An automated positioning device for precise hoisting of steel column components.

Abstract

This utility model discloses an automated positioning device for precise hoisting of steel column components, including a positioning base station and positioning tags mounted on a tower crane. The tower crane includes a tower body, a tower cap, a boom, and a slewing platform. A luffing trolley is movably connected to the bottom of the boom via a track, and a steel frame is hoisted at the bottom of the luffing trolley. Two sets of pulleys are rotatably connected to the bottom of the steel frame, and a hook is positioned in the middle below the two sets of pulleys. A rope displacement winch is installed at the tail of the boom, and a wire rope is connected to the hook, wound around the outside of the pulleys, and then connected to the rope displacement winch. This utility model achieves precise positioning and hoisting of steel column components through the combined application of Building Information Modeling (BIM) and positioning tags. This not only improves production efficiency but also overcomes the collision and crushing accidents caused by the visual obstruction of signal workers by high-rise buildings, enabling precise hoisting operations day and night and overcoming the difficulties of nighttime construction.

Description

Technical Field

[0001] This utility model belongs to the field of steel structure building technology, specifically relating to an automated positioning device for precise hoisting of steel column components. Background Technology

[0002] Steel structure construction, as a new type of construction method that combines aesthetics and high performance, has been widely used in recent years due to the increasing demand for super high-rise and diversified buildings. The basic process involves prefabricating steel components at manufacturers, transporting them to the construction site, and assembling them through welding, bolting, or riveting. Compared to traditional reinforced concrete structures, steel structures are lighter, faster to construct, and have excellent seismic performance. During hoisting, higher precision is required for component positioning, placing more stringent demands on tower crane operation. Currently, on-site hoisting mainly relies on manual visual inspection, with ground signalmen guiding the tower crane operator. This method is limited by information transmission delays and the operator's eyesight and mental state; over time, errors are prone to occur, increasing the safety risks of component collisions and crushing injuries.

[0003] Therefore, it is necessary to research and develop an automated positioning device for the precise hoisting of steel column components to solve the above problems. Utility Model Content

[0004] To address the aforementioned technical issues, this utility model provides an automated positioning device for the precise hoisting of steel column components. Through the combined application of Building Information Modeling (BIM) and positioning tags, it achieves precise positioning and hoisting of steel column components, which not only improves production efficiency but also overcomes component collision and crushing accidents caused by visual obstruction of signal workers from high-rise buildings. It enables precise hoisting operations day and night, overcoming the challenges of nighttime construction.

[0005] The present invention provides the following technical solution:

[0006] An automated positioning device for precise hoisting of steel column components includes a positioning base station and a positioning tag mounted on a tower crane. The tower crane includes a tower body, a tower cap, a boom, and a slewing platform. A luffing trolley is movably connected to the bottom of the boom via a rail, and a mounting steel section is hoisted to the bottom of the luffing trolley. Two sets of pulleys are rotatably connected to the bottom of the mounting steel section, and a hook is provided at the middle position below the two sets of pulleys. A rope displacement winch is installed at the tail of the boom. A wire rope is connected to the hook and wound around the outside of the pulley before being connected to the rope displacement winch. The rope displacement winch pulls the hook up and down through the wire rope.

[0007] The tower cap is fixedly connected to the operator's cab, which is equipped with an electrical control cabinet, a console, and an operating lever. The console integrates a building information model (BIM).

[0008] The positioning base station is installed on the luffing trolley, and the positioning tag is wirelessly connected to the positioning base station via an antenna.

[0009] The electrical control cabinet is equipped with a servo control module, and both the servo control module and the control lever are electrically connected to the control console.

[0010] A mobile station is installed on the tower cap. The mobile station is wirelessly connected to the positioning base station and is used to transmit the location information of the installed steel to the control console in real time.

[0011] The positioning tag is installed on the hook and is used to locate the coordinates of the hook in the X, Y, and Z directions, i.e. (X, Y, Z). The mounting steel is also equipped with positioning components to measure the movement distance of the hook in the X, Y, and Z directions in the Building Information Model (BIM).

