Visual Alignment Method for Hoisting Prefabricated Segmented Beams

During the hoisting of prefabricated segmented beams, the alignment of rods and holes mainly relies on manual operation, which suffers from low safety and efficiency. To improve the safety and efficiency of rod–hole alignment, this paper proposes a vision-based alignment method for hoisting prefabricated segmented beams. The method uses binocular vision to measure the spatial coordinates of key points on rods and holes, establishes a mathematical model for alignment, and calculates the center distance and relative rotation angle between them. An experimental platform is built and tests are conducted. The results show that the proposed method can effectively measure the center distance and rotation angle, improve measurement efficiency and safety, achieve high accuracy, and possess high practical engineering value.