A prefabricated component hoisting monitoring system for assembled buildings

Abstract

The present invention discloses a prefabricated component hoisting monitoring system for assembled buildings, comprising an assembly position acquisition module, which is used to identify prefabricated component information and a hoisting state, and when the prefabricated component is in a hoisting state, obtain the assembly position associated with the prefabricated component information in a BIM assembly model; an assembly guidance matching module, which is used to determine the target position of an indicator light according to the assembly position, and determine the actual position of the indicator light according to an image acquisition device, and judge whether the target position and the actual position match, and output a judgment result; a hoisting machine action prediction module, which is used to predict whether the prefabricated component can be assembled to a predetermined position according to the actual position after successful matching and the hoisting action information of the hoisting machine, and output a second judgment result; a hoisting monitoring result feedback module, which is used to change the flashing frequency of the guidance indicator light when the judgment result is mismatch, and determine the deviation position and deviation information according to the flashing frequency, so as to generate first monitoring information and feed it back to the hoisting driver.

Description

Technical Field

[0001] The invention belongs to the technical field of construction, and in particular relates to a prefabricated component hoisting monitoring system for assembled buildings. Background Art

[0002] The basic unit of prefabricated buildings is prefabricated components. The component management process is complex, mainly involving the production stage and the assembly stage. This management work runs through the entire process of prefabricated component production, temporary stacking, transportation, and component entry into the site until the prefabricated components are assembled. Therefore, the management of prefabricated components plays an important role in the entire life cycle of prefabricated buildings. In order to provide systematic management and application for the construction site of prefabricated components, the prior art proposes a prefabricated component tracking and hoisting guidance system for prefabricated buildings - CN111691685A, which solves the problem of low construction efficiency of prefabricated components in the original prefabricated buildings by laying out an indicator light system on the scaffolding outside the prefabricated building and providing guidance for the hoisting of the prefabricated components through the indicator light system; however, when this technical solution is applied to the actual construction site, since the construction site is usually in the open air, the indicator light system is laid out on the scaffolding outside the prefabricated building, and is exposed to wind and sun for a long time, there is a serious test on the reliability of the indicator light system, which makes the indicator light system more prone to failure, and the hoisting driver performs hoisting operations according to the wrong guidance, which will lead to reduced assembly efficiency. At the same time, the indicator light system provides guidance to the hoisting driver through the intersection of the light of the indicator light, but since the construction site usually adopts the method of alternating day and night shifts for construction, and lighting devices are also set up during construction at night, a large number of external light sources will cause the hoisting driver to have errors in judging the intersection of the light of the indicator light, resulting in reduced assembly efficiency. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a prefabricated component hoisting monitoring system for assembled buildings to solve the above-mentioned technical problems.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A prefabricated component hoisting monitoring system for assembled buildings, comprising:

[0006] An assembly position acquisition module is used to identify the prefabricated component information and the hoisting state of the prefabricated component, and when the prefabricated component is in the hoisting state, obtain the assembly position information associated with the prefabricated component information in the BIM assembly model;

[0007] An assembly guidance matching module is used to determine the target position information of the guidance indicator light according to the assembly position information, and to determine the actual position information of the guidance indicator light according to the image acquisition device, and to judge whether the target position information matches the actual position information, and output the judgment result;

[0008] The hoisting machine action prediction module is used to predict whether the prefabricated component can be assembled to the predetermined position according to the actual position information after successful matching and the hoisting action information of the hoisting machine, and output a second judgment result;

[0009] The hoisting monitoring result feedback module is used to change the flashing frequency of the guidance indicator light when the judgment result is mismatch, and determine the deviation position and deviation information according to the flashing frequency, so as to generate the first monitoring information and feedback it to the hoisting driver.

[0010] Further, the prefabricated component information and the hoisting status of the prefabricated component are identified, including:

[0011] By pre-arranging an electronic tag identification device at a preset installation position of the hoisting machine, the electronic tag set in advance on each prefabricated component is used to identify the prefabricated component information of each prefabricated component;

[0012] When the electronic tag recognition device recognizes and recognizes only one electronic tag of a prefabricated component, it is determined that the hoisting state of the prefabricated component is in the hoisting state;

[0013] When the electronic tag recognition device recognizes the electronic tags of multiple prefabricated components, it is determined that the hoisting status of the prefabricated components is not yet in the hoisting status.