[0012] Preferably, the positioning tag is set as an ultra-wideband (UWB) positioning tag, and the positioning base station is set as a UWB positioning base station.

[0013] Preferably, the positioning component includes a laser displacement sensor, a CMOS laser sensor, and a rotary encoder, and the laser displacement sensor, rotary encoder, and CMOS laser sensor are used to acquire the displacement of the hook in the three-dimensional X, Y, and Z directions in the Building Information Model (BIM).

[0014] Preferably, the Y coordinate value obtained by the rotary encoder is represented as (R, θ), where R is the radius of rotation of the hook around the tower body, and θ is the angle of rotation of the hook around the tower body; the coordinates of the radius of rotation R and the angle of rotation θ obtained by the rotary encoder are converted into X and Y coordinates in a three-dimensional coordinate system through a coordinate transformation formula.

[0015] Preferably, the bottom of the tower body is vertically fixed to the ground via a base, the boom is fixedly connected to the tower cap, the operator's cab is fixedly connected to the tower cap, and the top of the tower body is movably connected to the tower cap via a slewing platform.

[0016] Preferably, a servo motor is installed on the rotary platform, and the output end of the servo motor meshes with an annular gear sleeve set at the top of the tower body through a gear. The luffing trolley is driven on the track by a variable frequency three-phase asynchronous motor, and the servo motor is wirelessly connected to the servo control module.

[0017] Preferably, the hook is equipped with an anti-disengagement buckle, and the tail end of the lifting boom is equipped with a counterweight.

[0018] Preferably, the console's connection point is connected to a mobile terminal via a wireless communication network.

[0019] Preferably, the console uses a flat panel / all-in-one display, obtains the current X, Y, and Z coordinates of the hook in real time through the UWB positioning system, calculates the position deviation, displays the deviation value in real time in the three-dimensional view, interacts with the building information modeling platform through the network, and has a built-in error threshold monitor in the console system.

[0020] Compared with the prior art, this utility model has the following advantages:

[0021] By combining Building Information Modeling (BIM) and positioning tags, and utilizing BIM and positioning devices for real-time position detection and feedback, along with the high precision of laser displacement sensors, CMOS laser sensors, and rotary encoders for accurate positioning and hoisting, this approach not only improves production efficiency but also overcomes the risks of component collisions and crushing accidents caused by visual obstruction from high-rise buildings. It enables precise hoisting operations day and night, overcoming the challenges of nighttime construction and improving the accuracy of automated operation control. Furthermore, it reduces errors and safety risks caused by information transmission delays and operator vision and mental state factors in existing technologies. Attached Figure Description

[0022] Figure 1 A schematic diagram of the overall structure of the automated positioning device provided by this utility model.

[0023] Figure 2 This is a schematic diagram of a partial installation structure of the hook in this utility model.

[0024] Figure 3 This is a schematic diagram showing the distribution structure of the electrical control cabinet, console, and control levers within the cockpit in this utility model.

[0025] Figure 4 A schematic diagram of the hook drive system for the automated positioning device provided by this utility model.

[0026] Marked in the image:

[0027] 1-Electrical control cabinet; 2-Control console; 3-Operating lever; 4-Hook; 5-Rotary encoder; 6-Laser displacement sensor; 7-CMOS laser sensor; 8-Mounting steel; 9-Pulley; 10-Wire rope; 11-Tower crane; 12-Anti-disengagement device; 13-Luffing trolley; 14-Cock's cab; 15-Rope-pulling displacement winch; 16-Counterweight; 17-Mobile station; 18-Servo motor. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can refer to a detachable connection: it can be a mechanical connection; it can also be an indirect connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] like Figure 1-4 An automated positioning device for precise hoisting of steel column components is shown, including a positioning base station and positioning tags installed on a tower crane 11. The tower crane 11 includes a tower body, a tower cap, a lifting boom, and a slewing platform. The bottom of the tower body is vertically fixed to the ground via a base platform. The lifting boom is fixedly connected to the tower cap, and the operator's cab 14 is fixedly connected to the tower cap. The top of the tower body is movably connected to the tower cap via the slewing platform. A counterweight 16 is provided at the tail end of the lifting boom. A servo motor 18 is installed on the slewing platform. The output end of the servo motor 18 meshes with a ring gear sleeve provided at the top of the tower body via a gear. The luffing trolley 13 is driven on the track by a variable frequency three-phase asynchronous motor. The servo motor 18 is wirelessly connected to the servo control module.

