A bottom mould laser positioning method of a truss type load-bearing support formwork

Abstract

The application relates to the technical field of building construction and discloses a bottom mold laser positioning method of a truss type load-bearing support formwork, which comprises the following steps: dividing a reflecting target into a global dynamic reference target and a space polling target; driving a supporting mechanism to apply disturbance, extracting a static coordinate according to the transient kinetic energy dissipation state of the reference target, and constructing a global deformation sensitivity matrix; when the low-frequency interference energy is lower than a steady-state threshold, scanning the polling target to extract a quasi-static space coordinate set; based on the coordinate set, the sensitivity matrix and physical boundary constraints, an optimal adjustment amount vector is solved to drive the supporting mechanism; when the structural base frequency deviation amount exceeds the limit, a local subdomain of mechanical variation is positioned, and invalid data columns of the matrix are reconstructed. The application excludes the interference of on-site dynamic oscillation on static coordinate extraction, avoids stress concentration caused by unconstrained jacking, and shortens the matrix recovery period after structure anomaly through local column vector replacement.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically to a laser positioning method for the bottom formwork of a truss-type load-bearing support template. Background Technology

[0002] Truss-type load-bearing support systems are often used in the construction of large-span or complex-shaped buildings. The spatial positioning accuracy of the bottom formwork directly affects the overall construction quality. During the installation and positioning of the bottom formwork, laser measuring equipment is used to obtain the spatial coordinates of the targets at each support node. Based on the measurement deviation, the support mechanism is driven to move in coordination to adjust the spatial shape of the formwork. Since the truss structure is a multi-node coupled force system, the displacement change of a single support node often causes the global deformation response of the entire bottom formwork system. Therefore, the system needs to rely on a pre-extracted global deformation sensitivity matrix to guide the synchronous adjustment of multiple points.

[0003] In real-world environments, existing laser positioning methods for bottom formwork have limitations in data acquisition and control. Wind loads and mechanical impacts from construction operations frequently subject the bottom formwork structure to forced vibration. Conventional measurement systems directly scan target coordinates at a fixed frequency, making it difficult to effectively isolate the dynamic oscillation components from the actual static deformation components. This signal aliasing between dynamic oscillations and static deformation leads to fluctuations in the acquired spatial coordinates, resulting in a lack of accurate data for the system to calculate the motion of the support mechanism.

[0004] Meanwhile, during the positioning of the bottom formwork and the loading of the structure's self-weight, the truss structure may undergo mechanical variations due to loosening of connectors or local abnormal loads. Once the force transmission path of a local node changes, the original global deformation sensitivity matrix immediately becomes invalid. When dealing with such local variations, the existing system can only stop the positioning process and re-apply perturbation to all support mechanisms across the entire domain to re-acquire and reconstruct the global matrix. This global retesting method involves a large amount of measurement work, resulting in excessively long recovery time from abnormal states. In addition, the existing multi-node linkage solution model, when calculating the optimal adjustment amount of each support mechanism, often focuses solely on eliminating deviations in three-dimensional spatial mathematical coordinates, without incorporating the physical boundary constraints of actuator mechanical travel limits and the yield limits of adjacent node structural materials during the solution process. When multiple mechanisms are simultaneously lifted or lowered, displacement adjustment commands lacking physical boundary constraints can cause the relative deformation of adjacent nodes to exceed the structural safety tolerance, thereby triggering local stress concentration and member deformation damage. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a laser positioning method for the bottom formwork of a truss-type load-bearing support template. This method solves the problems of measurement distortion caused by the mixing of dynamic and static signals, long recovery time of the global matrix when there are local anomalies, and structural damage caused by the lack of physical boundary constraints in the solution calculation in existing bottom formwork positioning methods.

[0006] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a laser positioning method for the bottom formwork of a truss-type load-bearing support template. The method is implemented based on a measurement and control system, which includes a calculation module, a laser measurement terminal, a reflective target, and a support mechanism. The reflective target is divided into a global dynamic reference target and a spatial polling target. The support mechanism is driven to apply disturbance, and the static coordinates are extracted based on the transient vibration energy dissipation state of the global dynamic reference target to construct a global deformation sensitivity matrix. When the low-frequency dynamic disturbance energy is lower than the preset steady-state threshold, the spatial polling target is scanned to extract a set of quasi-static spatial coordinate vectors. Based on the set of quasi-static spatial coordinate vectors, the global deformation sensitivity matrix, and physical boundary constraints, the optimal adjustment vector is solved to drive the support mechanism to adjust. When the frequency deviation of the real-time base natural frequency exceeds the frequency threshold, the local subdomain of mechanical variation is located, and the failure data series of the global deformation sensitivity matrix is ​​reconstructed.

[0007] This invention achieves spatiotemporal decoupling between high-frequency dynamic feature extraction and low-frequency static polling scanning through target grading and transient energy monitoring. It also reduces steady-state coordinate extraction errors caused by high-frequency signal aliasing by utilizing an energy threshold truncation mechanism. For structural anomalies, this method identifies local mechanical variations by monitoring frequency offset and replaces global re-acquisition with local incremental reconstruction of matrix column vectors, thus shortening the system recovery cycle. During the solution process, this method applies physical boundary constraints to the solution matrix to prevent the displacement adjustment from exceeding the structural safety tolerance range.

[0008] Furthermore, the step of dividing the reflection targets into global dynamic reference targets and spatial polling targets includes: acquiring the design model parameters of the truss structure and extracting the mid-span nodes and the intersection nodes of the main load-bearing members as feature nodes; dividing the reflection targets installed at the feature node positions into global dynamic reference targets and dividing the remaining reflection targets into spatial polling targets; the calculation module establishes a state machine communication link with the laser measurement terminal and issues an operation mode configuration word, generates a high-frequency locking mode and a low-frequency polling mode, and performs time-division multiplexing scheduling between the high-frequency locking mode and the low-frequency polling mode according to the type of subsequent action instructions; In the above steps, the system selects the characteristic stress nodes of the truss structure to set up benchmark targets, and controls a single hardware device to switch between dynamic tracking and static traversal measurement modes through a state machine.

[0009] Furthermore, the step of extracting static coordinates based on the transient vibration energy dissipation state of the global dynamic reference target includes: acquiring the high-frequency coordinate time series of the global dynamic reference target; performing a fast Fourier transform on the data within a sliding time window of a set width to extract the transient vibration energy density function corresponding to the first-order natural frequency band of the truss structure; performing a definite integral operation on the transient vibration energy density function to extract the maximum integral value to obtain the total transient vibration energy of the structure accumulated in the current time window; when the total transient vibration energy of the structure within multiple consecutive sliding time windows is not higher than the background environmental noise energy threshold or the monitoring duration exceeds the set maximum tolerance time threshold, it is determined that the forced vibration kinetic energy has dissipated to a calm state, and a global truncation command is issued. This process maps time-domain tracking coordinates to the frequency domain to quantify the structural kinetic energy dissipation state, thereby establishing a data truncation criterion to eliminate the influence of forced vibrations.

[0010] Furthermore, the construction of the global deformation sensitivity matrix includes: obtaining the initial static coordinate set before the support mechanism is disturbed; after receiving the global truncation command at the laser measurement terminal, switching to a low-frequency polling mode to execute a traversal scanning sequence; fusing the coordinates of the spatial polling target with the steady-state convergence coordinates of the global dynamic reference target at the truncation point to extract the absolute physical static coordinate set; performing a difference operation between the absolute physical static coordinate set and the initial static coordinate set to calculate the spatial three-dimensional coordinate change of the reflection target; dividing the spatial three-dimensional coordinate change by the actual vertical unit reference displacement performed by the support mechanism to solve the deformation response sensitivity coefficient of the local nodes to the global bottom mold system; and constructing the global deformation sensitivity matrix by sequentially splicing tensors according to the support node labels. This step quantifies the spatial displacement response of the support mechanism after a disturbance is applied by subtracting the absolute physical static coordinate set from the initial static coordinate set, providing a data foundation for the subsequent construction of the global deformation sensitivity matrix.

