Component hoisting pose control method, device and equipment, medium and product

Abstract

The embodiment of the invention provides a component hoisting pose control method and device, equipment, a medium and a product. The method comprises the steps that the optimal motion pose of a to-be-tracked component in the process of hoisting from an initial position to a mounting position is obtained; in the hoisting process of the to-be-tracked component, the current movement position of the to-be-tracked component is collected through a pre-arranged total station and a prism, and meanwhile video stream data of the to-be-tracked component is collected through a pre-arranged video collection device; according to the video stream data of the to-be-tracked component, determining a current space attitude of the to-be-tracked component at the current motion position; and according to the optimal motion position, the optimal spatial attitude, the current motion position and the current spatial attitude, providing an adjustment suggestion for the to-be-tracked component. By means of the method, the total station and the video collecting device are erected, the hoisting pose of the component is monitored in real time, motion suggestions are given to the component, and the problem that the pose of the component cannot be monitored and controlled in the scene with the narrow site and the poor intervisibility condition is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a method, device, equipment, medium and product for controlling the hoisting posture of a component. Background Art

[0002] In the hoisting operation of construction, the real-time and concrete grasp of the movement position and spatial posture of the components, such as the initial lifting, the process movement, and the final landing, is very important to ensure the accuracy and safety of the hoisting operation. In the prior art, the movement position and spatial posture of the components are usually observed by setting up multiple total stations, but this method is not suitable for scenes with small venues and poor visibility conditions. For example, due to the location of tower cranes, hoisting drivers, on-site commanders, and project managers may not be able to obtain the movement position and spatial posture of the moving components in real time. Summary of the invention

[0003] The embodiments of the present invention provide a method, device, equipment, medium and product for controlling the hoisting posture of a component, which enable the component posture to be monitored and controlled even in a scene with a small space and poor visibility conditions.

[0004] In a first aspect, this embodiment provides a method for controlling a component hoisting posture, the method comprising:

[0005] Acquire an optimal motion posture of the component to be tracked during hoisting from an initial position to an installation position, wherein the optimal motion posture includes an optimal motion position and an optimal spatial posture at the optimal motion position;

[0006] During the hoisting process of the component to be tracked, the current moving position of the component to be tracked is collected by a total station and a prism pre-arranged in the relative coordinate system of the engineering environment, and the video stream data of the component to be tracked is collected by a pre-arranged video acquisition device;

[0007] Determining a current spatial posture of the component to be tracked at the current motion position according to the video stream data of the component to be tracked;

[0008] According to the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture, an adjustment suggestion is made for the component to be tracked.

[0009] In a second aspect, this embodiment provides a control device for a component hoisting posture, the device comprising:

[0010] An optimal posture determination module is used to obtain the optimal motion posture of the component to be tracked during the process of hoisting from the initial position to the installation position, wherein the optimal motion posture includes the optimal motion position and the optimal spatial posture at the optimal motion position;

[0011] An information acquisition module, used for acquiring the current motion position of the component to be tracked by a total station and a prism pre-arranged in the relative coordinate system of the engineering environment, and acquiring the video stream data of the component to be tracked by a pre-arranged video acquisition device during the hoisting process of the component to be tracked;

[0012] A current posture determination module, used to determine the current spatial posture of the component to be tracked at the current motion position according to the video stream data of the component to be tracked;

[0013] The component adjustment module is used to make adjustment suggestions for the component to be tracked according to the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture.

[0014] In a third aspect, this embodiment provides an electronic device, including:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for controlling the component lifting posture described in any embodiment of the present invention.

[0018] In a fourth aspect, the present embodiment provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for controlling the component lifting posture described in any embodiment of the present invention when executed.

[0019] In a fifth aspect, an embodiment of the present invention further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the control method of the component lifting posture as described in any embodiment of the present invention.

[0020] An embodiment of the present invention provides a control method, device, equipment, medium and product for the hoisting posture of a component, the method comprising: obtaining the optimal motion posture of a component to be tracked during the hoisting process from an initial position to an installation position, the optimal motion posture comprising an optimal motion position and an optimal spatial posture at the optimal motion position; during the hoisting process of the component to be tracked, while collecting the current motion position of the component to be tracked by a total station and a prism pre-arranged in a relative coordinate system of an engineering environment, collecting video stream data of the component to be tracked by a pre-arranged video acquisition device; determining the current spatial posture of the component to be tracked at the current motion position based on the video stream data of the component to be tracked; and making adjustment suggestions for the component to be tracked based on the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture. Different from the existing technology of observing the position and posture of components by setting up multiple total stations, it is not suitable for scenes with small venues and poor visibility conditions. The above technical solution sets up a total station and a video acquisition device. The real-time position of the component can be acquired through the total station, and the video stream data of the component can be acquired through the video acquisition device. After processing the video stream data, the real-time spatial posture of the component can be identified. Based on this, the position and spatial posture of the component can be observed in real time, and adjustment suggestions for the position and spatial posture of the component can be made based on the optimal motion posture. It realizes real-time monitoring of the position and spatial posture of the component during the hoisting process and gives suggestions for the movement of the component, solving the problem that the position and posture of the component cannot be monitored and controlled in scenes with small venues and poor visibility conditions.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic flow chart of a method for controlling a component hoisting posture provided in the first embodiment of the present invention;

[0024] Figure 2 A schematic flow chart of another method for controlling the hoisting posture of a component provided in the second embodiment of the present invention;

[0025] Figure 3An example diagram of a human-computer interaction interface in the execution of a method for controlling a component hoisting posture provided in the second embodiment of the present invention;

[0026] Figure 4 A schematic diagram of the structure of a control device for the hoisting posture of a component provided in Embodiment 3 of the present invention;

[0027] Figure 5 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment 1

[0031] Figure 1 A flow chart of a method for controlling the lifting posture of a component provided in Example 1 of the present invention is applicable to the situation where the lifting posture of a component is monitored and controlled during the lifting process of the component. The method can be executed by a control device for the lifting posture of the component. The control device for the lifting posture of the component can be implemented in the form of hardware and / or software and is generally integrated in an electronic device.

