An intelligent positioning system for prefabricated beams

Abstract

The present invention relates to the field of visual tracking and positioning technology, and in particular to an intelligent positioning system for prefabricated beams. The present invention uses an image extraction module to identify and mark the projection contours of several connecting steel bars in each end face image, uses a feature comparison module to construct a posture tracking vector of each connecting steel bar and determines whether there is an end movement deviation in a transport trajectory segment, uses a deviation analysis module to determine the end movement deviation category, and uses a trajectory correction module to determine, according to the end movement deviation category, to set a trajectory correction point in the transport trajectory for the prefabricated beam to pause, or to regulate the movement speed of the prefabricated beam in the screened correction trajectory segment. Thus, the present invention realizes rapid and accurate determination of movement deviation according to the projection contour of the steel bars in a nighttime construction scene, and timely and targeted measures are taken to correct it, thereby improving the efficiency and accuracy of construction positioning.

Description

Technical Field

[0001] The present invention relates to the field of visual tracking and positioning technology, and in particular to an intelligent positioning system for prefabricated beams. Background Art

[0002] In the construction industry, precast beams are widely used in various projects due to their advantages of high efficiency and standardization. During the transportation process, the precise positioning of precast beams plays a key role in the construction efficiency. Currently, most precast beam transportation still relies on simple tracking and verification by manual experience or instruments. This is not only inefficient, but also prone to large errors. Especially in nighttime construction scenes, the poor lighting conditions further increase the difficulty of construction positioning. The requirements of modern construction projects for construction accuracy are also continuously improving. Against this background, an intelligent positioning system that can adapt to the complex lighting environment at night, accurately monitor the position deviation of precast beam transportation in real time and make effective corrections is imminent. With the help of cutting-edge visual recognition, data analysis and other technologies, the construction quality and efficiency can be improved.

[0003] For example, China Patent Publication No.: CN119164407A, the invention discloses a laser vision-inertial fusion positioning method for positioning error distribution and trajectory optimization, including the following steps: S1: When the inertial unit, lidar, and visible light camera are used separately for pose estimation, the error distribution of the pose estimation is calculated; S2: According to the characteristics of different scenes, different fusion weights are assigned to the inertial unit, lidar, and visible light camera respectively; S3: The motion trajectory of the vehicle is modeled using a spline curve, and the pose estimation results with different weights are combined to optimize the trajectory equation, thereby improving the scalability of the system.

[0004] The following problems also exist in the prior art:

[0005] The existing technology does not take into account the difficulty in obtaining accurate positioning data in nighttime construction scenarios. The existing technology cannot quickly and accurately determine the movement deviation based on the projection outline of the steel bars in nighttime construction scenarios, and cannot take targeted measures to correct it in a timely manner, which affects the efficiency and accuracy of construction positioning. Summary of the Invention

[0006] To this end, the present invention provides an intelligent positioning system for precast beams to overcome the problem that the existing technology cannot quickly and accurately determine the movement deviation based on the projection contour of the steel bars in the night construction scene, and cannot take targeted measures to correct it in time.

[0007] To achieve the above object, the present invention provides an intelligent positioning system for precast beams, comprising:

[0008] A visual capture module is used to illuminate the two end faces of the precast beam and obtain a video stream of the precast beam moving along the transport track;

[0009] an image extraction module connected to the image extraction module, configured to acquire end face images of successive frames at preset time intervals based on the video stream, and identify and mark the projection outlines of a plurality of connecting steel bars in each end face image;

[0010] a feature comparison module connected to the image extraction module, comprising a construction unit and a comparison unit, wherein the construction unit is configured to construct a position tracking vector of each connecting steel bar based on changes in the projection contours of the connecting steel bars in the end face images of adjacent frames;

[0011] The comparison unit determines the end face deviation factor based on the comparison of the position tracking vectors of the plurality of connected steel bars, and determines whether there is an end head movement deviation in the transport track segment based on the end face deviation factor of each end face;

[0012] a deviation analysis module connected to the feature comparison module, for screening a number of feature comparison connecting steel bars according to the trajectory components of the transport trajectory segment, and determining the end movement deviation category according to the length change comparison of the projection profile of the feature comparison connecting steel bars;

[0013] The trajectory correction module is connected to the deviation analysis module and is used to determine the trajectory correction point of the prefabricated beam in the transportation trajectory for pause according to the end movement deviation category, or to regulate the movement speed of the prefabricated beam in the screened correction trajectory segment.

[0014] Furthermore, the construction unit is used to construct the posture tracking vector of each connecting steel bar, wherein,

[0015] 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 the 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 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 posture tracking vector of the connecting steel bar.

[0016] Furthermore, the comparison unit is used to determine the end face deviation factor, wherein:

[0017] The comparison unit determines the angle between the posture tracking vectors of any two connecting steel bars in the end face, and determines the angle standard deviation of the multiple angles as the end face deviation factor of the end face.

[0018] Furthermore, the comparison unit calculates the difference between the end face deviation factors of the two end faces, and determines whether there is an end head movement deviation based on a comparison result of the difference with a preset factor difference threshold;

[0019] If the difference exceeds a preset factor difference threshold, the comparison unit determines that there is an end movement deviation in the transport trajectory segment;

[0020] The transport track segment is a track segment where the prefabricated beam moves along the transport track at the time when the adjacent frames are located.