[0011] Furthermore, the calculation of the low-frequency dynamic interference energy and the extraction of a quasi-static spatial coordinate vector set from the spatial polling target when the low-frequency dynamic interference energy is lower than a preset steady-state threshold include: performing a fast Fourier transform on the real-time three-dimensional coordinate sequence of the global dynamic reference target; performing integral operations on the square of the frequency domain signal amplitude within a set low-frequency interest interval and extracting the maximum integral value to quantify the low-frequency dynamic interference energy; when the low-frequency dynamic interference energy is continuously lower than the preset steady-state threshold and remains below the set time window length, determining that the environment has entered a steady-state window, and issuing a mode switching command to the laser measurement terminal to switch to the low-frequency polling mode; acquiring the absolute three-dimensional coordinate data of the spatial polling target under static load equilibrium state, performing set fusion with the three-dimensional coordinate data of the global dynamic reference target, and concatenating column vector tensors according to the target number order to construct the quasi-static spatial coordinate vector set; This method quantifies the level of environmental interference through frequency domain integration and performs data acquisition when the system is in the steady-state window of the environment, thus avoiding data distortion caused by low-frequency interference in the field.

[0012] Furthermore, it also includes: if the monitoring time exceeds the set steady-state waiting limit time and the preset steady-state threshold condition is still not met, the multi-cycle time averaging filtering mode is triggered; the arithmetic mean of the high-frequency coordinate sequence of the global dynamic reference target is performed to obtain smooth coordinate data; the laser measurement terminal is scheduled to lock the spatial polling target in sequence and stay at each spatial polling target for a continuous number of natural cycles to collect the dynamic coordinate sequence, and the arithmetic mean is performed to extract the coordinate data for fusion; When the monitoring time exceeds the steady-state waiting limit, the system switches to a multi-cycle time-averaged filtering mode, using the arithmetic average of continuous self-oscillation cycles to offset the periodic oscillation error.

[0013] Furthermore, the step of solving for the optimal adjustment vector based on the quasi-static spatial coordinate vector set, the global deformation sensitivity matrix, and physical boundary constraints includes: extracting the theoretical design three-dimensional coordinate vector set of the corresponding node positions of each reflection target from the building information model data; performing a subtraction operation on the corresponding terms of the quasi-static spatial coordinate vector set and the theoretical design three-dimensional coordinate vector set to generate a target deviation vector; establishing a positioning residual objective function in conjunction with the global deformation sensitivity matrix, wherein the positioning residual objective function is configured to find a set of displacement adjustment amounts of the support mechanism that minimizes the sum of squares of the deviations between the adjusted predicted spatial coordinates and the theoretical design coordinates; the physical boundary constraints include an actuator absolute stroke constraint inequality that limits the cumulative stroke to no more than the mechanical limit stroke range, and an adjacent node relative deformation constraint inequality that limits the relative displacement difference to remain within the structural safety tolerance during synchronous adjustment; This step limits the mechanical limits of the actuator and the variational differences of adjacent nodes by using physical boundary constraints, thus preventing stress concentration caused by multi-node coordinated adjustment when solving the positioning residual objective function.

[0014] Furthermore, it also includes: the optimization solver built into the solution module receives the positioning residual objective function and physical boundary constraints to construct a quadratic programming mathematical model; a non-negative relaxation variable is introduced into the quadratic programming mathematical model, and this non-negative relaxation variable is added to the tolerance boundary of the relative deformation constraint inequality of adjacent nodes, and a penalty term corresponding to the non-negative relaxation variable is added to the positioning residual objective function; numerical iterative calculation is performed to obtain the optimal adjustment vector that satisfies the constraint conditions, and the optimal adjustment vector is converted into a digital control pulse sequence and synchronously sent to the support mechanism to perform hardware entity displacement adjustment; The above solution process transforms the spatial positioning problem involving multiple points into a quadratic programming task with physical constraints. By using non-negative slack variables to relax boundary constraints, it avoids unsolvable situations caused by conflicts in joint constraints among multiple nodes.

[0015] Furthermore, when the frequency offset of the real-time base natural frequency exceeds the frequency threshold, the local subdomain of mechanical variation is located, including: performing a discrete Fourier transform on the high-frequency coordinate time series of the global dynamic reference target to generate a set of real-time spectrum sequences; searching for spectrum peaks within a set interval to extract the local base frequency of each target; arithmetically averaging all the local base frequencies to extract the real-time base natural frequency; calculating the absolute difference between the real-time base natural frequency and the initial reference frequency calibrated and stored under no-load healthy state to obtain the frequency offset; when the frequency offset exceeds the set frequency threshold, suspending the current secondary planning positioning solution process; extracting the pre-stored theoretical design three-dimensional coordinate vector set; calculating the single-point spatial deviation between the quasi-static spatial coordinate vector set and the theoretical design three-dimensional coordinate vector set; filtering out abnormal reflection targets whose single-point spatial deviation exceeds the set deviation tolerance; locating the support mechanism with the closest physical distance to the abnormal reflection target according to the spatial topology mapping relationship and classifying it into the local subdomain of mechanical variation; This diagnostic mechanism compares the real-time base natural frequency with the initial reference frequency to identify abnormal targets with excessive single-point spatial deviation, thereby locating regions of structural mechanical variation.

[0016] Furthermore, the failure data column of the reconstructed global deformation sensitivity matrix includes: extracting the set of reference static coordinates under mechanical variation state, reading the current absolute stroke data of the associated support mechanism in the local subdomain of mechanical variation, reissuing the drive control command one by one to apply a vertical unit reference displacement, and extracting the latest static coordinates of the reflection target after local disturbance dissipation; calculating the spatial three-dimensional coordinate change vector by subtracting the latest static coordinates from the set of reference static coordinates, and recalculating the deformation response sensitivity coefficient vector corresponding to the support mechanism in the local subdomain of mechanical variation; and directly replacing the corresponding failure data column in the original global deformation sensitivity matrix with the recalculated deformation response sensitivity coefficient column vector to complete the incremental reconstruction and wake up the suspended positioning solution process. The system performs directional perturbations on abnormal local nodes to obtain the latest spatial three-dimensional coordinate change vectors, and corrects the global deformation sensitivity matrix by replacing local column vectors, thus avoiding re-executing the global test.

[0017] This invention provides a laser positioning method for the bottom formwork of a truss-type load-bearing support template. It has the following beneficial effects: 1. This invention divides the reflection target into a global dynamic reference target and a spatial polling target, and issues a global truncation command based on the transient vibration energy dissipation state of the global dynamic reference target; combined with the quantitative calculation of low-frequency dynamic interference energy, the system only scans the spatial polling target to extract the quasi-static spatial coordinate vector set when the interference energy is lower than a preset steady-state threshold; the above features isolate dynamic feature tracking from static polling scanning, eliminate structural forced vibration interference caused by on-site wind load and construction operations, avoid coordinate extraction errors caused by high and low frequency signal aliasing, and improve the accuracy of bottom formwork spatial positioning measurement data.

[0018] 2. This invention introduces physical boundary constraints into the quadratic programming solution model for solving the optimal adjustment vector. These physical boundary constraints include absolute travel constraint inequalities that limit the cumulative travel to the mechanical limit range, and relative deformation constraint inequalities that limit the relative displacement difference between adjacent nodes. Non-negative relaxation variables are also added to the model. These features ensure that the linkage adjustment of the support mechanism is subject to the coordinated limitation of the actuator's mechanical limit and the structural safety tolerance, preventing local stress concentration and structural damage caused by unconstrained multi-node lifting. At the same time, relaxation variables are used to relax the tolerance boundary, avoiding the situation where the positioning program fails due to joint constraint conflicts.

