Intelligent positioning system for precast beam

Abstract

The invention relates to the technical field of visual tracking and positioning, in particular to an intelligent positioning system for a precast beam. The feature comparison module is used for constructing a pose tracking vector of each connecting steel bar and judging whether end movement deviation exists in a carrying track section or not, and the deviation analysis module is used for determining the category of the end movement deviation; a track correction module determines that a track correction point is set in a carrying track for pause according to the type of the end movement deviation, or the movement speed of the precast beam is regulated and controlled in a screened correction track section, and therefore the movement deviation is rapidly and accurately determined according to the steel bar projection contour of the night construction scene, and the accuracy of the movement deviation is improved. And targeted measures are taken in time for correction, so that the construction positioning efficiency and the construction positioning precision are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of visual tracking and positioning, and particularly to an intelligent positioning system for precast beams. Background Art

[0002] In the construction industry, precast beams are widely used in various projects due to their advantages such as high efficiency and standardization. During the handling process, the accurate positioning of precast beams plays a crucial role in the construction efficiency. Currently, most of the handling of precast beams still relies on simple tracking and verification depending on manual experience or instruments, which not only has low efficiency but also is prone to large errors. Especially in the night construction scenario, the poor light conditions further increase the difficulty of construction positioning. The requirements for construction accuracy in modern construction projects are also continuously improving. Under this background, an intelligent positioning system that can adapt to the complex light environment at night, real-time and accurately monitor the position deviation of precast beam handling and effectively correct it is extremely urgent. By leveraging cutting-edge technologies such as visual recognition and data analysis, the construction quality and efficiency can be improved.

[0003] For example, the Chinese Patent Publication No.: CN119164407A, which discloses a laser vision inertial fusion positioning method for positioning error distribution and trajectory optimization, including the following steps: S1: When separately using an inertial unit, a lidar, and a visible light camera for pose estimation, calculate the error distribution of pose estimation; S2: According to the characteristics of different scenarios, allocate different fusion weights to the inertial unit, lidar, and visible light camera respectively; S3: Use a spline curve to model the movement trajectory of the vehicle, and combine the pose estimation results with different weights to optimize the trajectory equation, improving the scalability of the system.

[0004] The following problems also exist in the prior art: The prior art does not consider that it is difficult to obtain accurate positioning data in the night construction scenario. The prior art cannot quickly and accurately determine the movement deviation based on the steel bar projection contour in the night construction scenario, and cannot take targeted measures for correction in a timely manner, affecting the construction positioning efficiency and construction positioning accuracy. Summary of the Invention

[0005] Therefore, the present invention provides an intelligent positioning system for precast beams to overcome the problems that the prior art cannot quickly and accurately determine the movement deviation based on the steel bar projection contour in the night construction scenario and cannot take targeted measures for correction in a timely manner.

[0006] To achieve the above object, the present invention provides an intelligent positioning system for precast beams, including: A visual capture module for illuminating the two end faces of the precast beam and obtaining a video stream of the precast beam running along the handling trajectory; An image extraction module, which is connected to the image extraction module, is used to obtain end-face images of consecutive frames at a preset time interval based on the video stream, and identify and mark the projection contours of several connecting steel bars in each end-face image; A feature comparison module, which is connected to the image extraction module, includes a construction unit and a comparison unit. The construction unit is used to construct a pose tracking vector for each connecting steel bar according to the change of the projection contour of the connecting steel bar in the end-face images of adjacent frames; The comparison unit determines an end-face deviation factor according to the comparison of the pose tracking vectors of several connecting steel bars, and determines whether there is an end movement deviation in the handling trajectory segment according to the end-face deviation factors of each end-face; A deviation analysis module, which is connected to the feature comparison module, is used to screen several feature comparison connecting steel bars according to the trajectory components of the handling trajectory segment, and determine the category of end movement deviation according to the comparison of the length changes of the projection contours of the feature comparison connecting steel bars; A trajectory correction module, which is connected to the deviation analysis module, is used to determine a preset trajectory correction point for the precast beam to pause in the handling trajectory according to the category of end movement deviation, or to adjust the moving speed of the precast beam in the selected correction trajectory segment.