[0032] A luffing trolley 13 is movably connected to the bottom of the boom via a track, and an installation steel section 8 is hoisted at the bottom of the luffing trolley 13. Two sets of pulleys 9 are rotatably connected to the bottom of the installation steel section 8, and a hook 4 is set at the middle position below the two sets of pulleys 9. An anti-disengagement buckle 12 is set on the hook 4. A rope displacement winch 15 is installed at the tail of the boom. A wire rope 10 is connected to the hook 4 and is wound around the outside of the pulleys 9 before being connected to the rope displacement winch 15. The rope displacement winch 15 pulls the hook 4 up and down through the wire rope 10 and can measure the displacement of the wire rope through a rope displacement sensor.

[0033] A cab 14 is fixedly connected to the tower cap, and the cab 14 contains an electrical control cabinet 1, a control console 2, and an operating lever 3. The control console 2 integrates a Building Information Model (BIM). The connection end of the control console 2 is connected to a mobile terminal via a wireless communication network. The control console 2 has a built-in data processing system, control operating system, and servo control system. The control console 2 uses a flat panel / all-in-one display to obtain the current X, Y, and Z coordinates of the hook 4 in real time through a UWB positioning system, and calculates the position deviation (ΔX, ΔY, ΔZ) by subtracting the theoretical coordinates from the actual coordinates. The deviation value is displayed in real time in a 3D view and interacts with the BIM platform via a network (WiFi). The control console 2 system has a built-in error threshold monitor. The connection end of the control console 2 is electrically connected to a programmable controller. The flat panel / all-in-one display in the cab 14 integrates a human-machine interface, a BIM data parsing module, a difference receiving module, a data input module, and a data transmission module. The human-machine interface is used to display coordinate differences and target component information; the BIM data parsing module is used to parse and view the BIM model; the difference receiving module is used to receive BIM difference data; the data input module is used to correct coordinates and confirm operations; and the data transmission module is used to send the difference data to the programmable logic controller (PLC) or servo control system.

[0034] The positioning tag is installed on the hook 4, and the positioning tag is used to locate the coordinates of the hook 4 in the X, Y, and Z directions, i.e. (X, Y, Z). The mounting steel 8 is also equipped with positioning components to measure the movement distance of the hook 4 in the X, Y, and Z directions in the Building Information Model (BIM). On the construction site, the coordinates of the positioning tag in the X, Y, and Z directions are measured by laser ranging method, and the real-time position of the steel column during the hoisting process is determined.

[0035] In this embodiment, the positioning tag is set as an ultra-wideband (UWB) positioning tag, and the positioning base station is set as a UWB positioning base station. The positioning components include a laser displacement sensor 6, a CMOS laser sensor 7, and a rotary encoder 5, which are used to acquire the displacement of the hook 4 in the X, Y, and Z three-dimensional directions in the Building Information Model (BIM). The Y coordinate value acquired by the rotary encoder 5 is represented as (R, θ), where R is the radius of rotation of the hook 4 around the tower body, and θ is the rotation angle of the hook 4 around the tower body. The radius of rotation R and rotation angle θ coordinates acquired by the rotary encoder 5 are converted into X and Y coordinates in the three-dimensional coordinate system using a coordinate transformation formula. The rotary encoder 5 can calculate the Y coordinate value based on the values ​​of the radius of rotation R and rotation angle θ of the tower crane 11, thereby obtaining the Y coordinate value to determine the three-dimensional positioning coordinates. Furthermore, it can calculate the three-dimensional coordinate difference between the hook 4 and the luffing trolley 13.