[0032] like Figure 1 As shown, a method for controlling a component hoisting posture provided in the first embodiment may specifically include the following steps:

[0033] S101, obtaining an optimal motion posture of a component to be tracked during hoisting from an initial position to an installation position.

[0034] In this embodiment, the optimal motion posture includes the optimal motion position and the optimal spatial posture at the optimal motion position. The component to be tracked can be specifically understood as the component to be hoisted and installed at the engineering site. The initial position can be specifically understood as the position of the component to be tracked before being hoisted, and the installation position can be specifically understood as the position where the component to be tracked is to be installed. In order to ensure that the component to be tracked can be safely and accurately hoisted from the initial position to the installation position, the optimal movement path of the component to be tracked during the entire hoisting process can be simulated in advance. The optimal movement path can be regarded as composed of multiple optimal motion positions in sequence, and the optimal spatial posture at each motion position can also be simulated. The optimal motion position represents the positions to which the component to be tracked should be hoisted during the hoisting process. For example, the optimal motion position can be expressed in three-dimensional coordinates. The optimal spatial posture represents the spatial posture that the component to be tracked should maintain at each optimal motion position during the hoisting process. For example, the optimal spatial posture can be expressed by the rotation angle of the three axes in the relative coordinate system. The optimal motion position and the optimal spatial posture at the optimal motion position constitute the optimal motion posture.

[0035] Exemplarily, modeling and motion simulation software can be used to simulate the optimal motion posture of the component to be tracked during the process of hoisting from the initial position to the installation position. Using the preset modeling and motion simulation software, simulate the optimal motion positions and simulated spatial postures at each optimal motion position of the component to be tracked during the process of hoisting from the initial position to the installation position; perform scene rendering on each simulated spatial posture to obtain the key frame image corresponding to the component to be tracked at each optimal motion position; obtain the optimal spatial posture of the component to be tracked at the optimal motion position based on each key frame image and the pre-trained component recognition model.

[0036] It can be understood that this step can be considered as a pre-step performed before the hoisting of the tracked component, which determines the entire optimal motion path of the tracked component from the initial position to the installation position and the spatial posture corresponding to each motion position in the motion path, providing a basis for the subsequent adjustment of the posture of the tracked component during the hoisting process. When determining the optimal spatial posture of the tracked component during the entire hoisting process, not only safety factors such as avoiding collisions with obstacles are considered, but also factors such as ensuring the convenience of the hoisting process of the tracked component and saving costs are considered.

[0037] In this embodiment, before starting the hoisting operation, all equipment is set up, and the component number of the component to be tracked can be entered through the terminal or the QR code on the component to be tracked can be scanned, and the background will automatically import the artificial intelligence training results data of the component to be tracked, that is, the optimal motion posture of the component to be tracked during the hoisting process from the initial position to the installation position. For example, the terminal can be augmented reality (AR) glasses, tablet computers, mobile phones, etc.

[0038] S102. During the hoisting process of the component to be tracked, the current moving position of the component to be tracked is collected by the total station and prism pre-arranged in the relative coordinate system of the engineering environment, and the video stream data of the component to be tracked is collected by the pre-arranged video acquisition device.

[0039] It should be noted that during the hoisting operation of the component to be tracked, the real-time position and state of the movement of the hoisted component, such as the start of hoisting, process movement, and final landing, need to be grasped in real time and concretely. In order to meet the above requirements, a total station (or automatic measurement robot) with automatic tracking and measurement functions and a video acquisition device can be set up in the known coordinate system of the engineering site, and the spatial coordinate positions of the two in the relative coordinate system of the engineering environment can be confirmed. A prism is installed on the component to be tracked to keep the total station with automatic tracking and measurement functions and the prism in sight at all times without obstruction. For example, the video acquisition device can use a high-definition camera, and the prism can use a 360° prism. There are no specific requirements for the location of the video acquisition device and the total station, but the line of sight with the component to be tracked must be maintained. Based on the above layout, two data sources are obtained through the total station with automatic tracking and measurement functions and the video acquisition device.

[0040] Among them, the total station must have an automatic tracking and measurement function, or use an automatic measurement robot. The prism is installed on the component to be tracked. The total station can obtain the real-time three-dimensional coordinates of the component to be tracked during the hoisting process by tracking the prism on the component to be tracked, and mark the real-time collected three-dimensional coordinates as the current motion position. It can be understood that after the three-dimensional coordinates of the prism installed at the component to be tracked are known, the three-dimensional coordinates of the entire component to be tracked can be calculated based on the external dimensions of the component to be tracked and the spatial posture of the component to be tracked. For example, assuming that the coordinates of a certain position in the lower left corner of the component to be tracked collected by the total station, based on the external dimensions of the component to be tracked and the spatial posture of the component to be tracked, the spatial coordinates of the entire component to be tracked can be known. The video acquisition device can collect video stream data of the hoisting process of the component to be tracked in real time. By processing the real-time video stream data, the component to be tracked can be identified and locked, and the real-time spatial posture of the component to be tracked can be determined.