[0007] Further, the construction unit is used to construct a pose tracking vector for each connecting steel bar, wherein, The construction unit determines the end point of the projection contour of the connecting steel bar in the end-face image of the previous frame in the adjacent frames as the vector starting point, determines the end point of the projection contour of the connecting steel bar in the end-face image of the subsequent frame in the adjacent frames as the vector end point, and determines the vector constructed by the vector starting point and the vector end point as the pose tracking vector of the connecting steel bar.

[0008] Further, the comparison unit is used to determine an end-face deviation factor, wherein, The comparison unit determines the included angle between the pose tracking vectors of any two connecting steel bars in the end-face, and determines the standard deviation of the included angles of several included angles as the end-face deviation factor of the end-face.

[0009] Further, the comparison unit calculates the difference between the end-face deviation factors of two end-faces, and determines whether there is an end movement deviation according to the comparison result of the difference and a preset factor difference threshold; If the difference exceeds the preset factor difference threshold, the comparison unit determines that there is an end movement deviation in the handling trajectory segment; Wherein, the handling trajectory segment is the trajectory segment where the precast beam moves along the handling trajectory at the moment of the adjacent frames.

[0010] Further, the deviation analysis module screens dominant trajectory components according to the trajectory components of the handling trajectory segment, wherein, The deviation analysis module is used to determine the trajectory length component of the handling trajectory segment along the length direction of the precast beam, the trajectory width component along the width direction of the precast beam, and the trajectory height component along the height direction of the precast beam, and screen the maximum component value among the trajectory length component, the trajectory width component, and the trajectory height component as the dominant trajectory component.

[0011] Further, the deviation analysis module is used to screen a number of feature comparison connecting steel bars, where, The number of steel bars of the feature comparison connecting steel bars screened by the deviation analysis module and the distribution positions of each feature comparison connecting steel bar are determined according to the component direction of the dominant trajectory component, and there is at least one feature comparison connecting steel bar on each end face.

[0012] Further, the deviation analysis module is used to determine the end movement deviation category, where, The deviation analysis module respectively obtains the average value of the change amount of the projected contour length of the feature comparison connecting steel bars on each end face within a preset time period; If the average values of the change amounts of the connecting projected contour lengths of different end faces meet the end deviation discrimination condition, the deviation analysis module determines that the end movement deviation category is the first deviation category; If the average values of the change amounts of the projected contour lengths of different end faces do not meet the end deviation discrimination condition, the deviation analysis module determines that the end movement deviation category is the second deviation category.

[0013] Further, the end deviation discrimination condition is that the difference between the average values of the change amounts of the projected contour lengths of different end faces does not exceed a preset difference condition value.

[0014] Further, the trajectory correction module determines the positioning correction method for the handling of the precast beam according to the end movement deviation category, where, If the end movement deviation category is the first deviation category, the trajectory correction module determines that the precast beam pauses at a set trajectory correction point in the handling trajectory; If the end movement deviation category is the second deviation category, the trajectory correction module determines to adjust the moving speed of the precast beam in the screened correction trajectory segment.

[0015] Further, the trajectory correction module sets the trajectory correction point according to the trajectory curvature of the handling trajectory; The trajectory correction module screens the correction trajectory segment according to the trajectory components of the handling trajectory, and controls the precast beam to reduce the moving speed within the correction trajectory segment.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows. The present invention is provided with a visual capture module, an image extraction module, a feature comparison module, a deviation analysis module, and a trajectory correction module. The image extraction module identifies and marks the projection contours of several connecting steel bars in each end face image. The feature comparison module constructs the pose tracking vectors of each connecting steel bar and determines whether there is an end movement deviation within the handling trajectory segment. The deviation analysis module determines the type of end movement deviation. The trajectory correction module determines a set trajectory correction point for the precast beam to pause in the handling trajectory according to the type of end movement deviation, or adjusts the moving speed of the precast beam in the selected correction trajectory segment. Furthermore, it realizes the rapid and accurate determination of the movement deviation based on the steel bar projection contour in the night construction scenario, and timely takes targeted measures for correction, improving the construction positioning efficiency and construction positioning accuracy.