[0019] 3. This invention locates local subdomains of mechanical variation by monitoring the frequency offset of the natural frequency of the real-time base. Displacement disturbances are applied to the support structure within these local subdomains, and the latest static coordinates are extracted. The local deformation response sensitivity coefficient column vector is then recalculated. The system directly replaces the corresponding failure data column in the original global deformation sensitivity matrix with the newly generated column vector. These features change the traditional approach of re-measuring the global stiffness matrix when a truss structure experiences local stress anomalies. By using local incremental reconstruction to correct the global coupling matrix, the system reduces repeated global scanning and testing, and shortens the recovery cycle for local mechanical variations. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall measurement and control system architecture of the present invention; Figure 2 This is a schematic diagram of the overall flow of the measurement and control method of the present invention; Figure 3 This is a schematic diagram of the quasi-static absolute coordinate extraction control process of the present invention; Figure 4 This is a schematic diagram of the control process for quadratic programming positioning solution that integrates physical boundary constraints according to the present invention. Figure 5 This is a schematic diagram of the matrix self-diagnosis and local reconstruction control process based on fundamental frequency drift of the present invention; Figure 6 This is a schematic diagram of the transient vibration energy decay monitoring curve of the present invention; Figure 7 This is a schematic diagram comparing the spatial positioning deviation of the present invention, wherein a is a schematic diagram of the three-dimensional distribution of spatial deviation before adjustment, and b is a schematic diagram of the three-dimensional distribution of spatial deviation after adjustment; Figure 8 This is a schematic diagram of the global natural frequency drift monitoring curve of the present invention.

[0021] The meanings of the labels in the diagram are as follows: 100. Solving module; 200. Laser measurement terminal; 300. Reflective target; 400. Support mechanism; 500. Bottom mold; 600. Truss structure. Detailed Implementation

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] See attached document Figure 1In order to support and execute a laser positioning method for the bottom mold of a truss-type load-bearing support template, the present invention provides a measurement and control system; the measurement and control system may include: a calculation module 100, a laser measurement terminal 200, a reflective target 300, and a support mechanism 400.

[0024] The reflective target 300 is arranged at the stress node of the bottom mold 500; the bottom mold 500 is supported above the truss structure 600; the support mechanism 400 is arranged at the bottom of the truss structure 600; the support mechanism 400 is used to provide vertical displacement adjustment of the bottom mold 500.

[0025] The laser measurement terminal 200 establishes a communication connection with the reflective target 300 through a spatial optical path; the laser measurement terminal 200 and the support mechanism 400 establish a bidirectional data communication connection with the calculation module 100 respectively.

[0026] The laser measurement terminal 200 emits a single-beam laser and has a built-in high-speed two-dimensional scanning galvanometer. The laser measurement terminal 200 has a dynamic tracking function and acquires the three-dimensional spatial coordinate sequence of multiple targets through a high-speed time-division multiplexing mechanism.

[0027] The support mechanism 400 has a built-in displacement sensor; the support mechanism 400 feeds back the actual travel data to the calculation module 100 and receives the drive command issued by the calculation module 100 to perform displacement.

[0028] The solution module 100 has a built-in digital signal processing unit and an optimization solver; the solution module 100 performs frequency domain analysis, matrix operations and quadratic programming solutions.

[0029] See attached document Figure 2 This invention provides a laser positioning method for the bottom formwork of a truss-type load-bearing support template, comprising the following steps: S100, the calculation module 100 performs the initialization of the measurement and control network and the spatiotemporal decoupling of the target classification. According to the force topology of the truss structure 600, the reflection target 300 is divided into a global dynamic reference target and a spatial polling target, and the laser measurement terminal 200 is scheduled to switch between high-frequency locking mode and low-frequency polling mode. S200, the calculation module 100 performs the construction of a deformation sensitivity matrix based on adaptive truncation of energy attenuation, drives the support mechanism 400 one by one to apply unit displacement perturbation, uses the laser measurement terminal 200 to obtain the high frequency coordinate time series of the global dynamic reference target, performs fast Fourier transform on the high frequency coordinate time series to calculate the transient vibration energy density, monitors the transient vibration energy density dissipation state, issues truncation command to extract the absolute physical static coordinates, calculates the coordinate change rate to construct the global deformation sensitivity matrix; S300, the solution module 100 performs daily quasi-static absolute coordinate extraction driven by the environmental steady-state window. It quantifies the low-frequency dynamic interference energy of the environment through the frequency domain signal of the global dynamic reference target. When the low-frequency dynamic interference energy is lower than the preset steady-state threshold, it schedules the laser measurement terminal 200 to scan the spatial polling target and extract the quasi-static spatial coordinate vector set of the bottom model 500. S400, the solution module 100 performs a secondary planning positioning solution that integrates physical boundary constraints. It compares the quasi-static spatial coordinate vector set with the theoretical design coordinates to generate a target deviation vector. Based on the global deformation sensitivity matrix, it constructs a positioning residual objective function. It introduces the actuator absolute stroke constraint and the relative deformation constraint of adjacent nodes to solve for the optimal adjustment vector. The optimal adjustment vector is converted into a control pulse and sent to the support mechanism 400 to perform the adjustment. S500, the solution module 100 performs matrix validity self-diagnosis and local reconstruction based on fundamental frequency drift, extracts the real-time base natural frequency from the high-frequency coordinate time series, calculates the frequency deviation between the real-time base natural frequency and the initial reference frequency, suspends the positioning solution process when the frequency deviation exceeds the set frequency threshold, locates the local subdomain where mechanical variation occurs according to the spatial deviation distribution, drives the support mechanism 400 in the corresponding subdomain to apply unit displacement disturbance, and incrementally reconstructs the failure data column of the global deformation sensitivity matrix.

[0030] In this embodiment, step S100 provided by the present invention may include the following steps in specific implementation: S110, the solution module 100 obtains the design model parameters of the truss structure 600 and extracts the mid-span nodes and the intersection nodes of the main load-bearing members as feature nodes. The above feature nodes have large deformation amplitudes and contain the main features of the first-order vibration mode of the structure. The solution module 100 calculates the parameters based on the total parameters arranged on the bottom formwork 500. A global target set is constructed using 300 reflection targets. The global target set is then divided into a mutually exclusive subset of global dynamic benchmark targets and a subset of spatial polling targets through spatial topological hierarchical mapping.

[0031] The calculation module 100 assigns a specific number of reflection targets 300 installed at the aforementioned feature node locations to a subset of the global dynamic reference targets. The specific number is selected proportionally based on the span of the base model 500. In this embodiment, the specific number ranges from 10% to 20% of the total number of targets. The remaining reflection targets 300 are assigned to a subset of spatial polling targets. The division of the global target set satisfies the following mathematical relationship: ; ; In the formula, For the entire target set; A subset of global dynamic benchmark targets; This is the set union operator; For spatial polling target subset; A subset of global dynamic benchmark targets; This is the intersection operator for sets; For spatial polling target subset; It is an empty set; a specific quantity is denoted as Its value range is .

[0032] S120, the calculation module 100 establishes a state machine communication link with the laser measurement terminal 200 and sends out an operation mode configuration word. The internal control unit of the laser measurement terminal 200 generates a high-frequency locking mode and a low-frequency polling mode based on the configuration word. When the high-frequency locking mode is activated, the calculation module 100 sends out the optical search coordinates of the specified target. The laser measurement terminal 200 uses the built-in high-speed two-dimensional scanning galvanometer to sequentially lock the targets in the global dynamic reference target subset and continuously outputs a three-dimensional spatial coordinate sequence at a fixed sampling frequency. The fixed sampling frequency is set to be greater than twice the theoretical value of the first-order natural frequency of the truss structure 600. In this embodiment, the value range of the fixed sampling frequency is 10 Hz to 50 Hz. Furthermore, the position-sensitive detector can be used to capture the reflected light spot and drive the motor to follow it for beam locking tracking and spatial coordinate calculation. This underlying physical implementation mechanism is a well-known technology in the field.

