freedom spatial posture of the precast concrete segmental beam, thereby releasing local concentrated internal stress. The negative feedback control module is used in the hydraulic servo drive stage to issue commands using a negative feedback correction strategy based on the current error, so as to eliminate asynchronous disturbances when each hydraulic jack is executed in coordination. The confidence evaluation module is used to decouple the translational and rotational residuals of the precast concrete segmental beam joint section at the end of the negative feedback correction adjustment based on the current error, introduce a double normalized benchmark to construct a Gaussian decay confidence model, and determine whether the adjustment meets the standard and trigger a shutdown.

[0062] In an optional embodiment, the intelligent trolley includes multiple hydraulic jacks distributed at the bottom, each hydraulic jack being equipped with a displacement sensor and a load sensor for real-time acquisition of elongation data and support force data and feedback to the internal stress release module and the negative feedback control module.

[0063] Other technical features are the same as in Embodiment 1 and can achieve the same technical effects, so they will not be described in detail here.

[0064] It should be noted that the intelligent adjustment system for the short-line prefabrication method of concrete segmental beams provided in this embodiment can be a computer program (including program code) running on a computer device. For example, the intelligent adjustment system for the short-line prefabrication method of concrete segmental beams is an application program that can be used to execute the corresponding steps in the above-described method provided in this embodiment of the invention.

[0065] In some feasible implementations, the intelligent adjustment system for the short-line prefabrication method of concrete segmental beams provided in this embodiment can be implemented using a combination of hardware and software. As an example, the intelligent adjustment system for the short-line prefabrication method of concrete segmental beams in this embodiment can be a processor in the form of a hardware decoding processor, which is programmed to execute the intelligent adjustment method for the short-line prefabrication method of concrete segmental beams provided in this embodiment. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0066] In some feasible implementations, the intelligent adjustment system for short-line prefabrication of concrete segmental beams provided in this embodiment can be implemented in software. It can be software in the form of programs and plug-ins, and includes a series of modules to realize the intelligent adjustment method for short-line prefabrication of concrete segmental beams provided in this embodiment of the invention.

[0067] Example 3 This invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the intelligent adjustment method applicable to the short-line prefabrication method of concrete segmental beams in this embodiment.

[0068] Please refer to Figure 3 The electronic device 1000 in this embodiment may include a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the electronic device 1000 may also include a user interface 1003 and at least one communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM or non-volatile memory, such as at least one disk drive. Optionally, the memory 1005 may also be at least one storage device located remotely from the processor 1001. The memory 1005, as a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application program.

[0069] In the electronic device 1000, the network interface 1004 provides network communication functions; the user interface 1003 is mainly used to provide an input interface for users; and the processor 1001 can be used to call the device control application stored in the memory 1005.

[0070] It should be understood that in some feasible implementations, the processor 1001 described above may be a central processing unit (CPU), or it may be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The memory 1005 may include read-only memory and random access memory, and provides instructions and data to the processor 1001. For example, the memory may also store device type information.

[0071] In practice, the aforementioned electronic device 1000 can execute the implementation methods provided by the various steps of the above-mentioned intelligent adjustment method through its built-in functional modules. For details, please refer to the implementation methods provided by the various steps above.

[0072] Example 4 This invention also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the various steps in the intelligent adjustment method described above. For details, please refer to the implementation methods provided for each of the above steps, which will not be repeated here.

[0073] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0074] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0075] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0076] In this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it; those skilled in the art will readily understand that the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent adjustment method applicable to the short-line prefabrication method of concrete segmental beams, characterized in that, Includes the following steps: S1: Obtain the three-dimensional coordinates of the measuring points of the precast concrete segmental beam through independent measurement units, compare them with the theoretical design coordinates, separate the translational deviation and rotational deviation of the joint section, and synthesize the spatial comprehensive deviation vector of the joint section. S2: Introducing a generalized inverse matrix to eliminate the multi-solution oscillation of the redundant mechanism of the intelligent trolley, mathematically mapping the spatial comprehensive deviation vector of the splice section, and calculating the basic geometric stroke to be performed by multiple hydraulic jacks; S3: Utilizing the zero-space characteristics of the redundant mechanism of the intelligent trolley, the supporting force of each hydraulic jack of the intelligent trolley is redistributed while maintaining the constant six-degree-of-freedom spatial attitude of the precast concrete segmental beam, thereby releasing local concentrated internal stress. S4: In the hydraulic servo drive stage, a negative feedback correction strategy based on the current error is adopted to issue commands in order to eliminate asynchronous disturbances when each hydraulic jack is executed in coordination. S5: At the end of the negative feedback correction adjustment based on the current error, the translational and rotational residuals of the precast concrete segmental beam joint section are decoupled, and a Gaussian decay confidence model is constructed by introducing a double normalized benchmark to determine whether the adjustment meets the standard and trigger a shutdown.

2. The intelligent adjustment method according to claim 1, characterized in that, Step S1 includes: S101: The independent measurement unit includes an automatic aiming total station arranged on a fixed reference point in the prefabrication site and multiple socket-type prisms embedded in the top of the prefabricated concrete segmental beam. The automatic aiming total station automatically searches for the socket-type prisms and obtains the real-time three-dimensional spatial coordinate data of each socket-type prism. S102: Based on real-time three-dimensional spatial coordinate data, the actual centroid spatial position of the precast concrete segmental beam splice section is calculated by the spatial geometric average algorithm, and the translational deviation vector of the splice section is calculated by the vector subtraction method. S103: The spatial plane least squares fitting algorithm is used to construct the actual spatial plane of the joint section and extract the actual normal vector. The vector cross product and norm operation are performed with the theoretical normal vector to decouple the joint section rotation deviation vector that only represents the spatial angle deflection. S104: Concatenate the translational deviation vector and the rotational deviation vector of the joint section to synthesize a unified state variable and generate the spatial comprehensive deviation vector of the joint section.