[0017] Furthermore, the present invention constructs a pose tracking vector according to the end points of the projection contours of the connecting steel bars in adjacent frames through a construction unit, which can accurately capture the position changes of the connecting steel bars at different times. Since the connecting steel bars are representative of the position and pose of the precast beam, this method can accurately reflect the pose changes of the precast beam during handling. The comparison unit calculates the included angles between the pose tracking vectors of each connecting steel bar and uses the standard deviation of the included angles as the end face deviation factor, which can effectively quantify the deviation degree of the precast beam end face. Furthermore, it realizes a more comprehensive and accurate reflection of the overall deviation condition of the precast beam end face during handling.

[0018] Furthermore, the present invention calculates the difference between the end face deviation factors of two end faces and compares it with a preset factor difference threshold, which can accurately judge whether there is an end movement deviation of the precast beam within the handling trajectory segment. The end face deviation factor itself is a quantitative index for the consistency of the pose changes of the connecting steel bars on the precast beam end face, and its difference can more sensitively reflect the changes in the end state of the precast beam between adjacent trajectory segments. Furthermore, it realizes the rapid and accurate determination of the movement deviation based on the steel bar projection contour in the night construction scenario.

[0019] Furthermore, by determining the trajectory components of the handling trajectory segment in the length, width, and height directions of the precast beam and screening out the dominant trajectory components, the present invention can clarify the main moving direction of the precast beam during handling, which helps to accurately locate in which dimension the deviation is more prominent. By screening the feature comparison connecting steel bars according to the direction of the dominant trajectory component, the selected connecting steel bars are related to the main moving direction of the precast beam, and can more accurately reflect the deformation or movement of the end of the precast beam in this direction. By obtaining the average value of the change in the projected contour length of each end face feature comparison connecting steel bar within a preset time period and determining the end movement deviation category according to whether the end deviation discrimination condition is satisfied, it helps to take different measures to correct the deviation. Furthermore, it realizes the rapid and accurate determination of the movement deviation based on the steel bar projected contour in the night construction scenario, and timely takes targeted measures for correction.

[0020] Furthermore, in the present invention for the first deviation category, by setting a trajectory correction point in the handling trajectory to pause, the overall position of the precast beam can be adjusted to ensure it returns to the correct handling trajectory; for the second deviation category, by regulating the moving speed of the precast beam in the selected correction trajectory segment, the movement state of the precast beam can be changed by adjusting the speed. Furthermore, it realizes the rapid and accurate determination of the movement deviation based on the steel bar projected contour in the night construction scenario, timely takes targeted measures for correction, and improves the construction positioning efficiency and construction positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the system block diagram of the intelligent positioning system for precast beams in the embodiment of the present invention; Figure 2 is the flowchart of the comparison unit in the embodiment of the present invention for determining whether there is end movement deviation; Figure 3 is the flowchart of the deviation analysis module in the embodiment of the present invention for determining the end movement deviation category; Figure 4 is the flowchart of the trajectory correction module in the embodiment of the present invention for determining the positioning correction method. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0023] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0024] It should be noted that in the description of the present invention, the terms indicating the direction or positional relationship such as "upper", "lower", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description, rather than indicating or implying that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0025] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0026] Please refer to Figure 1 as shown, which is the system block diagram of the intelligent positioning system for precast beams in the embodiment of the present invention. The intelligent positioning system for precast beams of the present invention includes: A visual capture module for illuminating the two end faces of the precast beam and acquiring a video stream of the precast beam running along the handling trajectory; Specifically, the visual capture module in the present invention can be a high-definition camera and an LED light source for illuminating the precast beam handling site. By irradiating the end faces of the precast beam with the LED light source, projections of connecting steel bars are formed on each end face of the precast beam.