[0033] S130, in the low-frequency polling mode activation state, the solution module 100 generates a traversal scanning sequence according to the shortest spatial turning path principle. The solution module 100 drives the laser measurement terminal 200 to adjust the measurement optical axis in sequence through the traversal scanning sequence, so that the laser measurement terminal 200 scans each reflection target 300 in the spatial polling target subset according to the sequence order and obtains the corresponding static spatial coordinates.

[0034] S140, the calculation module 100 performs time-division multiplexing scheduling between the two operation modes according to the type of subsequent action instructions. Before issuing action instructions to the support mechanism 400 or performing environmental dynamic energy monitoring, it sends an interrupt control frame to the laser measurement terminal 200 through the communication bus and writes a high-frequency locking mode identifier. After determining that the system kinetic energy dissipates to the environmental background level or reaches the maximum tolerance time threshold, the calculation module 100 sends a switching control frame containing the traversal scanning sequence to the laser measurement terminal 200 and writes a low-frequency polling mode identifier. The above dual-mode switching scheduling mechanism completes the spatiotemporal decoupling of high-frequency dynamic feature extraction and global static coordinate extraction based on a single measurement hardware, which can reduce the degree of high-frequency signal aliasing during the process of a single instrument traversing and scanning the entire domain nodes.

[0035] See attached document Figure 3 In specific implementations, step S200 provided by the present invention may include the following steps: S210, the calculation module 100 first confirms that the system's kinetic energy dissipates to the environmental background level or the waiting time exceeds the set maximum tolerance time threshold. Then, it uses time-division multiplexing to schedule the laser measurement terminal 200 to acquire the three-dimensional coordinate data of the global dynamic reference target subset and the spatial polling target subset, respectively. In the timeout state, a multi-cycle time-averaged filtering mechanism is applied, followed by set fusion to extract and store the initial static coordinate set before the disturbance is applied. Subsequently, the calculation module 100 sends drive control commands to each support mechanism 400 configured at the bottom of the truss structure 600 in a preset order. The drive mechanisms 400 have built-in... The actuator receives the above control command and drives the corresponding lifting axis to move up or down by a vertical unit reference displacement. This displacement is set to a fixed value of 2 mm to 5 mm according to the truss stiffness. The single-point force disturbance causes stress redistribution and global deformation inside the structure. During the operation cycle of the support mechanism 400 performing physical displacement, the calculation module 100 simultaneously switches the laser measurement terminal 200 to high-frequency locking mode. The optical servo tracking mechanism of the laser measurement terminal 200 continuously locks the target in the global dynamic reference target subset and collects its three-dimensional spatial coordinate data at a constant sampling rate to generate a high-frequency coordinate time series containing timestamp information.

[0036] S220, the solution module 100 calls the built-in digital signal processing unit to extract a sliding time window of a set width from the received high-frequency coordinate time series. The width of this window is set to include 3 to 5 first-order natural vibration periods. The solution module 100 performs a fast Fourier transform operation on the data within the sliding time window to map it from the time domain to the frequency domain. The time-domain to frequency domain mapping is based on the waveform decomposition principle to extract the characteristic frequency bands of the vibration signal. The solution module 100 extracts the transient vibration energy density function corresponding to the first-order natural vibration frequency band of the truss structure 600 from the frequency domain data. The frequency domain mapping and energy density calculation are performed based on the following formula: ; ; In the formula, This is a frequency domain complex sequence obtained after processing a time series using a Fast Fourier Transform. This refers to the index number of the benchmark target in the global dynamic benchmark target subset; For frequency domain frequency variables; For Fast Fourier Transform operators; The first data collected in high-frequency fixed mode A sequence of three-dimensional spatial coordinates of a reference target in the time domain; For time-domain variables; The extracted transient vibrational energy density function; For frequency domain frequency variables; The modulo operator for complex numbers; It is a frequency domain complex sequence obtained by processing a time domain sequence through a fast Fourier transform.

[0037] S230, the solution module 100 performs definite integral operations on the transient vibration energy density function of all target targets in the global dynamic reference target subset within a preset first-order natural frequency band, and extracts the maximum integral value to obtain the total transient vibration energy of the structure accumulated in the current time window. The solution module 100 compares the total transient vibration energy with the background environmental noise energy threshold obtained statistically under the initial silent and windless state of the system. In this embodiment, the background environmental noise energy threshold ranges from 0.01 to 0.05. When the total transient vibration energy within multiple consecutive sliding time windows is not higher than the background environmental noise energy threshold or the monitoring duration exceeds the set maximum tolerance time threshold, the calculation module 100 determines that the forced vibration kinetic energy has been dissipated by the truss structure 600 to a calm state. In this embodiment, the maximum tolerance time threshold ranges from 120 seconds to 300 seconds. The maximum tolerance time threshold is introduced as a fallback condition to avoid logical dead loops caused by continuous external disturbances. Based on this, the calculation module 100 issues a global truncation command to the laser measurement terminal 200. The integral expression of the truncation determination logic is: ; In the formula, This is the definite integral operator; This is the lower limit of the frequency integral in the first-order natural frequency band of the truss structure. This is the upper limit of the frequency integral in the first-order natural frequency band of the truss structure. Let be the transient vibrational energy density function; It is a frequency integral infinitesimal element; This is the less than or equal to relational operator; The pre-set system background environmental noise energy threshold; In this embodiment, the pre-calibrated system background environmental noise energy threshold is used. The value range is from 0.01 to 0.05.

[0038] S240, after receiving the global truncation command, the laser measurement terminal 200 switches to low-frequency polling mode according to the state machine switching logic. The laser measurement terminal 200 executes a preset traversal scanning sequence to perform sequential optical ranging and angle measurement on each reflective target 300 in the spatial polling target subset on the base model 500. When forced truncation occurs due to timeout, the terminal stays at the target and performs multi-cycle time averaging filtering to eliminate dynamic oscillation deviation. Under the forced truncation state, the calculation module 100 compares the filtered spatial polling target coordinates with the global dynamic reference target subset within the time window before the truncation point. The smoothed coordinate sequence obtained after time-averaged filtering is fused. Under normal kinetic energy dissipation conditions, the scan coordinates obtained from sequential optical ranging and angle measurement are fused with the steady-state convergence coordinates of the global dynamic reference target subset at the cutoff point to extract the absolute physical static coordinate set under static load equilibrium. The calculation module 100 calls the initial static coordinate set pre-stored in memory before the disturbance is applied and performs a subtraction operation with the currently extracted absolute physical static coordinate set to calculate the spatial three-dimensional coordinate change of the target. The formula for the subtraction operation logic is expressed as follows: ; In the formula, In the first Under the influence of the first supporting institution The spatial three-dimensional coordinate change vector of a reflective target; For the index number of the reflective target; For the index number of the supporting organization; The data collected after the dissipation of the disturbance action subsided. The static coordinate vector of a reflective target after perturbation; The data collected before the disturbance action was executed. The initial static coordinate vector of a reflective target.