[0014] Further, the assembly position information associated with the prefabricated component information in the BIM assembly model is obtained, including:

[0015] By building a BIM modeling system for the current construction project in advance, and establishing a BIM assembly model of the current prefabricated building in the BIM modeling system;

[0016] Based on the prefabricated component information, the assembly position information of the model component associated with the prefabricated component information in the BIM assembly model is called.

[0017] Further, determining the target position information of the guide indicator light according to the assembly position information includes:

[0018] Acquire the first position information of all the indicator lights in the indicator light system, and group the intersection areas of every two groups of cross-arranged indicator lights to obtain a plurality of groups of areas to be assembled;

[0019] The assembly position information of the prefabricated component is obtained, and the group number of the area to be assembled where the assembly position information is located is determined to determine the first position information corresponding to the two groups of indicator lights corresponding to the group number of the area to be assembled, as the target position information of the indicator lights corresponding to the current prefabricated component.

[0020] Further, determining the actual position information of the indicator light according to the image acquisition device includes:

[0021] At least four image acquisition devices are arranged within a preset range of the prefabricated building, so that after the target position information is determined, the guidance indicator light images are acquired in the four edge directions of the prefabricated building to determine the number of flashing guidance indicator lights in the indicator light system and the actual position information of each flashing guidance indicator light;

[0022] The actual position information is determined by at least two guidance indicator light images.

[0023] Further, it is determined whether the target location information matches the actual location information, and the determination result is output, including:

[0024] Obtaining target location information, the target location information includes target coordinate information of two guiding indicator lights;

[0025] Acquire actual location information, and determine the actual number and actual coordinate information of the indicator lights included in the actual location information;

[0026] If the actual number is two, determine whether the actual coordinate information is the same as the target coordinate information, and if so, determine that the target position information matches the actual position information;

[0027] If the actual number is less than two, it is determined that the target position information and the actual position information do not match.

[0028] Further, according to the actual position information after successful matching and the lifting action information of the lifting machine, it is predicted whether the prefabricated component can be assembled to the predetermined position, and a second judgment result is output, including:

[0029] According to the actual position information after successful matching, the intersection area of ​​the two corresponding guide indicator lights is obtained to estimate the predetermined position to be assembled;

[0030] Obtaining the hoisting action information of the hoisting machine, which is the action information fed back to the operating lever by the hoisting driver, and the operating lever is pre-arranged with a corresponding action detection sensor;

[0031] Determine whether the lifting action information meets the target lifting action, the target lifting action is that the lifting driver continuously operates the tower crane hook to move vertically along the plumb bob plane within a preset time;

[0032] If the lifting action information meets the target lifting action, the temporary position of the tower crane hook is determined by a positioning device arranged in advance on the tower crane hook. When the longitudinal distance between the temporary position and the predetermined position is less than the preset risk adjustment distance, it is determined that the current lifting machine is in the pre-assembly stage, and when the lateral distance between the temporary position and the predetermined position is greater than the preset offset distance, it is determined that the current prefabricated component cannot be assembled to the predetermined position, and a second judgment result is output.

[0033] Further, when the judgment result is mismatch, the flashing frequency of the guide indicator light is changed, and the deviation position and deviation information are determined according to the flashing frequency to generate first monitoring information to be fed back to the hoisting operator, including:

[0034] When the actual number is less than two, obtain the information of the nearest normal indicator light next to the damaged indicator light, and generate a flashing frequency associated with the position information according to the corresponding position information of the normal indicator light and the damaged indicator light, so as to control the normal indicator light to emit light and form a light intersection with other light, and determine the deviation position according to the light intersection;

[0035] The flashing frequency of each indicator light is obtained by an image acquisition device arranged within a preset range of the prefabricated building, so as to calculate the deviation information of the position of the intersection of the light rays according to the position information associated with the flashing frequency;

[0036] Generate a hoisting guidance path based on the deviation position and deviation information;

[0037] When the tower crane hook reaches above the deviation position, the first monitoring information is generated according to the lifting guidance path and fed back to the lifting driver to assist the lifting driver in lifting the prefabricated component to the predetermined position.