[0027] An image extraction module, which is connected to the image extraction module, for acquiring continuous-frame end face images at a preset time interval based on the video stream, and identifying and marking the projection contours of several connecting steel bars in each end face image; Specifically, the image extraction module in the present invention can be an image processor for processing the video stream to obtain end face images. The preset time interval in the present invention can be set by those skilled in the art according to the monitoring requirements. In order to avoid waste of computing resources caused by obtaining too many end face images for processing and analysis under the condition of ensuring monitoring accuracy, the preset time interval can be set to 10 s.

[0028] A feature comparison module, which is connected to the image extraction module, includes a construction unit and a comparison unit. The construction unit is used for constructing a pose tracking vector of each connecting steel bar according to the change situation of the projection contours of the connecting steel bars in adjacent-frame end face images; The comparison unit determines an end face deviation factor according to the comparison situation of the pose tracking vectors of several connecting steel bars, and determines whether there is an end movement deviation in the handling trajectory segment according to the end face deviation factors of each end face; A deviation analysis module, which is connected to the feature comparison module, is used to screen a number of feature comparison connecting steel bars according to the trajectory components of the handling trajectory segment, and determine the end movement deviation category according to the length change comparison of the projection contours of the feature comparison connecting steel bars; A trajectory correction module, which is connected to the deviation analysis module, is used to determine that the precast beam pauses at a set trajectory correction point in the handling trajectory according to the end movement deviation category, or adjust the moving speed of the precast beam in the selected correction trajectory segment.

[0029] Specifically, the feature comparison module, deviation analysis module and trajectory correction module in the present invention, or each unit therein, can be composed of logic components. The logic components can be field programmable logic components, microprocessors, processors used in computers, etc., which will not be elaborated here.

[0030] Those skilled in the art can understand that the end face of the precast beam is a key part for connecting with other building components. In the construction environment, accurately handling the precast beam according to the pre-set handling trajectory can reduce the deviation adjustment time when connecting the precast beam with other building components. Therefore, precise positioning and trajectory analysis and control during the movement of the precast beam along the handling trajectory are the keys to improving construction efficiency. On the end face of the precast beam, the connecting steel bars distributed symmetrically are the key components to realize the stable connection between the precast beam and other building components. This is the prior art and will not be elaborated here.

[0031] It can be understood that the connecting steel bar is a key component in the precast beam structure, and its position and shape are fixed in the precast beam. During the construction handling process, the projection contour of the connecting steel bar changes with the position change of the precast beam. In the special construction environment at night, the projection contour of the connecting steel bar can be clearly distinguished from the background. When the precast beam undergoes translation, rotation or tilt during the handling process, the projection contour of the connecting steel bar will also undergo corresponding displacement, deformation or angle change. By analyzing the projection contour of the connecting steel bar, the pose information of the precast beam can be accurately obtained.

[0032] Specifically, the construction unit is used to construct the pose tracking vector of each connecting steel bar, where The construction unit determines the end point of the projection contour of the connecting steel bar in the end face image of the previous frame in the adjacent frames as the vector starting point, determines the end point of the projection contour of the connecting steel bar in the end face image of the next frame in the adjacent frames as the vector ending point, and determines the vector constructed by the vector starting point and the vector ending point as the pose tracking vector of the connecting steel bar.

[0033] Specifically, the projection contour end point in the present invention is the point on the projection contour that is farthest from the bottom of the connecting steel bar.

[0034] Specifically, the comparison unit is used to determine the end face deviation factor, where, The comparison unit determines the angle between the pose tracking vectors of any two connected steel bars in the end face, and determines the standard deviation of the angles of several angles as the end face deviation factor of the end face.