[0041] Based on the above description, it can be known that there are two data sources for the component to be tracked during the hoisting process. The total station and prism can provide the current real-time motion position of the component to be tracked, and the video acquisition device can provide the real-time video stream data of the component to be tracked. These data can be sent to the execution subject through the communication module.

[0042] S103: Determine the current spatial posture of the component to be tracked at the current moving position according to the video stream data of the component to be tracked.

[0043] In this embodiment, based on the real-time video acquisition device to collect the video stream data of the component to be tracked during the lifting process, the video stream data is further processed. The video stream data is composed of multiple frames of images, and the current frame image corresponding to the component to be tracked at the current motion position is extracted from the video stream data; the component to be tracked is identified and marked in the current frame image, so that the spatial posture of the component to be tracked is used as the current spatial posture at the current motion position. Since the component to be tracked is hoisted from the initial position to the installation position, the current motion position of the component to be tracked during the hoisting process is continuously updated, and each current motion position has a corresponding current spatial posture.

[0044] Exemplarily, in this embodiment, a pre-trained component recognition model can be used to identify and mark the components to be tracked in the video stream data. The component recognition model can be specifically understood as a model for identifying and marking components from an image. After extracting the current frame image at the current motion position from the video stream data, the current frame image and the original component image of the component to be tracked can be used as input data and input into the pre-trained component recognition model, so as to mark the component to be tracked in the current frame image, and determine the spatial posture of the marked component to be tracked as the current spatial posture of the component to be tracked at the current position.

[0045] S104, making adjustment suggestions for the component to be tracked according to the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture.

[0046] In this embodiment, in order to achieve the position and posture control of the component to be tracked, adjustments can be made from two aspects: the position and posture of the component to be tracked. Specifically, the current motion position is compared with the optimal motion position. If the difference between the two does not exceed the set error range, there is no need to make a movement operation suggestion for the component to be tracked; if the difference between the two exceeds the set error range, it is necessary to make a movement operation suggestion for the component to be tracked until the difference between the two is less than the set error range. Compare the current spatial state with the optimal spatial state. If the difference between the two does not exceed the set error range, there is no need to make a rotation operation suggestion for the component to be tracked; if the difference between the two exceeds the set error range, it is necessary to make a rotation operation suggestion for the component to be tracked until the difference between the two is less than the set error range.

[0047] It should be noted that it is a process for the component to be tracked to be hoisted from the initial position to the installation position. Therefore, the current motion position and the current spatial posture will be continuously obtained during the entire hoisting process, and the current motion position will be compared with the corresponding optimal motion position, and the current spatial posture will be compared with the corresponding optimal spatial posture to determine whether the position and spatial posture of the component to be tracked need to be adjusted.

[0048] Different from the existing technology of observing the position and posture of components by setting up multiple total stations, it is not suitable for scenes with small venues and poor visibility conditions. The above technical solution sets up a total station and a video acquisition device. The real-time position of the component can be acquired through the total station, and the video stream data of the component can be acquired through the video acquisition device. After processing the video stream data, the real-time spatial posture of the component can be identified. Based on this, the position and spatial posture of the component can be observed in real time, and adjustment suggestions for the position and spatial posture of the component can be made based on the optimal motion posture. It realizes real-time monitoring of the position and spatial posture of the component during the hoisting process and gives suggestions for the movement of the component, solving the problem that the position and posture of the component cannot be monitored and controlled in scenes with small venues and poor visibility conditions.

[0049] Embodiment 2

[0050] Figure 2 A flow chart of another method for controlling the lifting posture of a component provided in Embodiment 2 of the present invention. This embodiment is a further optimization of the above-mentioned embodiment. In this embodiment, the optimization is further limited to "obtaining the optimal motion posture of the component to be tracked during the process of lifting from the initial position to the installation position", as well as the optimization is limited to "determining the current spatial posture of the component to be tracked at the current motion position based on the video stream data of the component to be tracked", and the optimization is limited to "making adjustment suggestions for the component to be tracked based on the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture".

[0051] like Figure 2 As shown, this embodiment 2 provides a method for controlling the hoisting posture of a component, which specifically includes the following steps:

[0052] S201. Using preset modeling and motion simulation software, according to the relative position of the video acquisition device and the component to be tracked, simulate the optimal motion positions and simulated spatial postures of the component to be tracked during the process of hoisting from the initial position to the installation position.

[0053] In this embodiment, in a fixed coordinate system at the construction site, a video acquisition device is set up at a certain position. According to the relative position between the video acquisition device and the component to be tracked, it is equivalent to setting such an effect point during the simulation of the modeling and motion simulation software. The image that may correspond to the hoisting process of the component to be tracked is simulated through the perspective of this effect point to improve the recognition accuracy of the image. Preferably, the modeling and motion simulation software is a building information modeling (BIM) software.

[0054] Specifically, according to the relative position of the video acquisition device and the component to be tracked, the path motion state of the component to be tracked from the initial position to the installation position is simulated in the modeling and motion simulation software, that is, the optimal motion path of the component to be tracked from the initial position to the installation position is simulated, and the optimal motion positions to which the component to be tracked moves during the installation process are determined, and the simulated spatial posture of the control to be tracked at each optimal motion position is determined.

[0055] S202 , rendering each simulated space posture based on the real environment scene to obtain a key frame image corresponding to the component to be tracked at each optimal motion position.

[0056] In this embodiment, the modeling and motion simulation software has a real scene rendering function. By rendering the real environment scene corresponding to each optimal motion position of the simulated space posture, the image of each optimal motion position of the component to be tracked during the whole lifting process can be obtained, which is recorded as the key frame image corresponding to the component to be tracked. Exemplarily, a large number of key frame images are extracted through the real scene rendering of the BIM software.