[0038] Furthermore, the hoisting monitoring result feedback module is also used to perform the following operations:

[0039] receiving in real time the second judgment result sent by the hoisting action prediction module, and when the second judgment result is that the lateral distance between the temporary position and the predetermined position is greater than the preset offset distance, determining the offset direction and offset distance between the temporary position and the predetermined position according to the coordinate information of the temporary position and the predetermined position, so as to generate second deviation information according to the offset direction and the offset distance;

[0040] Generate a second hoisting guidance path according to the second deviation information,

[0041] The second monitoring information is generated according to the second lifting guidance path and fed back to the lifting driver to assist the lifting driver in lifting the prefabricated component to a predetermined position.

[0042] The beneficial effects of the present invention are:

[0043] The present invention provides a prefabricated component hoisting monitoring system for assembled buildings. Through an assembly guidance matching module, it is judged in advance whether the preset position of the guidance indicator light is consistent with the actual position during internal logic processing, so as to solve the problem that when the indicator light system fails, the hoisting driver performs hoisting operations according to wrong guidance, resulting in reduced assembly efficiency.

[0044] The crane action prediction module can predict the crane driver's lifting behavior and solve the problem that a large number of external light sources cause the crane driver to make errors in judging the intersection of the indicator light, which leads to reduced assembly efficiency.

[0045] Through the hoisting monitoring result feedback module, when the indicator light fails or the hoisting driver makes an error in judging the intersection point of the indicator light, the hoisting driver is assisted to quickly adjust the hoisting behavior and complete the hoisting operation of the prefabricated component.

[0046] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or they may be taught from the practice of the present invention. The purposes and other advantages of the present invention may be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0047] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0049] Figure 1 This is a module schematic diagram of a prefabricated component hoisting monitoring system for assembled buildings in an embodiment of the present invention;

[0050] Figure 2 Schematic diagram of image acquisition angles of an image acquisition device of a prefabricated component hoisting monitoring system for assembled buildings in an embodiment of the present invention;

[0051] Figure 3 This is a flowchart of the execution of operations of a hoisting machine action prediction module of a prefabricated component hoisting monitoring system for assembled buildings in an embodiment of the present invention;

[0052] Figure 4 This is a flowchart of the execution of operations of a hoisting monitoring result feedback module of a prefabricated component hoisting monitoring system for assembled buildings in an embodiment of the present invention;

[0053] Figure 5A schematic diagram of the relationship between a target position and an offset position in a prefabricated component hoisting monitoring system for an assembled building in an embodiment of the present invention;

[0054] Figure 6 This is another execution operation flow chart of a hoisting monitoring result feedback module of a prefabricated component hoisting monitoring system for assembled buildings in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0056] like Figure 1 As shown, the present invention provides a prefabricated component hoisting monitoring system for assembly, comprising:

[0057] An assembly position acquisition module is used to identify the prefabricated component information and the hoisting state of the prefabricated component, and when the prefabricated component is in the hoisting state, obtain the assembly position information associated with the prefabricated component information in the BIM assembly model;

[0058] An assembly guidance matching module is used to determine the target position information of the guidance indicator light according to the assembly position information, and to determine the actual position information of the guidance indicator light according to the image acquisition device, and to judge whether the target position information matches the actual position information, and output the judgment result;

[0059] The hoisting machine action prediction module is used to predict whether the prefabricated component can be assembled to the predetermined position according to the actual position information after successful matching and the hoisting action information of the hoisting machine, and output a second judgment result;

[0060] A hoisting monitoring result feedback module is used to change the flashing frequency of the guidance indicator light when the judgment result is mismatch, and determine the deviation position and deviation information according to the flashing frequency, so as to generate the first monitoring information and feed it back to the hoisting driver;