[0035] It can be understood that in each frame of image, the image extraction module will identify and mark the projection contour of the connected steel bars, and select the end points of the projection contour as reference points because the end points have clear position characteristics in the image, which is convenient for accurate identification and positioning, and the position change of the end points can more intuitively reflect the overall movement trend of the connected steel bars. Taking the end point of the projection contour of the previous frame in the adjacent frames as the vector starting point and the corresponding end point of the latter frame as the vector end point, the vector constructed in this way can represent the displacement and direction change of the connected steel bars between these two frames of images. This vector contains the movement information of the connected steel bars on the plane, including changes in translation and rotation, etc., so that the pose change of the connected steel bars can be quantified.

[0036] Specifically, the present invention constructs a pose tracking vector according to the end points of the projection contour of the connected steel bars in adjacent frames through the construction unit, and can accurately capture the position change of the connected steel bars at different times. Since the connected steel bars are representative of the position and pose of the precast beam, this method can accurately reflect the pose change of the precast beam during handling. The comparison unit calculates the angle between the pose tracking vectors of each connected steel bar and uses the standard deviation of the angles as the end face deviation factor, which can effectively quantify the deviation degree of the end face of the precast beam. Furthermore, it realizes a more comprehensive and accurate reflection of the overall deviation condition of the end face of the precast beam during handling.

[0037] Specifically, please refer to Figure 2 As shown, it is a flowchart for the comparison unit of the embodiment of the present invention to determine whether there is a head movement deviation. The comparison unit calculates the difference between the end face deviation factors of two end faces, and determines whether there is a head movement deviation according to the comparison result of the difference and the preset factor difference threshold; If the difference exceeds the preset factor difference threshold, the comparison unit determines that there is a head movement deviation in the handling trajectory segment; If the difference does not exceed the preset factor difference threshold, the comparison unit determines that there is no head movement deviation in the handling trajectory segment; Wherein, the handling trajectory segment is the trajectory segment that the precast beam moves along the handling trajectory at the time when the adjacent frames are located.

[0038] In implementation, the value of the preset factor difference threshold should avoid insufficient sensitivity of the system to the end movement deviation caused by too large a value, and misjudgment of normal fluctuations or minor changes caused by too small a value. Therefore, the value range of the factor difference threshold is set to [5°, 10°]. Preferably, the value of the factor difference threshold is 8°.

[0039] Specifically, by calculating the difference between the end deviation factors of two end faces and comparing it with the preset factor difference threshold, the present invention can accurately determine whether there is an end movement deviation of the precast beam within the handling trajectory segment. The end deviation factor itself is a quantitative index for the consistency of the pose change of the connecting steel bars at the end face of the precast beam, and its difference can more sensitively reflect the change of the end state of the precast beam between adjacent trajectory segments. Furthermore, it realizes the rapid and accurate determination of the movement deviation according to the steel bar projection contour in the night construction scenario.

[0040] Specifically, the deviation analysis module screens out the dominant trajectory components according to the trajectory components of the handling trajectory segment, where the deviation analysis module is used to determine the trajectory length component along the length direction of the precast beam, the trajectory width component along the width direction of the precast beam, and the trajectory height component along the height direction of the precast beam in the handling trajectory segment, and screens the maximum value among the trajectory length component, the trajectory width component, and the trajectory height component as the dominant trajectory component.

[0041] Specifically, the deviation analysis module is used to screen out several characteristic comparison connecting steel bars, where the number of the characteristic comparison connecting steel bars screened by the deviation analysis module and the distribution positions of each characteristic comparison connecting steel bar are determined according to the component direction of the dominant trajectory component, and there is at least one characteristic comparison connecting steel bar on each end face.