[0057] S203: Obtain the optimal spatial posture of the component to be tracked at the optimal motion position according to each key frame image and the pre-trained component recognition model.

[0058] In this embodiment, the component recognition model can be specifically understood as a model for identifying and marking components from an image. The component recognition model can be obtained by training an initial neural network model based on a training sample set. After obtaining a key frame image rendered based on modeling and motion simulation software, a pre-trained component recognition model can be used to identify and mark the components to be tracked in each key frame image. Specifically, the key frame image and the original component image of the component to be tracked can be input into the component recognition model, so as to segment and mark the component to be tracked from the key frame image, and determine the spatial posture of the component to be tracked as the optimal spatial posture of the component to be tracked.

[0059] As a specific implementation method, the steps of obtaining the optimal spatial posture of the component to be tracked at each optimal motion position according to each key frame image and the pre-trained component recognition model can be optimized, including:

[0060] a1) For each optimal motion position, the key frame image corresponding to the component to be tracked at the optimal motion position and the original component image of the component to be tracked are used as input data and input into the pre-trained component recognition model, and the component to be tracked is marked in the key frame image.

[0061] In this embodiment, the original component image of the component to be tracked refers to the physical image of the component to be tracked, for example, it can be the component image produced at the factory. Specifically, for each optimal motion position, the key frame image corresponding to the component to be tracked at the optimal motion position and the original component image are input as input data to the component recognition model, and the key frame image output by the component recognition model can mark the component to be tracked. The component recognition model includes a segmentation algorithm, which can realize pixel-level segmentation and extraction of component edges.

[0062] b1) determining the spatial posture of the component to be tracked marked in the key frame image as the optimal spatial posture of the component to be tracked at the optimal motion position.

[0063] Exemplarily, the spatial posture can be represented by the rotation angle of three coordinate axes in the fixed coordinate system relative to the engineering site. Specifically, after marking the component to be tracked in the key frame image, the rotation angle of the component to be tracked relative to the three coordinate axes in the fixed coordinate system can be determined as the optimal spatial posture of the component to be tracked at the current motion position.

[0064] The above technical solution specifies the steps of how to determine the optimal spatial posture of the component to be tracked based on the component recognition model, and provides a basis for the subsequent adjustment of the spatial posture of the component to be tracked.

[0065] S204. During the hoisting process of the component to be tracked, the current moving position of the component to be tracked is collected by the total station and prism pre-arranged in the relative coordinate system of the engineering environment, and the video stream data of the component to be tracked is collected by the pre-arranged video acquisition device.

[0066] S205 , extracting a current frame image corresponding to the component to be tracked at the current moving position from the video stream data of the component to be tracked.

[0067] In this embodiment, the video stream data of the component to be tracked is composed of multiple frame images in sequence, and the image corresponding to the component to be tracked at the current moving position is extracted from the video stream data and recorded as the current frame image.

[0068] S206: The current frame image and the original component image of the component to be tracked are input as input data into a pre-trained component recognition model, and the component to be tracked is marked in the current frame image.

[0069] Specifically, for each current motion position, the current frame image and the original component image corresponding to the component to be tracked at the current motion position are used as input data and input into the component recognition model. The current frame image output by the component recognition model can mark the component to be tracked. The component recognition model includes a segmentation algorithm, which can achieve pixel-level segmentation and extraction of component edges. Exemplarily, the marking method can be to identify and highlight or box the component to be tracked that is being hoisted in the video stream data.

[0070] S207: Determine the spatial posture of the component to be tracked marked in the current frame image as the current spatial posture of the component to be tracked at the current position.

[0071] Exemplarily, the spatial posture can be represented by the rotation angle of three coordinate axes in the fixed coordinate system relative to the engineering site. Specifically, after the component to be tracked is marked in the current frame image, the rotation angle of the component to be tracked relative to the three coordinate axes in the fixed coordinate system can be determined as the current spatial posture of the component to be tracked at the current motion position.

[0072] S208, comparing whether the difference between the current motion position and the optimal motion position is within a first set error range, if so, no moving operation suggestion is made to the component to be tracked, if not, a moving operation suggestion is made to the component to be tracked.

[0073] After the above-mentioned modeling and motion simulation software simulates the optimal moving path and the optimal spatial posture in place, it is compared with the moving position and spatial posture of the component to be tracked in real time to adjust the component to be tracked. In this embodiment, the first set error range can be set according to the actual situation. The current moving position is subtracted from the optimal moving position and the absolute value is taken. If the difference is within the first set error range, it is considered that the current moving position of the component to be tracked meets the planned optimal moving path, and there is no need to propose a moving operation suggestion for the component to be tracked. If the difference exceeds the first set error range, it is considered that the current moving position of the component to be tracked does not meet the planned optimal moving path, and it is necessary to propose a moving operation suggestion for the component to be tracked so that the difference between the moving position of the component to be tracked and the optimal moving position is within the first set error range. Exemplarily, assuming that the current moving position is (x, y, z), the optimal moving position is (x, y, z1), |z-z1|> the first set error range, then it is necessary to move the component to be tracked in the z coordinate axis direction so that the coordinate difference after the movement is less than the first set error range.

[0074] S209, comparing whether the difference between the current spatial posture and the optimal spatial posture is within a second set error range, if so, no rotation operation suggestion is made for the component to be tracked, if not, a rotation operation suggestion is made for the component to be tracked.