[0061] The working principle of the above technical solution is as follows: the present invention is used to solve the problem of poor reliability of the indicator light system when the indicator light system is used to guide the lifting of prefabricated components in the prior art. In order to solve this problem, the present invention proposes a prefabricated component lifting monitoring system for assembled buildings, which mainly includes an assembly position acquisition module, an assembly guidance matching module, a lifting machine action prediction module and a lifting monitoring result feedback module, wherein, during the lifting process, the assembly position acquisition module is responsible for identifying the prefabricated component information and the lifting status of the prefabricated component of the lifted prefabricated component, and when the prefabricated component is in the lifted state, the assembly position information related to the prefabricated component information in the BIM assembly model of the prefabricated component is obtained to determine the predetermined position of the prefabricated component to be installed, and then the target position of the corresponding lighted guide indicator in the currently constructed indicator light system is determined according to the assembly position information through the assembly guidance matching module. The device uses the image acquisition device pre-installed around the prefabricated building to determine the actual position information of the indicator light that is on, and determines whether the target position information matches the actual position information, and outputs the judgment result. At the same time, in the subsequent stage of hoisting, the hoisting machine action prediction module predicts whether the prefabricated component can be assembled to the predetermined position according to the actual position information after the successful matching and the obtained hoisting action information of the hoisting machine, and outputs the second judgment result. Finally, according to the hoisting monitoring result feedback module, when it is detected that the judgment result does not match, the flashing frequency of the indicator light is changed, and the deviation position and deviation information are determined according to the flashing frequency, so as to generate the first monitoring information and feedback it to the hoisting driver. At the same time, when it is detected that the second judgment result is that it cannot be assembled to the predetermined position, the temporary position of the tower crane hook and the offset direction and offset distance of the predetermined position are used to generate the second monitoring information and feedback it to the hoisting driver.

[0062] The beneficial effects of the above technical solution are as follows: through the assembly position acquisition module and the operations performed by it, it is helpful to help the construction site to form a systematic management of prefabricated components; through the assembly guidance matching module, it is judged in advance during the internal logic processing whether the preset position of the indicator light is consistent with the actual position, so as to solve the problem that when the indicator light system fails, the lifting driver performs lifting operations according to wrong instructions, resulting in reduced assembly efficiency; through the lifting machine action prediction module, by predicting the lifting behavior of the lifting driver, the problem that a large number of external light sources cause the lifting driver to make errors in judging the intersection of the light of the indicator light, resulting in reduced assembly efficiency, is solved; through the lifting monitoring result output module, it is helpful to quickly provide monitoring results to the lifting driver, and output corresponding solution information, to assist the lifting driver to quickly adjust the lifting behavior and complete the lifting operation of the prefabricated components.

[0063] In one embodiment, identifying the prefabricated component information and the hoisting status of the prefabricated component includes:

[0064] By pre-arranging an electronic tag identification device at a preset installation position of the hoisting machine, the electronic tag set on each prefabricated component in advance is identified to determine the prefabricated component information of each prefabricated component; the preset installation position includes any position where the electronic tag on the prefabricated component can be accurately identified, such as a tower crane standard section and a tower crane hook. The electronic tag is preferably an RFID electronic tag, and the electronic tag identification device is correspondingly an RFID reader-writer;

[0065] When the tower crane hook moves down to the prefabricated component stacking area, the electronic tag recognition device installed thereon will recognize multiple electronic tags. The information read at this time will not be adopted until the electronic tag recognition device recognizes and only recognizes the electronic tag of one prefabricated component, determines that the hoisting state of the prefabricated component is in the hoisting state, and reads and adopts the prefabricated component information of the prefabricated component;

[0066] When the electronic tag recognition device recognizes the electronic tags of multiple prefabricated components, it is determined that the hoisting state of the prefabricated components is not in the hoisting state yet, and as mentioned above, the information read at this time is not adopted to avoid transmitting too much useless information to the back-end system to cause a waste of computing power;

[0067] The beneficial effect of the above technical solution is: through the above technical solution, the information acquisition of prefabricated components during the lifting process is completed, providing reliable data support for subsequent lifting monitoring, and at the same time is beneficial to improve the systematic management of prefabricated components.

[0068] In one embodiment, obtaining assembly position information associated with prefabricated component information in a BIM assembly model includes:

[0069] Before a construction project is implemented, a BIM modeling system is built for the current construction project in advance, and a BIM assembly model of the current prefabricated building is established in the BIM modeling system for subsequent hoisting monitoring and other application calls;

[0070] Based on the prefabricated component information, the assembly position information of the model component associated with the prefabricated component information in the BIM assembly model is called to determine the predetermined hoisting position of the prefabricated component;

[0071] The beneficial effects of the above technical solution are: through the above technical solution, the confirmation of the hoisting destination during the hoisting process is completed, providing reliable data support for subsequent hoisting monitoring, and at the same time being beneficial to improving the systematic management of prefabricated components.