[0039] S250, the calculation module 100 divides the spatial three-dimensional coordinate change vector by the vertical unit reference displacement with positive and negative signs of the motion direction actually executed by the support mechanism 400 to solve the local node's sensitivity coefficient to the deformation response of the global bottom mold system. Then, the calculation module 100 issues a reverse drive command to reset the current support mechanism 400 to its initial position and simultaneously switches the laser measurement terminal 200 back to the high-frequency locking mode to re-execute energy attenuation monitoring. After determining that the structural kinetic energy dissipates again or reaches the maximum tolerance time threshold to trigger timeout truncation, the calculation module 100 schedules the laser measurement terminal 200 to re-acquire and update the global absolute physical static coordinate set, and simultaneously executes a multi-cycle time averaging filtering mechanism in the timeout truncation state. This is used as the initial static coordinate set for the next test cycle to eliminate the accumulation of residual errors from the previous reset. Then, the solution module 100 controls the internal state machine of the system to cycle through the next disturbance test cycle of the support mechanism 400 until all support mechanisms 400 configured at the bottom of the structure have been traversed. The solution module 100 uses the deformation response sensitivity coefficient vectors extracted in each cycle to perform tensor splicing column by column according to the support node labels, thereby constructing a global deformation sensitivity matrix characterizing the global spatial topological coupling relationship. The formula for constructing the multidimensional matrix is: ; In the formula, The constructed dimension is a global deformation sensitivity matrix containing 3N rows and M columns; The vertical unit reference displacement added to the truss structure by the supporting mechanism; For the first Under the influence of the first supporting institution The spatial three-dimensional coordinate change vector of a reflective target; The total number of reflective targets arranged on the base mold; The total number of support structures located at the bottom of the truss structure.

[0040] In this embodiment, step S300 provided by the present invention may include the following steps in specific implementation: S310, during the service monitoring phase, the calculation module 100 schedules the laser measurement terminal 200 to maintain a high-frequency locking mode. The laser measurement terminal 200 performs continuous optical tracking and coordinate calculation on targets in the global dynamic reference target subset to obtain a real-time three-dimensional coordinate sequence. On-site wind load and mechanical equipment operation induce low-frequency forced vibration in the truss structure 600. The calculation module 100 uses a digital signal processing unit to perform a fast Fourier transform on the real-time three-dimensional coordinate sequence to convert it to the frequency domain. The frequency domain integral can directly reflect the magnitude of external kinetic energy absorbed by the structure within a specified frequency band. The calculation module 100 performs integral calculation on the square of the frequency domain signal amplitude of all reference targets within the set low-frequency interest interval, and extracts the maximum integral value to uniformly quantify the low-frequency dynamic interference energy of the current environment. The environmental interference energy quantification process is performed based on the following formula: ; In the formula, The calculated low-frequency dynamic interference energy of the environment; This is the definite integral operator; This represents the lower frequency limit of the low-frequency range of interest where environmental interference is mainly distributed. This represents the upper frequency limit of the low-frequency range of interest where environmental interference is mainly distributed. The modulo operator for complex numbers; For Fast Fourier Transform operators; The first data obtained during the routine monitoring phase A real-time three-dimensional coordinate sequence of a reference target in the time domain; The index number of the benchmark target; For time domain time variables; It is a frequency integral infinitesimal element.

[0041] S320, the calculation module 100 compares the continuously calculated low-frequency dynamic interference energy with a preset steady-state threshold. The steady-state threshold is pre-calibrated based on the maximum permissible microstructure vibration kinetic energy equivalent to the 3 mm spatial measurement error allowed by the project. In this embodiment, the steady-state threshold ranges from 0.1 to 0.5. When the low-frequency dynamic interference energy remains below the preset steady-state threshold and is maintained for a set time window length, the calculation module 100 determines that the current construction environment has entered the environmental steady-state window for safe mapping. The time window length is set to 30 to 60 seconds. If the monitoring time exceeds the set steady-state waiting limit time and the threshold condition is still not met, the calculation module 100 will trigger an environmental anomaly warning and switch to the multi-cycle time average filtering mode. The multi-cycle time average filtering mode performs an arithmetic average on the dynamic coordinate sequence within multiple consecutive natural vibration cycles to offset the periodic oscillation deviation. In this embodiment, the steady-state waiting limit time ranges from 300 seconds to 600 seconds. In practical applications, the steady-state waiting limit time can be set to 600 seconds as a fallback control strategy. Under normal conditions, once the steady-state threshold condition is met, the calculation module 100 generates a trigger command to start the static coordinate acquisition task.

[0042] S330, the calculation module 100 executes the corresponding operation according to the triggered acquisition task status branch: if it is triggered by the environmental steady state window, the calculation module 100 sends a mode switching command to the laser measurement terminal 200 to switch to the low frequency polling mode. The laser measurement terminal 200 performs single optical ranging and angle measurement operations on all reflective targets 300 in the spatial polling target subset in a predetermined scanning sequence. The calculation module 100 receives the absolute three-dimensional coordinate data of each target in the static load equilibrium state from the laser measurement terminal 200. If the multi-cycle time-averaged filtering mode is triggered, the solution module 100 performs an arithmetic average on the high-frequency coordinate sequence of the global dynamic reference target subset that is currently in high-frequency locking mode to obtain its smooth coordinate data. Then, the underlying tracking mechanism of the high-frequency locking mode is reused to temporarily replace the target list with the spatial polling target subset. The laser measurement terminal 200 is scheduled to lock each target in the spatial polling target subset in sequence according to the predetermined scanning sequence, and stays at the target for a continuous number of natural vibration cycles to collect the corresponding dynamic coordinate sequence. The solution module 100 uses the smooth coordinate sequence obtained after the above arithmetic average to replace the transient absolute three-dimensional coordinate data. Subsequently, the calculation module 100 combines the three-dimensional coordinate data of the global dynamic reference target subset acquired during static acquisition or pre-calculated under multi-cycle filtering mode with the single-point coordinate data of the aforementioned spatial polling target subset. The combined single-point coordinate data is then concatenated into column vector tensors according to the target number order to extract and construct a quasi-static spatial coordinate vector set containing all reflecting targets and reflecting the global spatial attitude of the base model 500. In this embodiment, single-point absolute coordinate data can be generated based on ranging laser interferometry and precise angle measurement feedback. The underlying polar coordinate transformation spatial coordinate calculation logic is a well-known technology in the field. The construction logic of the quasi-static spatial coordinate vector set is expressed as follows: ; In the formula, To extract the set of quasi-static spatial coordinate vectors generated by splicing; The first measurement obtained during the environmental steady-state window A quasi-static three-dimensional column vector of a reflective target; For the index number of the reflective target; The total number of reflective targets configured for the system; This is the matrix transpose symbol.

[0043] See attached document Figure 4 In specific implementations, step S400 provided by the present invention may include the following steps: S410, the solution module 100 calls the built-in storage unit to read the pre-imported building information model data. The solution module 100 extracts the theoretical design three-dimensional coordinate vector set corresponding to the node positions of each reflective target 300 of the bottom mold 500 from the model data. The solution module 100 performs a subtraction operation on the corresponding terms of the extracted quasi-static spatial coordinate vector set and the theoretical design three-dimensional coordinate vector set to generate a target deviation vector. The target deviation vector represents the physical geometric distance of each node of the current bottom mold 500 from the theoretical design position. The solution module 100 establishes an objective function in combination with the global deformation sensitivity matrix. This objective function is configured to find a set of displacement adjustment amounts of the support mechanism 400 that minimizes the sum of squares of the deviations between the adjusted predicted spatial coordinates and the theoretical design coordinates. Its mathematical expression is as follows: ; In the formula, The symbol of the optimization objective function to find the minimum value; Let be the column vector of displacement adjustment amounts for each support mechanism to be solved; The 2-norm operator for vectors; This is a set of quasi-static spatial coordinate vectors extracted from actual measurements; This is the global deformation sensitivity matrix; This is a set of three-dimensional coordinate vectors for theoretical design extracted from a building information model.