[0042] Exemplarily, the present invention sets different screening methods for the characteristic comparison connecting steel bars according to the component direction of the dominant trajectory component; If the dominant trajectory component is the trajectory length component, the number of the characteristic comparison connecting steel bars screened by the deviation analysis module can be two, and the two characteristic comparison connecting steel bars are respectively distributed on two end faces, and the positions of the end faces where each connecting steel bar is located are the same; If the dominant trajectory component is the trajectory width component, the number of the characteristic comparison connecting steel bars screened by the deviation analysis module can be four, and two are distributed on each end face, and the distances of the two characteristic comparison connecting steel bars on each end face from the edge of the end face in the dimension of the width direction of the precast beam are the same; If the dominant trajectory component is the trajectory height component, the number of the characteristic comparison connecting steel bars screened by the deviation analysis module can be four, and two are distributed on each end face, and the distances of the two characteristic comparison connecting steel bars on each end face from the edge of the end face in the dimension of the height direction of the precast beam are the same.

[0043] Specifically, please refer to Figure 3 shown in the figure, which is a flowchart for the deviation analysis module of the embodiment of the present invention to determine the end movement deviation category. The deviation analysis module is used to determine the end movement deviation category, where the deviation analysis module respectively obtains the average value of the change amount of the projected contour length of the feature comparison connecting steel bars on each end face within a preset time period; If the average values of the change amounts of the connecting projected contour lengths of different end faces meet the end deviation discrimination condition, the deviation analysis module determines that the end movement deviation category is the first deviation category; If the average values of the change amounts of the projected contour lengths of different end faces do not meet the end deviation discrimination condition, the deviation analysis module determines that the end movement deviation category is the second deviation category.

[0044] In practice, the value of the preset time period should avoid a too large time period resulting in the average value of the obtained projected contour length change amount having no representativeness, and also avoid a too small time period resulting in the average value of the obtained projected contour length change amount being not obvious. Therefore, the preset time period can be set to 5s.

[0045] It can be understood that for the feature comparison connecting steel bars on each end face, obtaining the average value of the change amount of the projected contour length within the preset time period is to quantify the deformation degree of the connecting steel bars. If the average values of the change amounts of the projected contour lengths of different end faces meet the end deviation discrimination condition, it indicates that the deformation conditions of each end face in the main movement direction are relatively consistent, and the precast beam as a whole has a relatively uniform offset during handling. If it does not meet the end deviation discrimination condition, it indicates that there are obvious differences in the deformation conditions of different end faces, and it may be that a certain end has a separate offset.

[0046] Specifically, the present invention can determine the trajectory components of the handling trajectory segment in the length, width, and height directions of the precast beam, and screen out the dominant trajectory components, which can clarify the main movement direction of the precast beam during handling, help accurately locate which dimension the deviation is more prominent in, screen the feature comparison connecting steel bars according to the direction of the dominant trajectory components, so that the selected connecting steel bars are related to the main movement direction of the precast beam, and can more accurately reflect the deformation or movement of the precast beam end in this direction. By obtaining the average value of the change amount of the projected contour length of the feature comparison connecting steel bars on each end face within the preset time period, and determining the end movement deviation category according to whether it meets the end deviation discrimination condition, it helps to take different measures to correct the deviation. Specifically, the end deviation discrimination condition is that the difference between the average values of the change amounts of the projected contour lengths of different end faces does not exceed the preset difference condition value.

[0047] In practice, the difference condition value L cIt can be pre-calculated and pre-obtained that during the movement of the precast beam along the handling trajectory, the average value L1 of the change in the projected contour length of several connecting steel bars at the end face within a preset time period is obtained. L c =δ×L1, where δ is the value factor of the difference condition value, and the value range of δ is [0.15, 0.25]. Here, a value of the difference condition value L c is provided. The difference condition value L c is 0.2.