[0072] In one embodiment, determining the target position information of the indicator light according to the assembly position information includes:

[0073] The first position information of all indicator lights in the indicator light system is obtained, and the intersection area of ​​each two groups of cross-arranged indicator lights is grouped to obtain a plurality of groups of areas to be assembled; a square area to be assembled is constructed with the intersection point of the light as the center point, and the area of ​​each area to be assembled is the same, or the area error is less than 0.5 square meters. This step is preferably completed according to the plane area of ​​the prefabricated building during the pre-installation stage of the indicator light system.

[0074] Acquire the assembly position information of the prefabricated component, and determine the group number of the area to be assembled where the assembly position information is located, so as to determine the first position information corresponding to the two groups of indicator lights corresponding to the group number of the area to be assembled, as the target position information of the indicator lights corresponding to the current prefabricated component, for rapid positioning of the assembly position;

[0075] The beneficial effect of the above technical solution is that through the above technical solution, the assembly areas are grouped in advance, and the assembly position information determined subsequently is quickly located and confirmed with the pre-grouped areas, which is beneficial to improving the systematic management efficiency of prefabricated components.

[0076] In one embodiment, determining the actual position information of the indicator light according to the image acquisition device includes:

[0077] At least four image acquisition devices are arranged within a preset range of the prefabricated building, and the image acquisition directions of the arrangement positions are preferably the four diagonal directions of the prefabricated building, so that after the target position information is determined, the guidance indicator light images are acquired in the four edge directions of the prefabricated building (i.e., the guidance indicator light images of two building surfaces are acquired from the diagonal directions) to determine the number of flashing guidance indicator lights in the indicator light system and the actual position information of each flashing guidance indicator light, wherein the arrangement angle of the image acquisition device on any surface is as follows: Figure 2 As shown;

[0078] The actual location information is determined by at least two guiding indicator light images, and the two guiding indicator light images are used to perform one actual location information determination and one actual location information review. Each guiding indicator light image includes two faces of the prefabricated building, and the two guiding indicator light images used for the same actual location information determination must have one face that is the same face, and the same face is used to determine the actual location information of the guiding indicator light on the building face to which it belongs;

[0079] There are many methods for determining the actual position information of a fixed object in one or more pictures, such as setting a scale and adjusting the shooting distance to achieve the actual position information of the fixed object. The determination method is not limited here;

[0080] The beneficial effects of the above technical solution are: through the above technical solution, the actual position information of the guide indicator light is obtained, and through third-party monitoring, the problem of management personnel being unable to respond to it in the first time due to the failure of the guide indicator light to return erroneous information can be prevented, which is beneficial to provide reliable data support for subsequent lifting monitoring.

[0081] In one embodiment, determining whether the target location information matches the actual location information and outputting the determination result includes:

[0082] Obtaining target location information, the target location information includes target coordinate information of two guiding indicator lights;

[0083] Acquire actual location information, and determine the actual number and actual coordinate information of the indicator lights included in the actual location information;

[0084] If the actual number is two, determine whether the actual coordinate information is the same as the target coordinate information. If they are the same, determine that the target position information matches the actual position information. This is helpful to prevent interference in signal transmission from causing response errors. At the same time, it provides reliable maintenance data support for managers when they check monitoring logs later.

[0085] If the actual number is less than two, it is determined that the target location information and the actual location information do not match; this is used to prevent indicator light failure problems other than response errors in signal transmission, which is beneficial for quickly responding to indicator light indication errors. At the same time, when the management personnel check the monitoring log later, it can provide reliable maintenance data support for the management personnel;

[0086] The beneficial effect of the above technical solution is: through the above technical solution, the results of whether the target position information and the actual position information match are subdivided, which is beneficial for subsequent management personnel to perform rapid fixed-point maintenance on faults in the indicator light system.

[0087] like Figure 3 As shown, in one embodiment, based on the actual position information after successful matching and the lifting action information of the lifting machine, it is predicted whether the prefabricated component can be assembled to the predetermined position, and a second judgment result is output, including:

[0088] S101, according to the actual position information after successful matching, obtaining the intersection area of ​​the two corresponding guide indicator lights to estimate the predetermined position to be assembled; in this application, the center of the intersection area is selected as the predetermined position to be assembled;

[0089] S102, obtaining the hoisting action information of the hoisting machine, the hoisting action information is the action information fed back to the operating lever by the hoisting driver, and the operating lever is provided with a corresponding action detection sensor in advance; when the corresponding action information is executed on the operating lever, the action detection sensor will feed back the corresponding information, and the action detection sensor includes any one or a combination of multiple of an accelerometer, a tilt sensor, a vibration sensor, and a rotation sensor, and different sensor combination schemes can be arranged according to actual needs;