[0075] In this embodiment, the second set error range can be set according to actual conditions. The current spatial state is subtracted from the optimal spatial state and the absolute value is taken. If the difference is within the second set error range, it is considered that the current spatial state of the component to be tracked meets the planned optimal spatial posture, and there is no need to make a rotation operation suggestion for the component to be tracked. If the difference exceeds the second set error range, it is considered that the current spatial state of the component to be tracked does not meet the planned optimal spatial posture, and it is necessary to make a rotation operation suggestion for the component to be tracked so that the difference between the spatial state of the movement of the component to be tracked and the optimal spatial state is within the second set error range. For example, assuming that the figure presented by the component to be tracked in a frame of image should be a rectangle, but the image is marked as a parallelogram, it means that the component needs to be rotated a certain angle to reach the correct lifting position.

[0076] The above technical solution specifies the steps of obtaining the optimal motion posture, determining the current spatial posture of the component to be tracked, and how to adjust the component to be tracked. The posture of the component to be tracked during the lifting process is modeled and rendered by modeling and motion simulation software to obtain the optimal motion posture of the component to be tracked; then the real-time motion position of the component to be tracked is collected by the total station, and the video stream data of the component to be tracked is collected by the video acquisition device to process and obtain the real-time spatial posture of the component to be tracked. The optimal motion posture is compared with the real-time position and posture of the component to be tracked to adjust the component to be tracked. The real-time position and spatial posture of the component during the hoisting process are mastered, and correction suggestions are made for the position and spatial posture of the component, which improves the accuracy and safety of the component hoisting process.

[0077] As an optional embodiment of the embodiment of the present invention, based on the above embodiment, this optional embodiment can optimize the training steps of the component recognition model, including:

[0078] a2) Collect a first set number of first images from the completion of component processing to the preparation for lifting, and a second set number of second images obtained by the modeling and motion simulation software based on the simulation rendering of the component based on the real environment scene, and record the first images and the second images as sample images.

[0079] In this embodiment, there is no specific restriction on the first set number and the second set number, and they can be set according to actual conditions. The first image can be specifically understood as an image of a component collected during a historical lifting process. The second image can be specifically understood as an image obtained by simulating and rendering the component based on modeling and motion simulation software. Both the first image and the second image can be used as sample images for training the component recognition model. It can be understood that the training step of the component recognition model is a pre-executed step, and the trained component recognition model can be directly used to identify the component at the construction site.

[0080] b2) performing component annotation on each sample image to obtain a sample training set, wherein the sample training set includes at least one sample training pair, and the sample training pair includes a sample image and a corresponding sample image after the components are annotated.

[0081] In this embodiment, each sample image is annotated with components, and the components are identified and highlighted or framed. The sample image and the corresponding sample image with the components annotated constitute a sample training pair, and a large number of sample training pairs constitute a sample training set.

[0082] c2) Training the initial neural network model based on the sample training set, and using the trained initial neural network model as a component recognition model.

[0083] Exemplarily, the initial neural network model can adopt a lightweight YOLOv8-Seg algorithm model. The initial neural network model is trained based on the sample training set, that is, the sample image is input into the initial neural network model to obtain the image after the component edge segmentation, and the loss function is calculated with the sample image of the component annotation, and the parameters of the initial neural network model are adjusted based on this. Repeat the above steps, and through a large amount of training, the model can identify the component to be tracked until the loss function value meets the set conditions, and the trained initial neural network model is used as the component recognition model.

[0084] In this embodiment, based on the component number of the component, the artificial intelligence training results data of the component, including model weights, evaluation charts, log files and data statistics, can be independently archived, read and other data management.

[0085] The above technical solution specifies the training steps of the component recognition model, and provides a basis for the subsequent recognition and labeling of the components to be tracked.

[0086] As an optional embodiment of the embodiment of the present invention, based on the above embodiment, this optional embodiment can optimize the method to further include:

[0087] a3) Collecting safety monitoring information of the components to be tracked based on safety monitoring equipment.

[0088] In this embodiment, a safety monitoring device based on the Internet of Things is added. The safety monitoring device can be installed on the component to be tracked or on a building at a set distance from the component to be tracked during the hoisting process. The set distance can be set according to the actual situation and is not specifically limited here. Based on the installed safety monitoring equipment, safety monitoring information related to the component to be tracked is collected. For example, the safety monitoring device can be an anemometer or an ultrasonic collision detector. The anemometer can collect the wind speed around the component to be tracked or the nearby building, and record the wind speed as safety monitoring information. The ultrasonic collision detector can collect the distance between the component to be tracked and the building, and record the distance as safety monitoring information.

[0089] b3) If the security monitoring information is greater than the set security information threshold, a security warning will be issued.

[0090] In this embodiment, a safety information threshold is set. When the safety monitoring information exceeds the set safety information threshold, it is considered that there is a risk in the hoisting process of the component to be tracked, and a safety warning is issued. Among them, the setting of the safety information threshold can be set according to the actual situation. Assuming that the safety monitoring information is the wind speed, it is considered that when the current wind speed is greater than the set safety wind speed threshold, it is recommended to stop the hoisting because the wind speed is too high. Assuming that the safety monitoring information is the current distance between the component to be hoisted and the surrounding buildings, it is considered that when the current distance is greater than the set safety distance threshold, there is a risk of collision between the component and the building, and it is recommended to stop the hoisting. If the component is less than 50cm close to the building and there is a possibility of collision, a safety warning is issued. Exemplarily, the prompt operation of the safety warning includes but is not limited to at least one of a text prompt, a sound prompt, and an indicator light prompt.

[0091] c3) If the security monitoring information is less than or equal to the set security information threshold, no security warning will be issued.