[0036] The (X, Y, Z) location information of all steel column components is obtained through Building Information Modeling (BIM), and this location information and the building number used are sprayed onto the surface of the steel column components. After the steel column components are produced, the transportation machinery and transportation workers transport the steel column components to the construction site in batches and according to the same building number and the same Z (same floor of the same building). The transportation sequence of the steel column components to be installed in each building is reasonably planned through Building Information Modeling (BIM), and the transportation route is reasonably planned.

[0037] The positioning base station is installed on the luffing trolley 13, and the positioning tag is wirelessly connected to the positioning base station via an antenna. The positioning base station is used to locate the coordinate origin of the tower crane 11 on the construction site and the corresponding origin coordinate of the hook 4. In this embodiment, the antenna is installed on the mounting steel 8 to assist the hoisting components in positioning.

[0038] In the embodiments provided in this application, there is one tower crane 11, and one positioning base station and one corresponding automated positioning device. When there are multiple tower cranes 11 at the construction site and precise hoisting operations need to be carried out simultaneously, multiple positioning base stations are set up separately, and the coordinate points of the construction site are reset.

[0039] The electrical control cabinet 1 is equipped with a servo control module, and both the servo control module and the operating lever 3 are electrically connected to the control console 2;

[0040] A rover 17 is installed on the tower cap. The rover 17 is wirelessly connected to the positioning base station. The luffing trolley 13 located at the root of the boom is set as the coordinate origin, which is used to transmit the position information of the installed steel 8 to the control console 2 in real time.

[0041] In this embodiment, when hoisting steel column components, if the working environment can receive satellite positioning signals normally, the rover 17 will transmit the position information of the installed steel column 8 to the control console 2 in real time. When the satellite signal is blocked due to tall buildings, the installed steel column 8 cannot be effectively positioned by the rover 17, the UWB positioning system deployed at the construction site can be activated to assist in obtaining the position of the hook 4 and uploading it synchronously. After the above positioning data is processed by the built-in algorithm of the Building Information Model (BIM), the spatial relationship between the hook 4 and the building structure is calculated, and the result is transmitted to the service platform. Based on the hoisting position information displayed on the control console 2, the tower crane operator accurately aligns the steel column with the reserved installation position set in the BIM model.

[0042] Building information can also include manufacturer, production date, product quality information, and three-dimensional position information of steel column components during hoisting.

[0043] Building Information Modeling (BIM) is used to visualize all steel column components to be hoisted, facilitating management and decision-making by relevant stakeholders. In this embodiment, the accuracy of the location coordinate (∆X, ∆Y, ∆Z) calculator built into the BIM model and the high precision of the laser displacement sensor 6, CMOS laser sensor 7, and rotary encoder 5 are used for precise positioning and hoisting.

[0044] When using the automated positioning device provided in this utility model, firstly, based on the overall site plan drawings, a full-scale three-dimensional model of the construction site with sufficient accuracy is established using Building Information Modeling (BIM). The shape, size, and construction position of each steel column component in each work area are marked. The hook 4 of the corresponding tower crane 11 is moved to the highest point, and the luffing trolley 13 is moved to the root of the boom rail to position the hook 4 in the X, Y, and Z three-dimensional directions. The coordinate point of the hook 4 in the Building Information Modeling (BIM) is set to (0, 0, 0), that is, the positioning base station located at the root of the boom rail is used as the origin coordinate, and the three-dimensional coordinate position of the hook 4 at this time is set as the reference point.

[0045] Define the due north direction of the geographical location as 0°, and measure the angle in a clockwise direction, ranging from 0 to 360°.

[0046] If multiple tower cranes 11 are operating simultaneously at the construction site, the hooks 4 of each tower crane 11 are moved to their highest points to determine the vertical height position (Z-axis) of the hooks 4. The luffing trolley 13 is moved to the root of the boom rail to determine the horizontal position (X, Y-axis) of the hooks 4. A three-dimensional coordinate system and a polar coordinate system are established for each tower crane 11 according to its number. The position of the hooks 4 is set to (0, 0, 0). The three-dimensional coordinate position of the hooks 4 at this time is set as the reference point. The tower crane 11 number is added in the lower right corner to distinguish between the three-dimensional coordinate system and the polar coordinate system.