[0090] S103, judging whether the lifting action information satisfies the target lifting action, the target lifting action is that the lifting driver continuously operates the tower crane hook to move straight along the plumb line within a preset time; that is, monitoring whether the lifting driver operates the operating lever corresponding to the tower crane hook to issue a command to the tower crane hook to continuously move straight along the plumb line within the preset time, usually monitoring whether the lifting driver continuously operates the tower crane hook to descend within the preset time, and the preset time is preferably 5s;

[0091] S104, if the lifting action information meets the target lifting action, the temporary position of the tower crane hook is determined by a positioning device arranged in advance on the tower crane hook, preferably arranged around the connection point between the tower crane hook and the tower crane standard section, and when the longitudinal distance between the temporary position and the predetermined position is less than the preset risk adjustment distance, it is determined that the current hoisting machine is in the pre-assembly stage, and the preset risk adjustment distance is preferably 5m, and when the lateral distance between the temporary position and the predetermined position is greater than the preset offset distance, it is determined that the current prefabricated component cannot be assembled to the predetermined position, and a second judgment result is output, and the preset offset distance is preferably 3m;

[0092] The beneficial effect of the above technical scheme is as follows: during the hoisting process, if there are a large number of external light sources, it is easy for the hoisting driver to misjudge the landing point of the indicator light, thereby causing errors in the hoisting landing point of the prefabricated component. In the process of wrong landing, since there are no corresponding construction personnel below to adjust the prefabricated components, direct falling is likely to cause damage to the prefabricated components. Removing the prefabricated components requires adjusting the hoisting height to avoid personal injury, which will also lead to reduced assembly efficiency. Through the above technical scheme, the hoisting behavior of the hoisting driver is predicted, and the prediction results are output to provide reliable data support for the subsequent monitoring process. Combined with the subsequent hoisting monitoring result output module, it is beneficial to reduce the problem of external light sources causing the hoisting driver to misjudge the intersection of the indicator light, resulting in reduced assembly efficiency.

[0093] like Figure 4 As shown, in one embodiment, when the judgment result is mismatch, the flashing frequency of the guide indicator light is changed, and the deviation position and deviation information are determined according to the flashing frequency to generate first monitoring information to be fed back to the hoisting operator, including:

[0094] S201. When the actual number is less than two, obtain the information of the nearest normal indicator light next to the damaged indicator light, and generate a flashing frequency associated with the position information according to the corresponding position information of the normal indicator light and the damaged indicator light, so as to control the normal indicator light to emit light and form a light intersection with other light, and determine the deviation position according to the light intersection; for example, the original flashing frequency of the normal indicator light is 01010101, where 0 is to turn off the light and 1 is to turn on the light, and the time interval in between is preset to 1s or 0.5s. At this time, the normal indicator light is damaged, and the nearest normal indicator light is selected. If the randomly selected one is the normal indicator light on the left, then according to the preset flashing frequency generation rule, the flashing frequency associated with the position information generated is 001001001, and if the randomly selected one is the normal indicator light on the right, then according to the preset flashing frequency generation rule, the flashing frequency associated with the position information generated is 011011011;

[0095] S202, by means of an image acquisition device arranged within a preset range of the prefabricated building, the flashing frequency of each indicator light is acquired, so as to calculate the deviation information of the position of the light intersection according to the position information associated with the flashing frequency; since the position of each indicator light in the indicator light system is fixed, after determining the flashing frequency of each indicator light, its correlation with the correct indicator flashing light can be determined, thereby determining the deviation information of the target light intersection position and the target light intersection position; Figure 5 As shown, in Figure A, all the indicator lights are in normal state, then the intersection of the light rays is the target position. In Figure B, at this time, the No. 2 lamp is damaged. According to the above method, the No. 1 lamp generates a corresponding flashing frequency and forms an intersection with the light of the No. 3 lamp, and then the offset position is determined. At this time, the deviation information of the intersection of the light rays includes the offset distance and offset direction of the No. 1 lamp relative to the No. 2 lamp. In Figure C, at this time, both the No. 2 lamp and the No. 3 lamp are damaged. According to the above method, the No. 1 lamp and the No. 4 lamp generate a corresponding flashing frequency and form an intersection of the light rays to determine the offset position. Then, the deviation information of the intersection of the light rays includes the offset distance and offset direction of the No. 1 lamp relative to the No. 2 lamp, and the offset distance and offset direction of the No. 4 lamp relative to the No. 3 lamp.