[0092] In this embodiment, if the safety monitoring information is less than or equal to the set safety information threshold, it is considered that there is no risk in the hoisting process of the tracked component, and no safety warning is issued. Assuming that the safety monitoring information is wind speed, it is considered that when the current wind speed is less than the set safety wind speed threshold, no safety warning is issued. Assuming that the safety monitoring information is the current distance between the component to be hoisted and the surrounding buildings, it is considered that when the current distance is less than or equal to the set safety distance threshold, there is no risk of collision between the component and the building, and no safety warning is issued.

[0093] The above technical solution adds a safety warning function during the component lifting process, realizes safety prompts when there are safety risks during the component lifting process, and improves the safety of the entire lifting process.

[0094] As an optional embodiment of the embodiment of the present invention, based on the above embodiment, this optional embodiment can optimize the method to further include:

[0095] The component-related information of the component to be tracked is presented on the human-computer interaction interface, and the component-related information at least includes component parameter information, a current frame image of the component to be tracked, a current motion position, an installation position, a current position deviation, or one of safety warning information, and the current position deviation is obtained by subtracting the installation position from the current motion position.

[0096] In this embodiment, during the hoisting process of the component to be tracked, the component-related information of the component to be tracked can be displayed in real time on the human-computer interaction interface in an enhanced display manner. For example, the component-related information can be presented on the human-computer interaction interface of the electronic device integrated by the execution subject, such as being displayed on a display terminal configured for operators (such as tower crane drivers) and managers. The display terminal can be various visualization terminals such as AR glasses, tablet computers, and mobile phones, or an enhanced display system integrated with artificial intelligence installed on a high-performance host in an on-site command room (such as a computer room in a project department).

[0097] Following the above description, there is a digital management system such as project management in the engineering project. By entering the component number, you can get information such as which factory produced the component, what materials are used in the component, and what precautions should be taken when welding. Since the component number is entered in advance, through the project digital management platform, the execution subject can read remotely and obtain the relevant parameters of the component to be tracked, such as component material, installation information, etc., and record this information as component parameter information, which can be displayed in real time on the enhanced display system. In addition, the component recognition model is used to mark the current frame image collected in real time, so that the current frame image with the component to be tracked marked can be presented on the human-computer interaction interface, and the visual effect brought to the user is that the component to be tracked in the collected video stream data is locked by means of box selection. In actual working conditions, there may be multiple components being hoisted. By entering the component number, the component number and the component diagram are corresponding, so you know which component to observe. After locking the component to be tracked, the staff can focus on this component, which is convenient for better guidance based on the staff. For example, a green frame can be used to mark and lock the component to be tracked, and the relevant coordinate position can also be displayed. Assuming that the component presented in the human-computer interaction interface is not the component to be observed, it will be reminded that there is no component to be observed in the current image.

[0098] In this embodiment, the total station will collect the three-dimensional coordinates of the component to be tracked in real time, and transmit the three-dimensional coordinates to the execution subject in real time through the communication module. The execution subject can use the received three-dimensional coordinates as the current motion position of the component to be tracked, and display it on the human-computer interaction interface. At the same time, based on the component number of the component to be tracked, the end point coordinates of the component to be tracked, that is, the installation position, can be read from the modeling and motion simulation software and displayed on the human-computer interaction interface. The current position deviation can also be obtained by subtracting the installation position from the current motion position and displaying it on the human-computer interaction interface. Exemplarily, the high-definition video stream installed at a fixed point and the real-time tracking and measurement data of the intelligent total station with an automatic measuring robot are integrated in the system, and the dynamic highlight contours and measurement data are rendered in real time on various display terminals such as AR glasses.

[0099] In this embodiment, the prompt information of the safety warning can also be presented on the human-computer interaction interface. For example, if the current wind speed is too high, a prompt information of "wind speed is too high, it is recommended to stop hoisting" can be generated; if the current distance is too close, a prompt information of "distance is too close to avoid collision" can be generated. Based on these safety warning information, safety reminders are completed on the human-computer interaction interface. If there is no safety warning, this part of the content in the human-computer interaction interface is empty.

[0100] Based on the above description, based on the video stream data collected by the video acquisition device, in addition to presenting the video stream data on the human-computer interaction interface, the tracked component is also locked and marked, and component parameter information, real-time motion position, final installation position, current distance difference to the end point, safety warning prompt information, etc. are added. This information is used as enhanced display information to achieve an enhanced display effect of the picture, improve the user's visual experience, improve the readability of the human-computer interaction interface, and facilitate users to obtain relevant information about the component more intuitively. The above information is fed back to the operation and management personnel through enhanced display to assist on-site implementation until the lifting is completed.

[0101] For example, in order to more clearly illustrate the layout of the human-computer interaction interface, an actual scenario is used as an example for illustration. Figure 3 This is an example diagram of a human-computer interaction interface in the execution of a method for controlling a component lifting posture provided in the second embodiment of the present invention, such as Figure 3 As shown, the content presented on the human-computer interaction interface 1 includes component parameter information 11, such as build number and material; the current frame image 12 of the component to be tracked is marked, and the component to be tracked is marked and locked; the current motion position 13, represented by (X1, Y1, Z1), X1, Y1, Z1 respectively represent the current coordinates of the component to be tracked on the three coordinate axes in the coordinate system; the installation position 15, represented by (X2, Y2, Z2), X2, Y2, Z2 respectively represent the final coordinates of the component to be tracked on the three coordinate axes in the coordinate system; the current position deviation 14, represented by (ΔX, ΔY, ΔZ), ΔX, ΔY, ΔZ respectively represent the coordinate deviations on the three coordinate axes; the human-computer interaction interface also presents safety warning information 16.