[0047] When multiple tower cranes 11 are operating together, the hooks 4 of adjacent tower cranes 11 should be moved to the most dangerous position and area for collision. The coordinates of the most dangerous position and area for collision should be extracted from the Building Information Model (BIM) and stored in the BIM to avoid spatial collision accidents between tower cranes 11. At the same time, the position and area of ​​the working height required by the workers and machinery during the construction of each working surface should be extracted and stored in the BIM to define the most dangerous position and area when the hooks 4 of the tower cranes 11 cause crushing or collision to each working surface during construction, so as to avoid spatial collision and crushing accidents of the tower cranes 11.

[0048] In the Building Information Model (BIM), the steel column components of each work area and each floor are numbered sequentially (from east to west, from north to south). The steel column components are also divided according to the tower crane number 11 used for their hoisting operations. The tower crane number 11 is highlighted in the above numbering. The highlighting method is to further edit the subscript of each steel column component in the BIM, adding the tower crane number 11 and the floor number of the steel column component to the lower right subscript.

[0049] Move hook 4 to the reference point and re-establish the three-dimensional coordinate system and polar coordinate system in the Building Information Model (BIM). Align the three-dimensional coordinates and polar coordinates and set the coordinates of hook 4 at this point to (0, 0, 0). During the hoisting operation of the steel column component, use the Building Information Model (BIM) to automatically calculate the position information (X, Y, Z) of the pre-hoisted steel column component and the position information of hook 4 through the Revit plugin to obtain the position difference (∆X, ∆Y, ∆Z) between hook 4 and the steel column component, where ∆X=X-0, ∆Y=Y-0, ∆Z=Z-0. The data is then wirelessly transmitted to the display of the control console 2 in the driver's cab 14.

[0050] The operator of tower crane 11 first confirms the number of the component to be hoisted, and then enters the target component number on the tablet / integrated display in the cab 14. The difference (∆X, ∆Y, ∆Z) is automatically loaded into the tablet / integrated display through the BIM server. The system automatically displays the difference coordinates (∆X, ∆Y, ∆Z) and asks the operator of tower crane 11 to confirm them.

[0051] In this embodiment, the tablet / integrated control console 2 in the driver's cab 14 sends the (∆X, ∆Y, ∆Z) difference values ​​to the programmable logic controller (PLC) control unit. The PLC converts the (∆X, ∆Y, ∆Z) difference values ​​into the stroke lengths of the variable frequency three-phase asynchronous motor, the rope displacement winch 15, and the rotary encoder 5. The control console 2 transmits the (∆X, ∆Y, ∆Z) difference values ​​to the PLC for output using Modbus, CAN, and Profinet communication. The PLC then converts the (∆X, ∆Y, ∆Z) difference values ​​into the stroke lengths of the variable frequency three-phase asynchronous motor, the rope displacement winch 15, and the rotary encoder 5. Z) The difference is transmitted to the variable frequency three-phase asynchronous motor driver using PWM or analog output. The variable frequency three-phase asynchronous motor drives the luffing trolley 13 to perform horizontal X-direction displacement. The servo control module receives the control signal and transmits it to the servo motor 18. The servo motor 18 drives the tower crane 11 slewing mechanism to perform R and θ displacement. The rope displacement winch 15 drives the hook 4 to perform vertical Z-direction displacement. The position of the hook 4 is monitored in real time through the laser displacement sensor 6, rotary encoder 5 and CMOS laser sensor 7, and the construction results and process records are recorded.