[0096] S203, generating a hoisting guidance path according to the deviation position and the deviation information; generating a hoisting guidance path suitable for hoisting machine adjustment according to the deviation position and the deviation information;

[0097] S204, when the tower crane hook reaches above the deviation position, first monitoring information is generated according to the lifting guidance path and fed back to the lifting driver to assist the lifting driver in lifting the prefabricated component to the predetermined position; the light intersection point at the aforementioned deviation position is used to enable the lifting driver to clarify the lifting direction, and after reaching the designated position, the monitoring information is transmitted again for the lifting driver to make local fine adjustments according to the lifting guidance path to complete the lifting of the prefabricated component;

[0098] Furthermore, when the actual number is two and the actual coordinate information is different from the target coordinate information, the fault problem of the guidance indicator light is directly fed back to the management personnel;

[0099] The beneficial effects of the above technical scheme are as follows: through the above technical scheme, the communication method of completing communication by changing the light and dark flashing signals emitted by an object is borrowed from the principle of visible light communication, and the flashing frequency of the guide indicator light is changed. When the guide indicator light fails, the clock ensures that the guide indicator light flashes to provide the lifting direction for the lifting driver. At the same time, the lifting guide path is used to assist the lifting driver to quickly adjust the lifting behavior, complete the lifting operation of prefabricated components, and improve assembly efficiency.

[0100] like Figure 6 As shown, in one embodiment, the hoisting monitoring result feedback module is also used to perform the following operations:

[0101] S301, receiving in real time a second judgment result sent by the hoisting action prediction module, and when the second judgment result is that the lateral distance between the temporary position and the predetermined position is greater than the preset offset distance, determining the offset direction and offset distance between the temporary position and the predetermined position according to the coordinate information of the temporary position and the predetermined position, so as to generate second deviation information according to the offset direction and the offset distance;

[0102] S302, generating a second hoisting guidance path according to the second deviation information;

[0103] S303, generating second monitoring information according to the second hoisting guidance path and feeding it back to the hoisting driver to assist the hoisting driver in hoisting the prefabricated component to a predetermined position;

[0104] The beneficial effect of the above technical solution is: when the lifting driver makes an error in judging the intersection point of the light of the indicator light, the lifting driver is assisted to quickly adjust the lifting behavior, complete the lifting operation of the prefabricated component, and improve the assembly efficiency.

[0105] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A prefabricated component hoisting monitoring system for assembled buildings, characterized in that: include: An assembly position acquisition module, used to identify prefabricated component information and the hoisting state of the prefabricated component, and when the prefabricated component is in the hoisting state, acquire the assembly position information associated with the prefabricated component information in the BIM assembly model; An assembly guidance matching module, used to determine the target position information of the guidance indicator light according to the assembly position information, and determine the actual position information of the guidance indicator light according to the image acquisition device, and judge whether the target position information matches the actual position information, and output a first judgment result; A hoisting machine action prediction module is used to predict whether the prefabricated component can be assembled to a predetermined position according to the actual position information after successful matching and the hoisting action information of the hoisting machine, and output a second judgment result; A hoisting monitoring result feedback module, used for changing the flashing frequency of the guidance indicator light when the first judgment result is mismatch, and determining the deviation position and deviation information according to the flashing frequency, so as to generate first monitoring information to be fed back to the hoisting operator; The assembly guidance matching module specifically performs the following operations: Acquire the first position information of all the indicator lights in the indicator light system, and group the intersection areas of every two groups of cross-arranged indicator lights to obtain a plurality of groups of areas to be assembled; Acquire the assembly position information of the prefabricated component, and determine the group number of the area to be assembled where the assembly position information is located, so as to determine the first position information corresponding to the two groups of indicator lights corresponding to the group number of the area to be assembled, as the target position information of the indicator lights corresponding to the current prefabricated component; At least four image acquisition devices are arranged within a preset range of the prefabricated building, so that after the target position information is determined, the guidance indicator light images are acquired in the four edge directions of the prefabricated building to determine the number of flashing guidance indicator lights in the indicator light system and the actual position information of each flashing guidance indicator light; The actual position information is determined by at least two guidance indicator light images; Acquire target location information, wherein the target location information includes target coordinate information of two guide indicator lights; Acquire actual location information, and determine the actual number and actual coordinate information of the indicator lights included in the actual location information; If the actual number is two, determining whether the actual coordinate information is the same as the target coordinate information, and if so, determining that the target position information matches the actual position information; If the actual number is less than two, determining that the target location information and the actual location information do not match; The specific execution of the hoisting monitoring result feedback module includes the following operations: When the actual number is less than two, obtain the information of the nearest normal indicator light next to the damaged indicator light, and generate a flashing frequency associated with the position information according to the corresponding position information of the normal indicator light and the damaged indicator light, so as to control the normal indicator light to emit light and form a light intersection with other light, and determine the deviation position according to the light intersection; The flashing frequency of each indicator light is obtained by an image acquisition device arranged within a preset range of the prefabricated building, so as to calculate the deviation information of the position of the intersection of the light rays according to the position information associated with the flashing frequency; Generate a hoisting guidance path according to the deviation position and the deviation information; When the tower crane hook reaches above the deviation position, first monitoring information is generated according to the lifting guidance path and fed back to the lifting operator to assist the lifting operator in lifting the prefabricated component to a predetermined position.