[0048] Specifically, please refer to Figure 4 shown in the figure, which is a flowchart for the trajectory correction module of the embodiment of the present invention to determine the positioning correction method. The trajectory correction module determines the positioning correction method for the handling of the precast beam according to the type of end movement deviation. Among them, if the type of end movement deviation is the first deviation type, the trajectory correction module determines that the precast beam pauses at the set trajectory correction point in the handling trajectory; if the type of end movement deviation is the second deviation type, the trajectory correction module determines to adjust the moving speed of the precast beam in the selected correction trajectory segment.

[0049] Specifically, the trajectory correction module sets the trajectory correction point according to the trajectory curvature of the handling trajectory; the trajectory correction module screens the correction trajectory segment according to the trajectory components of the handling trajectory, and controls the precast beam to reduce the moving speed within the correction trajectory segment.

[0050] Exemplarily, the trajectory correction point is screened and determined according to the trajectory curvature, and the point with the maximum trajectory curvature of the handling trajectory is determined as the trajectory correction point.

[0051] Exemplarily, the screening method of the correction trajectory segment can be that the handling trajectory is divided into several handling trajectory segments according to the moments where the adjacent frames are located. The trajectory length component, the trajectory width component along the width direction of the precast beam, and the trajectory height component along the height direction of the precast beam of each handling trajectory segment are pre-obtained. The handling trajectory segment where the maximum value of the trajectory length component, the trajectory width component, and the trajectory height component of the several handling trajectory segments is located is determined as the correction trajectory segment. The moving speed of the precast beam within the correction trajectory segment is negatively correlated with the trajectory components of the correction trajectory segment.

[0052] It can be understood that the track curvature of the handling track reflects the degree of bending of the track. At places with a larger curvature, the precast beam is more likely to deviate due to factors such as centrifugal force. Setting track correction points according to the track curvature means setting correction points at positions where the track bends more, so as to correct the relatively uniform overall deviation of the precast beam during the handling process, and avoid the position error between the final position of the precast beam along the handling track and the set installation position caused by the accumulation of deviations. By analyzing the track components, it can be determined that within some track segments, the track component changes of the precast beam in the length direction, width direction, and height direction are relatively large, indicating that there may be factors causing the position deviation of the precast beam in this track segment. By reducing the moving speed of the precast beam, the precast beam can be more stable when passing through this track segment, and the degree of uneven deviation aggravated by too fast speed can be reduced.

[0053] Specifically, in the present invention, for the first deviation category, by setting a pause at the track correction point in the handling track, the overall position of the precast beam can be adjusted to ensure that it returns to the correct handling track; for the second deviation category, by regulating the moving speed of the precast beam in the selected correction track segment, the motion state of the precast beam can be changed by adjusting the speed. Furthermore, it is possible to quickly and accurately determine the moving deviation according to the steel bar projection contour of the night construction scenario, and timely take targeted measures for correction, improving the construction positioning efficiency and construction positioning accuracy.

[0054] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

[0055] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent positioning system for precast beams, characterized in that Including: A visual capture module for illuminating two end faces of a precast beam and acquiring a video stream of the precast beam running along a handling trajectory; An image extraction module, connected to the image extraction module, for acquiring end face images of consecutive frames of the video stream at a preset time interval, identifying and marking the projection contours of several connecting steel bars in each end face image; A feature comparison module, connected to the image extraction module, including a construction unit and a comparison unit. The construction unit is used to construct a pose tracking vector for each connecting steel bar according to the change of the projection contour of the connecting steel bar in the end face images of adjacent frames; The comparison unit determines an end face deviation factor according to the comparison of the pose tracking vectors of several connecting steel bars, and determines whether there is an end movement deviation in the handling trajectory segment according to the end face deviation factors of each end face; A deviation analysis module, connected to the feature comparison module, for screening several feature comparison connecting steel bars according to the trajectory components of the handling trajectory segment, and determining the category of end movement deviation according to the comparison of the length changes of the projection contours of the feature comparison connecting steel bars; A trajectory correction module, connected to the deviation analysis module, for determining that the precast beam pauses at a set trajectory correction point in the handling trajectory according to the category of end movement deviation, or regulating the moving speed of the precast beam in the selected correction trajectory segment.