[0052] In this embodiment, the X direction is the direction of driving the luffing trolley to move left / right, the Y direction is the direction of the slewing system of the tower crane 11, and the Z direction is the direction of controlling the displacement length of the wire rope 10 of the rope displacement winch 15. The operators of each tower crane 11 output the difference values ​​(∆X, ∆Y, ∆Z) in the flat panel / integrated control console 2 in the cab 14. The position of the hook 4 is monitored in real time by the laser displacement sensor 6, the rotary encoder 5, and the CMOS laser sensor 7. The control system compares the differences between the two values. When the differences between X-∆X, Y-∆Y, and Z-∆Z are 0, the luffing trolley 13, the rope displacement winch 15, and the servo motor 18 automatically stop running. Among them, X, Y, and Z are the moving distances of the laser displacement sensor 6, the rotary encoder 5, and the CMOS laser sensor 7.

[0053] In this embodiment, when multiple tower cranes 11 are simultaneously performing hoisting operations on steel column components, the hooks 4 of each tower crane 11 are first moved to their highest positions, the luffing trolley is moved to the root of the boom track, and the coordinates of the hooks 4 of each tower crane 11 are set to 0. i 0 i 0 iThis position is the reference point (i.e., the origin of the coordinate system) for each tower crane 11, where i is the number of the tower crane 11. A three-dimensional coordinate system and a polar coordinate system are established for each tower crane 11.

[0054] In this embodiment, during pre-lifting, each tower crane 11 automatically calculates the position of the pre-lifted steel column component and the position of the hook 4 to obtain the position difference (∆Xi, ∆Yi, ∆Zi) between the hook 4 and the steel column component, where ∆Xi = X i -0, ∆Y i =Y i -0, ∆Z i =Z i -0, and transmit the data wirelessly to the display on the control console 2 in each driver's cab 14.

[0055] In this embodiment, each tower crane operator 11 first confirms the component number to be hoisted and inputs the target component number into the control panel 2 in the operator's cab 14. The differences (∆Xi, ∆Yi, ∆Zi) are automatically loaded into the tablet / all-in-one display via the BIM server, and the system automatically displays the difference coordinates (∆X). i ∆Y i ∆Z i And then have the operators of each tower crane 11 confirm it.

[0056] The tablet / all-in-one control console in each driver's cab 14 will (∆X i ∆Y i ∆Z i The difference is sent to the programmable logic controller (PLC), which then converts (∆X) into a value. i ∆Y i ∆Z i The difference is converted into the stroke length of the variable frequency three-phase asynchronous motor, the rope displacement winch 15, and the servo motor 18. The variable frequency three-phase asynchronous motor drives the luffing trolley 13 to move in the horizontal direction (X). i The servo motor 18 drives the boom slewing device of the tower crane 11 to rotate in the direction of R and θ (Y). i Displacement, the rope displacement winch 15 drives the hook 4 to move in the vertical direction (Z). i The displacement is monitored in real time by a laser displacement sensor 6, a rotary encoder 5 and a CMOS laser sensor 7, and the construction results and process records of each tower crane 11 are stored by a storage module.

[0057] The operators of each tower crane 11 output the difference between (∆X, ∆Y, ∆Z) on the control panel 2 in their respective cabs 14. The position of the hook 4 is monitored in real time by the laser displacement sensor 6, rotary encoder 5, and CMOS laser sensor 7. The control system compares the difference between the two values. When X... i -∆Xi Y i -∆Y i Z i -∆Z i When the difference is 0, the luffing trolley 13, the rope displacement winch 15, and the servo motor 18 automatically stop operating, where X i Y i Z i The distance the hook 4 of each tower crane 11 moves relative to the laser displacement sensor 6, rotary encoder 5, and CMOS laser sensor 7.

[0058] Since the distance between the steel column component and the hook 4 is fixed, by accurately modeling the construction drawings using BIM and calculating the difference between the X, Y, and Z values ​​of the two, the moving distance of the steel column component during the hoisting operation can be obtained, thus achieving precise positioning of the steel column component during hoisting.