[0044] S420, the solution module 100 establishes an absolute stroke constraint inequality for the actuator based on the mechanical and physical parameters of the support mechanism 400. This inequality limits the displacement adjustment of each support mechanism 400 plus its current cumulative stroke to no more than a predetermined mechanical limit stroke range. The solution module 100 also establishes a relative deformation constraint inequality for adjacent nodes based on the material yield strength parameters of the bottom mold 500. This inequality limits the relative displacement difference between two adjacent support points on the spatial topology during synchronous adjustment to remain within the structural safety tolerance. Exceeding this tolerance induces structural stress concentration and material yield failure. The mathematical modeling expression of these two physical boundary constraints is as follows: ; ; In the formula, This is the lower limit of the absolute stroke allowed by the supporting mechanism. This is the less than or equal to relational operator; This represents the current absolute travel vector of each supporting institution; Let be the column vector of displacement adjustment amounts for each support mechanism to be solved; This is the upper limit of the maximum absolute travel allowed by the supporting mechanism. This is the absolute value operator; The first of the adjacent support points in the spatial topology The required displacement adjustment amount for each support mechanism; For the index number of the supporting organization; The first of the adjacent support points in the spatial topology The required displacement adjustment amount for each support mechanism; For the index number of the supporting organization; This is the less than or equal to relational operator; This is the relative displacement safety difference between adjacent nodes calculated based on the mechanical properties of the bottom mold material.

[0045] S430, the optimization solver built into the solution module 100 receives the above objective function and physical boundary constraints to construct a standard quadratic programming mathematical model. The solution module 100 introduces a non-negative relaxation variable into the quadratic programming mathematical model to soften the boundary constraints. Specifically, the non-negative relaxation variable is added to the tolerance boundary of the relative deformation constraint inequality between adjacent nodes. At the same time, a penalty term corresponding to the non-negative relaxation variable is added to the positioning residual objective function. The upper limit of the allowed value of the non-negative relaxation variable is set to a positive real number in the range of 1 mm to 3 mm, which reflects the physical magnitude of the system's structural safety redundancy and measurement tolerance. By introducing slack variables to eliminate infeasible solutions caused by multi-node joint constraint conflicts, the solution module 100 performs numerical iterative calculations to obtain the optimal adjustment vector that satisfies the constraints. The solution module 100 converts the continuous displacement values ​​corresponding to the optimal adjustment vector into a digital control pulse sequence that can be recognized by the underlying hardware. The solution module 100 synchronously sends the digital control pulse sequence to the servo drives of each support mechanism 400 at the bottom of the truss structure 600 via the field communication bus to perform hardware entity displacement adjustment. In this embodiment, the interior point method algorithm can be used to perform iterative solutions to quadratic programming problems with multiple inequality constraints. This optimization numerical calculation theory system is a well-known technology in this field.

[0046] See attached document Figure 5 In specific implementations, step S500 provided by the present invention may include the following steps: S510, the calculation module 100 continuously receives the high-frequency coordinate time series of the global dynamic reference target subset collected by the laser measurement terminal 200 during the daily service monitoring phase. The calculation module 100 reads the status register of the field communication bus. When it is confirmed that the support mechanism 400 is not in the active displacement adjustment cycle to avoid interference from the forced operating frequency of the actuator, the micro-excitation of the service environment is used as a broadband excitation source. The calculation module 100 performs discrete Fourier transform on the high-frequency coordinate time series of each target to generate a set of real-time spectrum sequences. The solution module 100 searches for spectral peaks in the real-time spectrum sequence set within the set first-order mode frequency band to extract the local base frequency of each target. It then calculates the arithmetic mean of all local base frequencies to extract the unique real-time base natural frequency of the corresponding truss structure 600. The first-order mode frequency band is pre-determined and set to the range of 0.5 Hz to 2 Hz based on the finite element modal analysis of the building information model. The solution module 100 calls the initial reference frequency, pre-calibrated and stored in memory under a healthy, unloaded state. Structural stiffness degradation or loosening of boundary constraints causes a drift in the system's global natural frequency. The solution module 100 calculates the absolute difference between the real-time base natural frequency and the initial reference frequency based on this physical characteristic to obtain the frequency offset. The calculation logic for the frequency offset is based on the following formula: ; In the formula, This is the frequency offset of the system's global natural frequency obtained through calculation; This is the absolute value operator; The real-time basis natural frequency is extracted from the real-time spectrum sequence; The initial reference frequency is pre-calibrated and stored.

[0047] S520, the calculation module 100 continuously compares the calculated frequency deviation with the set frequency threshold. The frequency threshold is set to 0.05 times the initial reference frequency based on structural damage tolerance engineering experience. In this embodiment, the value range of the frequency threshold is 0.03 times to 0.08 times the initial reference frequency. When the frequency deviation exceeds the set frequency threshold, the calculation module 100 determines that the truss structure 600 has undergone mechanical variation and sends an interrupt command to the system main control bus to suspend the current secondary planning and positioning calculation process. The calculation module 100 extracts the currently measured quasi-static spatial coordinate vector set and calculates the difference between the theoretically designed three-dimensional coordinate vector set to calculate the single-point spatial deviation of each node, thereby assessing the degree of physical error of the current node deviating from the theoretically designed position. The calculation module 100 filters out abnormal reflection targets 300 whose single-point spatial deviation exceeds the set deviation tolerance. In this embodiment, the set deviation tolerance ranges from 3 mm to 5 mm. If no target meeting the conditions is found, the set deviation tolerance is halved to perform secondary downgraded filtering to avoid positioning deadlock. The calculation module 100 locates the support mechanism 400 with the closest physical distance to the abnormal reflection target 300 according to the spatial topology mapping relationship and classifies it into the local subdomain where mechanical variation occurs. The abnormal node filtering logic based on single-point spatial vector distance is expressed as follows: ; In the formula, The 2-norm operator for vectors; For the first The measured quasi-static coordinate vector of a reflective target; For the index number of the reflective target; For the corresponding number Theoretical design coordinate vector of a reflective target; This is the greater than relational operator; In this embodiment, to determine the deviation of the abnormal judgment node, The value ranges from 3 mm to 5 mm.