2. The intelligent positioning system for precast beams according to claim 1, wherein The construction unit is used to construct a pose tracking vector for each connecting steel bar, where the construction unit determines the endpoint of the projection contour of the connecting steel bar in the end face image of the previous frame in adjacent frames as the vector starting point, determines the endpoint of the projection contour of the connecting steel bar in the end face image of the next frame in adjacent frames as the vector ending point, and determines the vector constructed by the vector starting point and the vector ending point as the pose tracking vector of the connecting steel bar.

3. The intelligent positioning system for precast beams according to claim 2, characterized in that, The comparison unit is used to determine the end face deviation factor, where the comparison unit determines the angle between the pose tracking vectors of any two connecting steel bars in the end face, and determines the standard deviation of the angles as the end face deviation factor of the end face.

4. The intelligent positioning system for precast beams according to claim 3, characterized in that, The comparison unit calculates the difference between the end face deviation factors of two end faces, and determines whether there is an end movement deviation according to the comparison result of the difference and a preset factor difference threshold; if the difference exceeds the preset factor difference threshold, the comparison unit determines that there is an end movement deviation in the handling trajectory segment; wherein, the handling trajectory segment is the trajectory segment where the precast beam moves along the handling trajectory at the moment of adjacent frames.

5. The intelligent positioning system for precast beams according to claim 4, characterized in that, The deviation analysis module screens out dominant trajectory components according to the trajectory components of the handling trajectory segment, where the deviation analysis module is used to determine the trajectory length component along the length direction of the precast beam, the trajectory width component along the width direction of the precast beam, and the trajectory height component along the height direction of the precast beam in the handling trajectory segment, and screens out the maximum value of the trajectory length component, the trajectory width component, and the trajectory height component as the dominant trajectory component.

6. The intelligent positioning system for precast beams according to claim 5, wherein, The deviation analysis module is used to screen several feature comparison connecting steel bars, where The quantity of steel bars of the feature comparison connecting steel bars screened by the deviation analysis module and the distribution positions of the feature comparison connecting steel bars of each are determined according to the component direction of the dominant trajectory component, and there is at least one feature comparison connecting steel bar on each end face.

7. The intelligent positioning system for precast beams according to claim 6, wherein, The deviation analysis module is used to determine the end movement deviation category, where the deviation analysis module respectively obtains the mean value of the change amount of the projected contour length of the feature comparison connecting steel bars on each end face within a preset time period; if the mean values of the change amounts of the connecting projected contour lengths of different end faces meet the end deviation discrimination condition, the deviation analysis module determines that the end movement deviation category is the first deviation category; if the mean values of the change amounts of the projected contour lengths of different end faces do not meet the end deviation discrimination condition, the deviation analysis module determines that the end movement deviation category is the second deviation category.

8. The intelligent positioning system for precast beams according to claim 7, wherein, The end deviation discrimination condition is that the difference between the mean values of the change amounts of the projected contour lengths of different end faces does not exceed a preset difference condition value.

9. The intelligent positioning system for precast beams according to claim 7, wherein, The trajectory correction module determines the positioning correction method for the handling of the precast beam according to the end movement deviation category, where if the end movement deviation category is the first deviation category, the trajectory correction module determines that the precast beam pauses at a set trajectory correction point in the handling trajectory; if the end movement deviation category is the second deviation category, the trajectory correction module determines to regulate the moving speed of the precast beam in the screened correction trajectory segment.

10. The intelligent positioning system for precast beams according to claim 9, characterized in that, The trajectory correction module sets the trajectory correction point according to the trajectory curvature of the handling trajectory; The trajectory correction module screens the correction trajectory segment according to the trajectory component of the handling trajectory and controls the precast beam to reduce the moving speed within the correction trajectory segment.

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