[0102] Embodiment 3

[0103] Figure 4 This is a schematic diagram of the structure of a control device for component hoisting posture provided in the third embodiment of the present invention. The device can be used to monitor and control the component hoisting posture during the component hoisting process. The control device for component hoisting posture can be implemented in the form of hardware and / or software and is generally integrated in an electronic device. Figure 4As shown, the device includes: an optimal posture determination module 31, an information collection module 32, a current posture determination module 33 and a component adjustment module 34, wherein:

[0104] The optimal posture determination module 31 is used to obtain the optimal motion posture of the component to be tracked during the process of hoisting from the initial position to the installation position, and the optimal motion posture includes the optimal motion position and the optimal spatial posture at the optimal motion position;

[0105] The information acquisition module 32 is used to acquire the current motion position of the component to be tracked by using the total station and prism pre-arranged in the relative coordinate system of the engineering environment, and to acquire the video stream data of the component to be tracked by using the pre-arranged video acquisition device during the hoisting process of the component to be tracked;

[0106] A current posture determination module 33, used to determine the current spatial posture of the component to be tracked at the current motion position according to the video stream data of the component to be tracked;

[0107] The component adjustment module 34 is used to make adjustment suggestions for the component to be tracked according to the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture.

[0108] Different from the existing technology of observing the position and posture of components by setting up multiple total stations, it is not suitable for scenes with small venues and poor visibility conditions. The above technical solution sets up a total station and a video acquisition device. The real-time position of the component can be acquired through the total station, and the video stream data of the component can be acquired through the video acquisition device. After processing the video stream data, the real-time spatial posture of the component can be identified. Based on this, the position and spatial posture of the component can be observed in real time, and adjustment suggestions for the position and spatial posture of the component can be made based on the optimal motion posture. It realizes real-time monitoring of the position and spatial posture of the component during the hoisting process and gives suggestions for the movement of the component, solving the problem that the position and posture of the component cannot be monitored and controlled in scenes with small venues and poor visibility conditions.

[0109] Optionally, the optimal posture determination module 31 includes:

[0110] The posture simulation unit is used to simulate the optimal motion positions and simulated spatial postures of the component to be tracked during the process of hoisting from the initial position to the installation position by using preset modeling and motion simulation software according to the relative position of the video acquisition device and the component to be tracked;

[0111] A scene rendering unit is used to render each simulated space posture based on the real environment scene to obtain a key frame image corresponding to the component to be tracked at each optimal motion position;

[0112] The optimal posture determination unit is used to obtain the optimal spatial posture of the component to be tracked at the optimal motion position according to each key frame image and the pre-trained component recognition model.

[0113] Optionally, the optimal posture determination unit is specifically used to:

[0114] For each optimal motion position, the key frame image corresponding to the component to be tracked at the optimal motion position and the original component image of the component to be tracked are used as input data and input into the pre-trained component recognition model, and the component to be tracked is marked in the key frame image;

[0115] The spatial posture of the component to be tracked marked in the key frame image is determined as the optimal spatial posture of the component to be tracked at the optimal motion position.

[0116] Optionally, the current posture determination module 33 is specifically used for:

[0117] Extracting a current frame image corresponding to the component to be tracked at the current moving position from the video stream data of the component to be tracked;

[0118] The current frame image and the original component image of the component to be tracked are used as input data and input into the pre-trained component recognition model, and the component to be tracked is marked in the current frame image;

[0119] The spatial posture of the component to be tracked marked in the current frame image is determined as the current spatial posture of the component to be tracked at the current position.

[0120] Optionally, the component adjustment module 34 is specifically used to:

[0121] Comparing whether the difference between the current motion position and the optimal motion position is within a first set error range, if so, no moving operation suggestion is made to the tracking component, if not, a moving operation suggestion is made to the tracking component;

[0122] Compare whether the difference between the current spatial posture and the optimal spatial posture is within a second set error range. If so, no rotation operation suggestion is made for the component to be tracked; if not, a rotation operation suggestion is made for the component to be tracked.

[0123] Optionally, the model training module is specifically used to:

[0124] Collecting a first set number of first images from the process from component processing completion to hoisting preparation, and a second set number of second images obtained by modeling and motion simulation software for simulating and rendering the component based on a real environment scene, and recording the first images and the second images as sample images;

[0125] Perform component labeling on each sample image to obtain a sample training set, wherein the sample training set includes at least one sample training pair, and the sample training pair includes a sample image and a corresponding sample image after the components are labeled;

[0126] The initial neural network model is trained based on the sample training set, and the trained initial neural network model is used as a component recognition model.

[0127] Optionally, the device further includes a safety warning module, which is specifically used to:

[0128] The safety monitoring equipment collects safety monitoring information of the component to be tracked, and the safety monitoring equipment is installed on the component to be tracked or on a building at a set distance from the component to be tracked during the hoisting process;

[0129] If the security monitoring information is greater than the set security information threshold, a security warning will be issued;

[0130] If the security monitoring information is less than or equal to the set security information threshold, no security warning will be issued.

[0131] Optionally, the device further includes an information display module, specifically used for:

[0132] The component-related information of the component to be tracked is presented on the human-computer interaction interface, and the component-related information at least includes component parameter information, a current frame image of the component to be tracked, a current motion position, an installation position, a current position deviation, or one of safety warning information, and the current position deviation is obtained by subtracting the installation position from the current motion position.

[0133] The control device for the component lifting posture provided in the embodiment of the present invention can execute the control method for the component lifting posture provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0134] Embodiment 4

[0135] Figure 5 A schematic diagram of the structure of an electronic device provided for Embodiment 4 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0136] like Figure 5As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0137] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0138] The processor 41 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as a control method for the component hoisting posture.