[0059] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. An automatic positioning device for precise hoisting of a profiled column element, characterized in that: The system includes a positioning base station and positioning tag installed on the tower crane (11). The tower crane (11) includes a tower body, a tower cap, a boom and a slewing platform. A luffing trolley (13) is movably connected to the bottom of the boom via a rail. An installation steel section (8) is hoisted at the bottom of the luffing trolley (13). Two sets of pulleys (9) are rotatably connected to the bottom of the installation steel section (8). A hook (4) is set at the middle position below the two sets of pulleys (9). A rope displacement winch (15) is installed at the tail of the boom. A wire rope (10) is connected to the hook (4) and wound around the outside of the pulleys (9) before being connected to the rope displacement winch (15). The rope displacement winch (15) pulls the hook (4) up and down via the wire rope (10). The tower cap is fixedly connected to a cab (14), and the cab (14) is equipped with an electrical control cabinet (1), a control console (2) and an operating lever (3), wherein the control console (2) integrates a building information model; The positioning base station is installed on the luffing trolley (13), and the positioning tag is wirelessly connected to the positioning base station via an antenna; The electrical control cabinet (1) is equipped with a servo control module, and both the servo control module and the operating lever (3) are electrically connected to the control console (2). A mobile station (17) is installed on the tower cap. The mobile station (17) is wirelessly connected to the positioning base station and is used to transmit the location information of the installation steel (8) to the control console (2) in real time. The positioning tag is installed on the hook (4) and is used to locate the coordinates of the hook (4) in the X, Y and Z directions. The mounting steel (8) is also equipped with positioning components to measure the movement distance of the hook (4) in the X, Y and Z directions in the building information model.

2. The automatic positioning device for precise hoisting of a steel column member according to claim 1, characterized in that, The positioning tag is set as an ultra-wideband (UWB) positioning tag, and the positioning base station is set as a UWB positioning base station.

3. The automatic positioning device for precise hoisting of a steel column member according to claim 2, characterized in that, The positioning components include a laser displacement sensor (6), a CMOS laser sensor (7), and a rotary encoder (5), and the laser displacement sensor (6), the rotary encoder (5), and the CMOS laser sensor (7) are used to obtain the displacement of the hook (4) in the three-dimensional X, Y, and Z directions in the building information model (BIM).

4. The automated positioning device for precise hoisting of steel column components according to claim 3, characterized in that, The Y coordinate value obtained by the rotary encoder (5) is represented as (R, θ), where R is the radius of rotation of the hook (4) around the tower body, and θ is the angle of rotation of the hook (4) around the tower body; the coordinates of the radius of rotation R and the angle of rotation θ obtained by the rotary encoder (5) are converted into X and Y coordinates in the three-dimensional coordinate system through the coordinate transformation formula.

5. The automatic positioning device for precise hoisting of a steel column member according to claim 1, characterized in that, The bottom of the tower body is vertically fixed to the ground via a base platform, the lifting arm is fixedly connected to the tower cap, and the operator's cab (14) is fixedly connected to the tower cap. The top of the tower body is movably connected to the tower cap via a slewing platform.

6. The automatic positioning device for precise hoisting of a steel column member according to claim 5, characterized in that, The slewing platform is equipped with a servo motor (18), the output end of which meshes with the annular gear sleeve set at the top of the tower body through a gear. The luffing trolley (13) is driven on the track by a variable frequency three-phase asynchronous motor. The servo motor (18) is wirelessly connected to the servo control module.

7. The automated positioning device for precise hoisting of steel column components according to claim 1, characterized in that, The hook (4) is equipped with an anti-disengagement buckle (12), and the tail end of the boom is equipped with a counterweight (16).

8. The automatic positioning device for precise hoisting of a steel column member according to claim 1, characterized in that, The console (2) is connected to a mobile terminal via a wireless communication network.

9. The automatic positioning device for precise hoisting of a steel column member according to claim 1, characterized in that, The console (2) uses a flat panel / all-in-one display. It obtains the current X, Y, and Z coordinates of the hook (4) in real time through the UWB positioning system, calculates the position deviation, displays the deviation value in real time in the three-dimensional view, interacts with the building information model platform through the network, and has a built-in error threshold monitor in the console (2) system.

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