3. The intelligent adjustment method according to claim 1, characterized in that, Step S2 includes: S201: Based on the spatial three-dimensional physical installation coordinate matrix of each hydraulic jack when the intelligent trolley is in the initial state of horizontal reference, establish the Jacobian matrix of the intelligent trolley and obtain the kinematic pseudo-inverse matrix of the intelligent trolley through the singular value decomposition algorithm. S202: Based on the splice section space comprehensive deviation vector, and to perform compliance verification on the dimension of the data matrix, to ensure that the comprehensive deviation vector is strictly aligned with the column number of the kinematic pseudo-inverse matrix of the intelligent trolley; S203: Perform matrix multiplication on the calibrated kinematic pseudo-inverse matrix of the intelligent trolley and the real-time received splice section spatial comprehensive deviation vector to reduce the six-degree-of-freedom spatial attitude deviation to the linear displacement required by each hydraulic jack.

4. The intelligent adjustment method according to claim 1, characterized in that, Step S3 includes: S301: Based on the load sensors pre-installed at the bottom of each hydraulic jack on the intelligent trolley, the actual support pressure data is collected in real time. The actual support pressure data is compared with the set rigid body load-sharing safety threshold and the difference is calculated. The pressure and displacement compliance coefficients are used to convert it into an equivalent virtual displacement compensation amount, and an internal force redistribution compensation vector is generated. S302: Based on the previously calibrated Jacobian matrix of the intelligent trolley and its kinematic pseudo-inverse matrix, construct the zero-space projection matrix; S303: The acquired internal force redistribution compensation vector is mathematically projected and filtered through the null space projection matrix, and then superimposed on the basic hydraulic jack stroke adjustment vector to generate a comprehensive control target command that simultaneously takes into account attitude adjustment and stress release.

5. The intelligent adjustment method according to claim 4, characterized in that, When the pressure data of all hydraulic jacks fed back by the load sensor does not exceed the rigid body load-equalization safety threshold, the internal force redistribution compensation vector is forcibly set to zero vector within the control sampling period of step S301. At this time, the hydraulic jacks do not perform internal stress release actions.

6. The intelligent adjustment method according to claim 1, characterized in that, Step S4 includes: S401: The actual physical elongation is obtained by the displacement sensor installed on each hydraulic jack of the intelligent trolley, and the difference between the actual physical elongation and the theoretical expected displacement is calculated to extract the current stroke tracking error of each hydraulic jack in real time. S402: Extract the current stroke tracking error of all hydraulic jacks and perform extreme value comparison. Locate the hydraulic jack with the largest absolute value of the current error as the reference slow cylinder. Using the preset hydraulic stiffness constant as the reference, the gain elements corresponding to other faster hydraulic jacks are proportionally attenuated and scaled according to their error ratio with the reference slow cylinder, and a cross-synchronous proportional gain diagonal matrix is ​​dynamically generated. S403: By using a negative feedback correction strategy based on the current error, the diagonal matrix of the attenuated modulated cross synchronization proportional gain is multiplied with the stroke tracking error vector to synthesize the final hydraulic servo control output command vector.

7. The intelligent adjustment method according to claim 1, characterized in that, Step S5 includes: S501: Based on the translational deviation vector and rotational deviation vector of the joint section, the vector norm operation is used to decouple and reduce the dimension to the current translational matching residual and the current rotational matching residual; S502: Introduce explicit physical tolerance boundaries as the normalization denominator reference, and obtain the translation residual normalization reference parameters and rotation residual normalization reference parameters; S503: Substitute the current translational matching residual and the current rotational matching residual decoupled in real time, as well as the introduced translational residual normalized reference parameters and rotational residual normalized reference parameters, into the Gaussian decay function to synthesize the final confidence score of the splice matching. When the final confidence score of the splice matching reaches the set shutdown threshold and the pressure data of each hydraulic jack is stable, it is determined that the intelligent adjustment of the precast concrete segment beam is completed.

8. An intelligent adjustment system applicable to the short-line prefabrication method of concrete segmental beams, employing the intelligent adjustment method as described in any one of claims 1-7, characterized in that, include: The spatial error analysis module is used to obtain the three-dimensional coordinates of the measuring points of the precast concrete segmental beam through independent measurement units, compare them with the theoretical design coordinates, separate the translational deviation and rotational deviation of the joint section, and synthesize the spatial comprehensive deviation vector of the joint section. The inverse kinematics mapping module is used to introduce a generalized inverse matrix to eliminate the multi-solution oscillation of the redundant mechanism of the intelligent trolley, and to perform mathematical mapping on the spatial comprehensive deviation vector of the splice section to calculate the basic geometric stroke that multiple hydraulic jacks need to perform. The internal stress relief module is used to utilize the zero-space characteristics of the redundant mechanism of the intelligent trolley to redistribute the supporting force of each hydraulic jack of the intelligent trolley while maintaining the constant six-degree-of-freedom spatial posture of the precast concrete segmental beam, thereby releasing local concentrated internal stress. The negative feedback control module is used in the hydraulic servo drive stage to issue commands using a negative feedback correction strategy based on the current error, so as to eliminate asynchronous disturbances when each hydraulic jack is executed in coordination. The confidence evaluation module is used to decouple the translational and rotational residuals of the precast concrete segmental beam joint section at the end of the negative feedback correction adjustment based on the current error, introduce a double normalized benchmark to construct a Gaussian decay confidence model, and determine whether the adjustment meets the standard and trigger a shutdown.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the intelligent adjustment method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program that, when executed by a processor, controls the device containing the storage medium to perform the intelligent adjustment method as described in any one of claims 1-7.

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