[0048] S530, the calculation module 100 first uses the digital signal processing unit to monitor the low-frequency dynamic interference energy. After meeting the preset steady-state threshold conditions, it uses time-division multiplexing to schedule the laser measurement terminal 200 to obtain the three-dimensional coordinate data of the global dynamic reference target subset and the spatial polling target subset respectively and perform set fusion to extract and update the reference static coordinate set under the current variation state. Subsequently, the calculation module 100 first reads the current absolute stroke data of the associated support mechanism 400 within the local subdomain. In order to avoid the actuator from overshooting or undershooting, when the current absolute stroke is close to the maximum upper limit of the machine, the disturbance direction is set to downward, and otherwise set to upward. Then, the drive control command is reissued one by one to apply a vertical unit reference displacement. During the operation of the support mechanism 400, the calculation module 100 simultaneously switches the laser measurement terminal 200 to the high-frequency locking mode and performs energy attenuation monitoring based on transient vibration energy density calculation to determine whether the forced vibration kinetic energy has subsided. After determining that the dissipation has subsided or the maximum tolerance time threshold has been reached, the solution module 100 sends a state switching command to the laser measurement terminal 200 to switch to low-frequency polling mode, and controls the laser measurement terminal 200 to scan the spatial polling target subset. When forced truncation occurs due to timeout, multi-cycle time averaging filtering is executed simultaneously. In the timeout forced truncation state, the solution module 100 fuses the filtered spatial polling target coordinates with the smoothed coordinate sequence of the global dynamic reference target subset after time averaging filtering within the time window before the truncation point. In the normal dissipation subsidence state, the solution module 100 fuses the spatial polling target coordinates obtained from a single scan with the steady-state convergence coordinates of the global dynamic reference target subset at the truncation point to extract the latest static coordinates of the global target after local disturbance dissipation, and subtracts them from the above reference static coordinate set to calculate the spatial three-dimensional coordinate change vector of the global target caused by local disturbance. The calculation module 100 recalculates the deformation response sensitivity coefficient vector corresponding to the support mechanism 400 in the local subdomain based on the newly acquired coordinate change vector and the sign of the current disturbance direction. Simultaneously, it issues a reverse drive command to reset the currently acting support mechanism 400. At the same time, it switches the laser measurement terminal 200 to high-frequency locking mode again. Using the same energy decay monitoring mechanism, it determines whether the structural kinetic energy has subsided or timed out. Then, it extracts and updates the reference static coordinate set under the current variation state to eliminate residual reset errors. Subsequently, it loops through the testing process of the next support mechanism 400 in the local subdomain until all support mechanisms 400 configured in that local subdomain are traversed. The calculation module 100 directly replaces the corresponding failure data column in the original global deformation sensitivity matrix with the recalculated deformation response sensitivity coefficient column vector. The incremental reconstruction operation of the multidimensional matrix uses a column vector local coverage replacement method to avoid the high time cost of re-acquiring and solving the global stiffness matrix. After reconstruction, the calculation module 100 wakes up the suspended positioning calculation process. The formula for the column vector local incremental reconstruction logic is expressed as: ; In the formula, The first of the reconstructed global deformation sensitivity matrix Column vectors; The index number of the matrix column corresponding to the supporting structure that has mutated within the local subdomain; This is the column vector of spatial three-dimensional coordinate changes measured after reapplying the local perturbation. The vertical unit reference displacement applied to the support mechanism.

[0049] Application Examples: Please see the appendix Figure 6 - Appendix Figure 8 To better understand the technical solution of this invention, the following example is used as an illustration of the construction scenario of a large-span hyperboloid roof of cast-in-place concrete in a high-speed railway station. The bottom layer of this area adopts a heavy truss load-bearing support system, and a bottom formwork is laid on top. The bottom formwork spans 60 meters by 40 meters. There are wind loads and vibration interference caused by mechanical construction operations on site. Manual total station measurement and manual jack fine adjustment cannot guarantee the flatness and elevation accuracy of the bottom formwork.

[0050] A total of 50 reflective targets were arranged at the stress nodes of the bottom formwork and at the mid-span position. The calculation module classified 8 of these node targets as global dynamic reference targets and the remaining 42 targets as spatial polling targets. Twelve sets of electro-hydraulic support mechanisms equipped with displacement sensors and servo drives were evenly distributed at the bottom of the truss. A single-beam laser measurement terminal with a high-speed two-dimensional scanning galvanometer was set up on site.

[0051] The calculation module sends a unit displacement disturbance command to the No. 1 support mechanism, which is lifted 3 mm. The laser measurement terminal locks onto 8 reference targets and continuously tracks them at a fixed sampling frequency of 30 Hz. The truss generates forced vibration. The calculation module converts the time domain data into frequency domain data in real time and monitors the transient vibration energy. After 180 seconds, the calculated total energy decays to below the background environmental noise energy threshold of 0.02. The calculation module determines that the kinetic energy has subsided and issues a cutoff command. The laser measurement terminal switches to low-frequency mode to scan all 42 polling targets in the field. The calculation module calculates the deformation sensitivity of the No. 1 support mechanism to the global bottom mold by combining the changes in the front and rear coordinates. The measurement and control system cycles this process 12 times to complete the construction of a global deformation sensitivity matrix containing 12 columns of data.

[0052] The solution module continuously monitors eight benchmark targets. When the low-frequency dynamic interference energy of the on-site environment is lower than the preset steady-state threshold of 0.2 for 40 consecutive seconds, the environmental steady-state window is triggered. The laser measurement terminal scans and extracts the quasi-static absolute coordinates of the current bottom formwork. The solution module retrieves the theoretical design coordinates from the building information model for comparison. Under the physical constraints of ensuring that the relative displacement difference between adjacent support points does not exceed the set safety tolerance of 2 mm and the absolute stroke of the support mechanism does not exceed the limit of ±20 mm, a non-negative relaxation variable of 1.5 mm is introduced to soften the boundary constraints. The solution module performs a quadratic programming iterative calculation to find the optimal displacement adjustment of 12 sets of support mechanisms and sends them out for execution to complete the spatial pose positioning of the bottom formwork.

[0053] During construction, some truss node connecting bolts loosened due to stress. The solution module extracted the real-time base natural frequency through discrete Fourier transform, which drifted from the initially calibrated 1.50 Hz to 1.41 Hz. The frequency deviation was 0.09 Hz, exceeding the set threshold of 0.075 Hz, which is 0.05 times the initial reference frequency. The solution module suspended the positioning solution process. The solution module extracted the spatial deviation and found that the single-point spatial deviation of the target near the No. 5 and No. 6 support structures reached 4.5 mm. The solution module determined that mechanical variation had occurred in this local subdomain. The solution module drove the No. 5 and No. 6 support structures to reapply unit displacement perturbation and re-extract deformation data. The solution module used the new data to directly replace the data in the 5th and 6th columns of the original global deformation sensitivity matrix. The matrix incremental reconstruction took 10 minutes. After the reconstruction was completed, the solution module woke up the positioning solution process to continue positioning.

[0054] A comparative experimental platform was set up on site. The platform set up a control group A, which used manual network observation and manual control of the hydraulic pump station to adjust the support mechanism; a control group B, which used an automatic measurement and tracking system and closed-loop control of the support mechanism but did not have an energy attenuation adaptive cutoff mechanism, an environmental steady-state window screening mechanism, or a fundamental frequency drift matrix reconstruction mechanism; and an experimental group C, which used the measurement and control system of this invention.

[0055] The experimental evaluation indicators include the global maximum positioning deviation of the largest absolute difference between the 50 detection points in the entire domain and the theoretical design coordinates after adjustment; the evaluation indicators include the root mean square error of the overall spatial coordinate discrete error level of the 50 detection points in the entire domain after adjustment; the evaluation indicators include the time required for the system to issue an instruction to obtain the overall spatial coordinates of the bottom mold once; and the evaluation indicators include the dynamic environmental adaptability of the system's operation performance in environments with vibration equipment turned on and gusts of wind up to level 4.

[0056] Experimental data results show that the global maximum positioning deviation and root mean square error of experimental group C are smaller than those of control groups A and B. The environmental steady-state window driving mechanism and energy attenuation adaptive truncation mechanism of the present invention eliminate signal aliasing caused by low-frequency environmental oscillations and high-frequency structural forced vibrations. The method of the present invention avoids measurement and calculation operations during the dynamic interference period. The coordinate extraction time of experimental group C is shorter than that of control groups A and B. When faced with local structural variations, experimental group C completes system matrix reconstruction in 10 minutes based on fundamental frequency drift self-diagnosis and column vector local reconstruction steps. The matrix reconstruction time of experimental group C is shorter than the global re-acquisition time of control groups A and B.

[0057] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A laser positioning method for the bottom formwork of a truss-type load-bearing support template, the method being implemented based on a measurement and control system, the measurement and control system comprising a calculation module, a laser measurement terminal, a reflective target, and a support mechanism, characterized in that... include: The reflection targets are divided into global dynamic benchmark targets and spatial polling targets; The driving support mechanism is subjected to disturbance, and the static coordinates are extracted based on the transient vibration energy dissipation state of the global dynamic benchmark target to construct a global deformation sensitivity matrix; When the low-frequency dynamic interference energy is lower than the preset steady-state threshold, the quasi-static spatial coordinate vector set is extracted by scanning the spatial polling target. The optimal adjustment vector is solved based on the quasi-static spatial coordinate vector set, the global deformation sensitivity matrix and physical boundary constraints, which drives the adjustment of the support mechanism. When the frequency offset of the real-time base natural frequency exceeds the frequency threshold, the local subdomain of the mechanical variation is located, and the failure data column of the global deformation sensitivity matrix is ​​reconstructed.

2. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 1, characterized in that, The division of the reflection target into a global dynamic baseline target and a spatial polling target includes: Obtain the design model parameters of the truss structure and extract the mid-span nodes and the intersection nodes of the main load-bearing members as feature nodes; The reflection targets installed at the feature node locations are classified as global dynamic reference targets, and the remaining reflection targets are classified as spatial polling targets. The solution module establishes a state machine communication link with the laser measurement terminal and issues an operation mode configuration word, generates a high-frequency locking mode and a low-frequency polling mode, and performs time-division multiplexing scheduling between the high-frequency locking mode and the low-frequency polling mode according to the type of subsequent action instructions.

3. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 1, characterized in that, The extraction of static coordinates based on the transient vibration energy dissipation state of the global dynamic benchmark target includes: The high-frequency coordinate time series of the global dynamic benchmark target is obtained, and the data within the sliding time window of a set width is extracted to perform a fast Fourier transform to extract the transient vibration energy density function corresponding to the first-order natural frequency band of the truss structure. Perform a definite integral operation on the transient vibration energy density function to extract the maximum integral value, so as to obtain the total transient vibration energy of the structure accumulated in the current time window; When the total energy of the transient structural vibration within multiple consecutive sliding time windows is not higher than the background environmental noise energy threshold or the monitoring duration exceeds the set maximum tolerance time threshold, it is determined that the forced vibration kinetic energy has dissipated to a calm state, and a global cutoff command is issued.

4. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 3, characterized in that, The construction of the global deformation sensitivity matrix includes: The initial static coordinate set before the support mechanism is disturbed is obtained. After the laser measurement terminal receives the global truncation command, it switches to the low-frequency polling mode to execute the traversal scanning sequence. The coordinates of the spatial polling target are fused with the steady-state convergence coordinates of the global dynamic benchmark target at the truncation point to extract the absolute physical static coordinate set. The difference between the absolute physical static coordinate set and the initial static coordinate set is used to calculate the change in the spatial three-dimensional coordinates of the reflective target. Divide the change in the three-dimensional spatial coordinates by the actual vertical unit reference displacement performed by the support mechanism to solve the deformation response sensitivity coefficient of the local nodes to the global bottom mold system, and construct the global deformation sensitivity matrix by splicing tensors column by column according to the support node number order.

5. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 1, characterized in that, The calculation of the low-frequency dynamic interference energy and the extraction of a quasi-static spatial coordinate vector set from the scanning spatial polling target when the low-frequency dynamic interference energy is below a preset steady-state threshold include: The real-time three-dimensional coordinate sequence of the global dynamic reference target is processed by fast Fourier transform. Within the set low-frequency interest interval, the square of the frequency domain signal amplitude is integrated and the maximum integral value is extracted to quantify the low-frequency dynamic interference energy. When the low-frequency dynamic interference energy is continuously lower than the preset steady-state threshold and remains at the set time window length, it is determined that the environment steady-state window has been entered, and a mode switching command is sent to the laser measurement terminal to make it switch to the low-frequency polling mode. The absolute three-dimensional coordinate data of the spatial polling target under static load equilibrium state are obtained, and then fused with the three-dimensional coordinate data of the global dynamic benchmark target. The column vector tensors are then concatenated according to the target number order to construct the quasi-static spatial coordinate vector set.

6. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 5, characterized in that, Also includes: If the monitoring time exceeds the set steady-state waiting limit time and the preset steady-state threshold condition is still not met, the multi-cycle time averaging filter mode will be triggered. The high-frequency coordinate sequence of the global dynamic reference target is arithmetically averaged to obtain smooth coordinate data. The laser measurement terminal is scheduled to lock onto the spatial polling target in sequence and stay at each spatial polling target for a continuous number of natural vibration cycles to collect dynamic coordinate sequences. The arithmetic average is then performed to extract coordinate data for fusion.

7. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 1, characterized in that, The method for solving the optimal adjustment vector based on the quasi-static spatial coordinate vector set, the global deformation sensitivity matrix, and physical boundary constraints includes: Extract the theoretical design three-dimensional coordinate vector set of the node position corresponding to each reflection target from the building information model data, and perform a subtraction operation on the corresponding terms of the quasi-static spatial coordinate vector set and the theoretical design three-dimensional coordinate vector set to generate the target deviation vector; A positioning residual objective function is established by combining the global deformation sensitivity matrix. The positioning residual objective function is configured to find a set of displacement adjustment amounts of the support mechanism so that the sum of squares of the deviations between the adjusted predicted spatial coordinates and the theoretical design coordinates is minimized. The physical boundary constraints include an actuator absolute stroke constraint inequality that limits the cumulative stroke to no more than the mechanical limit stroke range, and an adjacent node relative deformation constraint inequality that limits the relative displacement difference to remain within the structural safety tolerance during synchronous adjustment.

8. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 7, characterized in that, Also includes: The optimization solver built into the solution module receives the positioning residual objective function and physical boundary constraints to construct a quadratic programming mathematical model; In the quadratic programming mathematical model, a non-negative relaxation variable is introduced and added to the tolerance boundary of the relative deformation constraint inequality of adjacent nodes. A penalty term corresponding to the non-negative relaxation variable is added to the positioning residual objective function. The optimal adjustment vector that satisfies the constraints is obtained by performing numerical iterative calculations. The optimal adjustment vector is then converted into a digital control pulse sequence and synchronously sent to the support mechanism to perform hardware entity displacement adjustment.

9. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 1, characterized in that, When the frequency offset of the real-time base natural frequency exceeds the frequency threshold, the local subdomain of mechanical variation is located, including: The discrete Fourier transform is performed on the high-frequency coordinate time series of the global dynamic benchmark target to generate a set of real-time spectrum sequences. Within the set interval, the spectrum peaks are searched to extract the local base frequencies of each target. The arithmetic mean of all the local base frequencies is then used to extract the real-time base natural frequencies. The absolute difference between the real-time base natural frequency and the initial reference frequency calibrated and stored under no-load healthy conditions is calculated to obtain the frequency offset. When the frequency offset exceeds the set frequency threshold, the current secondary planning and positioning solution process is suspended, the pre-stored theoretical design three-dimensional coordinate vector set is extracted, the single-point spatial deviation between the quasi-static spatial coordinate vector set and the theoretical design three-dimensional coordinate vector set is calculated, abnormal reflection targets with single-point spatial deviation exceeding the set deviation tolerance are screened out, and the support mechanism with the closest physical distance to the abnormal reflection target is located according to the spatial topology mapping relationship and included in the mechanical variation local subdomain.

10. The laser positioning method for the bottom formwork of the truss-type load-bearing support template according to claim 9, characterized in that, The failure data column of the reconstructed global deformation sensitivity matrix includes: Extract the set of reference static coordinates under mechanical variation state, read the current absolute stroke data of the related support mechanism in the local subdomain of mechanical variation, reissue the drive control command one by one to apply the vertical unit reference displacement, and extract the latest static coordinates of the reflection target after local disturbance dissipation. The difference between the latest static coordinates and the reference static coordinate set is used to calculate the spatial three-dimensional coordinate change vector, and the deformation response sensitivity coefficient vector corresponding to the support mechanism in the local subdomain of mechanical variation is recalculated. The corresponding failure data column in the original global deformation sensitivity matrix is ​​directly replaced by the column vector of the recalculated deformation response sensitivity coefficient, and the suspended positioning solution process is awakened after incremental reconstruction.

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