[0139] In some embodiments, the control method of the component lifting posture can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the control method of the component lifting posture described above can be performed. Alternatively, in other embodiments, the processor 41 can be configured to execute the control method of the component lifting posture by any other appropriate means (for example, by means of firmware).

[0140] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0141] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0142] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0143] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0144] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0145] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0146] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements a method for controlling a component lifting posture as provided in any embodiment of the present invention.

[0147] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code for the operation of the present disclosure, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0148] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0149] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the hoisting posture of a component, characterized in that: include: Acquire an optimal motion posture of the component to be tracked during hoisting from an initial position to an installation position, wherein the optimal motion posture includes an optimal motion position and an optimal spatial posture at the optimal motion position; During the hoisting process of the component to be tracked, the current moving position of the component to be tracked is collected by a total station and a prism pre-arranged in the relative coordinate system of the engineering environment, and the video stream data of the component to be tracked is collected by a pre-arranged video acquisition device; Determining a current spatial posture of the component to be tracked at the current motion position according to the video stream data of the component to be tracked; According to the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture, an adjustment suggestion is made for the component to be tracked.

2. The method according to claim 1, characterized in that The step of obtaining the optimal motion posture of the component to be tracked during the process of hoisting from the initial position to the installation position includes: Using preset modeling and motion simulation software, according to the relative position between the video acquisition device and the component to be tracked, simulate the optimal motion positions of the component to be tracked during the process of hoisting from the initial position to the installation position and the simulated spatial posture at each optimal motion position; Rendering each of the simulated space postures based on a real environment scene to obtain a key frame image corresponding to the component to be tracked at each of the optimal motion positions; According to each of the key frame images and the pre-trained component recognition model, the optimal spatial posture of the component to be tracked at each of the optimal motion positions is obtained.

3. The method according to claim 2, characterized in that The step of obtaining the optimal spatial posture of the component to be tracked at each optimal motion position according to each of the key frame images and the pre-trained component recognition model comprises: For each optimal motion position, a key frame image corresponding to the component to be tracked at the optimal motion position and an original component image of the component to be tracked are used as input data and input into a pre-trained component recognition model, and the component to be tracked is marked in the key frame image; The spatial posture of the component to be tracked marked in the key frame image is determined as the optimal spatial posture of the component to be tracked at the optimal motion position.

4. The method according to claim 1, characterized in that: The step of determining the current spatial posture of the component to be tracked at the current motion position according to the video stream data of the component to be tracked comprises: Extracting a current frame image corresponding to the component to be tracked at the current moving position from the video stream data of the component to be tracked; The current frame image and the original component image of the component to be tracked are input as input data into a pre-trained component recognition model, and the component to be tracked is marked in the current frame image; The spatial posture of the component to be tracked marked in the current frame image is determined as the current spatial posture of the component to be tracked at the current position.

5. The method according to claim 1, characterized in that The step of proposing adjustment suggestions for the component to be tracked according to the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture comprises: Comparing whether the difference between the current motion position and the optimal motion position is within a first set error range, if so, not proposing a moving operation suggestion for the component to be tracked, and if not, proposing a moving operation suggestion for the component to be tracked; Compare whether the difference between the current spatial posture and the optimal spatial posture is within a second set error range, if so, do not make a rotation operation suggestion for the component to be tracked, if not, make a rotation operation suggestion for the component to be tracked.

6. The method according to claim 2, characterized in that The training step of the component recognition model includes: Collecting a first set number of first images from the completion of component processing to the preparation for hoisting, and a second set number of second images obtained by the modeling and motion simulation software for simulating and rendering the component based on a real environment scene, and recording the first images and the second images as sample images; Performing component annotation on each of the sample images to obtain a sample training set, wherein the sample training set includes at least one sample training pair, and the sample training pair includes a sample image and a corresponding sample image after the components are annotated; The initial neural network model is trained based on the sample training set, and the trained initial neural network model is used as the component recognition model.

7. The method according to claim 1, characterized in that Also includes: Collecting safety monitoring information of the component to be tracked based on a safety monitoring device, wherein the safety monitoring device is installed on the component to be tracked or on a building at a set distance from the component to be tracked during the hoisting process; If the security monitoring information is greater than the set security information threshold, a security warning is issued; If the security monitoring information is less than or equal to the set security information threshold, no security warning will be issued.

8. The method according to claim 1, characterized in that Also includes: The component-related information of the component to be tracked is presented on a human-computer interaction interface, wherein the component-related information at least includes component parameter information, a current frame image marking the component to be tracked, a current motion position, an installation position, a current position deviation, or one of safety warning information, wherein the current position deviation is obtained by subtracting the installation position from the current motion position.

9. A control device for component hoisting posture, characterized in that: include: An optimal posture determination module is used to obtain the optimal motion posture of the component to be tracked during the process of hoisting from the initial position to the installation position, wherein the optimal motion posture includes the optimal motion position and the optimal spatial posture at the optimal motion position; An information acquisition module, used for acquiring the current motion position of the component to be tracked by a total station and a prism pre-arranged in the relative coordinate system of the engineering environment, and acquiring the video stream data of the component to be tracked by a pre-arranged video acquisition device during the hoisting process of the component to be tracked; A current posture determination module, used to determine the current spatial posture of the component to be tracked at the current motion position according to the video stream data of the component to be tracked; The component adjustment module is used to make adjustment suggestions for the component to be tracked according to the optimal motion position, the optimal spatial posture, the current motion position and the current spatial posture.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method for the component lifting posture according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method for the component lifting posture according to any one of claims 1 to 8 when executed.

12. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the control method of the component lifting posture according to any one of claims 1 to 8.

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