2. A prefabricated component hoisting monitoring system for assembled buildings according to claim 1, characterized in that: Identify prefabricated component information and the hoisting status of prefabricated components, including: By pre-arranging an electronic tag identification device at a preset installation position of the hoisting machine, the electronic tag set in advance on each prefabricated component is used to identify the prefabricated component information of each prefabricated component; When the electronic tag recognition device recognizes and recognizes only one electronic tag of a prefabricated component, it is determined that the hoisting state of the prefabricated component is in the hoisting state; When the electronic tag recognition device recognizes the electronic tags of a plurality of prefabricated components, it is determined that the hoisting status of the prefabricated components is not yet in the hoisting status.

3. The prefabricated component hoisting monitoring system for assembled buildings according to claim 1, characterized in that: Acquiring assembly position information associated with the prefabricated component information in the BIM assembly model, including: By constructing a BIM modeling system for the current construction project in advance, and establishing a BIM assembly model of the current prefabricated building in the BIM modeling system; Based on the prefabricated component information, assembly position information of the model component associated with the prefabricated component information in the BIM assembly model is called.

4. The prefabricated component hoisting monitoring system for assembled buildings according to claim 1, characterized in that: According to the actual position information after successful matching and the lifting action information of the lifting machine, predict whether the prefabricated component can be assembled to the predetermined position, and output a second judgment result, including: According to the actual position information after successful matching, the intersection area of ​​the two corresponding guide indicator lights is obtained to estimate the predetermined position to be assembled; Acquire the hoisting action information of the hoisting machine, wherein the hoisting action information is the action information fed back to the operating lever by the hoisting driver, and the operating lever is provided with a corresponding action detection sensor in advance; Determining whether the hoisting action information satisfies a target hoisting action, wherein the target hoisting action is that the hoisting operator continuously operates the tower crane hook to move vertically along the plumb line within a preset time; If the lifting action information meets the target lifting action, the temporary position of the tower crane hook is determined by a positioning device arranged in advance on the tower crane hook. When the longitudinal distance between the temporary position and the predetermined position is less than the preset risk adjustment distance, it is determined that the current lifting machine is in the pre-assembly stage, and when the lateral distance between the temporary position and the predetermined position is greater than the preset offset distance, it is determined that the current prefabricated component cannot be assembled to the predetermined position, and a second judgment result is output.

5. A prefabricated component hoisting monitoring system for assembled buildings according to any one of claims 1 or 4, characterized in that: The hoisting monitoring result feedback module is also used to perform the following operations: receiving in real time a second judgment result sent by the hoisting action prediction module, and when the second judgment result is that the lateral distance between the temporary position and the predetermined position is greater than the preset offset distance, determining the offset direction and offset distance between the temporary position and the predetermined position according to the coordinate information of the temporary position and the predetermined position, so as to generate second deviation information according to the offset direction and the offset distance; generating a second hoisting guidance path according to the second deviation information, The second monitoring information is generated according to the second lifting guidance path and fed back to the lifting driver to assist the lifting driver in lifting the prefabricated component to a predetermined position.

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