[0021] Furthermore, the deviation analysis module filters the dominant trajectory components according to the trajectory components of the transport trajectory segment, wherein:

[0022] The deviation analysis module is used to determine the trajectory length component of the transport 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 to filter the maximum value of the trajectory length component, the trajectory width component, and the trajectory height component as the dominant trajectory component.

[0023] Furthermore, the deviation analysis module is used to screen several feature comparison connecting steel bars, wherein:

[0024] The number of characteristic matching connecting steel bars screened out by the deviation analysis module and the distribution position of each characteristic matching connecting steel bar are determined according to the component direction of the explicit trajectory component, and there is at least one characteristic matching connecting steel bar on each end face.

[0025] Furthermore, the deviation analysis module is used to determine the end head movement deviation category, wherein:

[0026] The deviation analysis module obtains the average value of the projection profile length change of the connecting steel bars in a preset time period by comparing the characteristics of each end face;

[0027] If the average value of the change in the length of the connection projection contour of different end faces meets the end deviation classification condition, the deviation analysis module determines that the end movement deviation category is the first deviation category;

[0028] If the mean value of the projected profile length changes of different end faces does not meet the end tip deviation classification condition, the deviation analysis module determines that the end tip movement deviation category is the second deviation category.

[0029] Furthermore, the end deviation differentiation condition is that the difference between the mean values ​​of the projected profile length changes of different end faces does not exceed a preset difference condition value.

[0030] Furthermore, the trajectory correction module determines the positioning correction method for prefabricated beam transportation according to the end movement deviation category, wherein:

[0031] If the end movement deviation category is the first deviation category, the trajectory correction module determines to set a trajectory correction point in the transport trajectory of the precast beam for pausing;

[0032] If the end movement deviation category is the second deviation category, the trajectory correction module determines to regulate the movement speed of the precast beam in the screened correction trajectory segment.

[0033] Furthermore, the trajectory correction module sets a trajectory correction point according to the trajectory curvature of the transport trajectory;

[0034] The trajectory correction module selects a correction trajectory segment according to the trajectory components of the transport trajectory, and controls the prefabricated beam to reduce the moving speed within the correction trajectory segment.

[0035] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention sets a visual capture module, an image extraction module, a feature comparison module, a deviation analysis module and a trajectory correction module, and uses the image extraction module to identify and mark the projection contours of several connecting steel bars in each end face image, and uses the feature comparison module to construct the posture tracking vector of each connecting steel bar and determine whether there is an end movement deviation in the transportation trajectory segment, and uses the deviation analysis module to determine the end movement deviation category, and uses the trajectory correction module to determine the prefabricated beam according to the end movement deviation category. The trajectory correction point is set in the transportation trajectory for pause, or the moving speed of the prefabricated beam is regulated in the screened correction trajectory segment, thereby realizing the rapid and accurate determination of the movement deviation according to the steel bar projection contour of the night construction scene, and timely taking targeted measures for correction, thereby improving the construction positioning efficiency and construction positioning accuracy.

[0036] Furthermore, the present invention constructs a posture tracking vector based on the endpoints of the projection contour 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 posture of the precast beam, this method can accurately reflect the posture changes of the precast beam during the transportation process. The comparison unit calculates the angle between the posture tracking vectors of each connecting steel bar and uses the standard deviation of the angle as the end face deviation factor. It can effectively quantify the degree of deviation of the end face of the precast beam, thereby achieving a more comprehensive and accurate reflection of the overall deviation status of the end face of the precast beam during the transportation process.

[0037] Furthermore, the present invention can accurately determine whether there is an end movement deviation of the precast beam within the transportation track segment by calculating the difference between the end face deviation factors of the two end faces and comparing it with a preset factor difference threshold. The end face deviation factor itself is a quantitative indicator of the consistency of the posture change of the steel bars connected to the end face of the precast beam. The difference can more sensitively reflect the changes in the state of the precast beam ends between adjacent track segments, thereby realizing the rapid and accurate determination of the movement deviation based on the steel bar projection contour of the night construction scene.

[0038] Furthermore, the present invention determines the trajectory components of the transport trajectory segment in the length, width and height directions of the precast beam and screens out the explicit trajectory components, which can clarify the main movement direction of the precast beam during the transport process, and helps to accurately locate in which dimension the deviation is more prominent. The feature comparison connecting steel bars are screened according to the direction of the explicit trajectory components, so that the selected connecting steel bars are related to the main movement direction of the precast beam, which can more accurately reflect the deformation or movement of the precast beam end in that direction. By obtaining the average value of the projection contour length change of the feature comparison connecting steel bars of each end face within a preset time length, and determining the end movement deviation category according to whether the end deviation differentiation condition is met, it helps to take different measures to correct the deviation, and further, realizes the rapid and accurate determination of the movement deviation according to the steel bar projection contour of the night construction scene, and timely takes targeted measures to correct it.

[0039] Furthermore, in the present invention, for the first deviation category, by setting a trajectory correction point in the transportation trajectory for pause, the overall position of the precast beam can be adjusted to ensure that it returns to the correct transportation trajectory; for the second deviation category, the moving speed of the precast beam is regulated in the screened correction trajectory segment, and the motion state of the precast beam can be changed by adjusting the speed, thereby achieving rapid and accurate determination of the movement deviation based on the steel bar projection contour of the night construction scene, and timely taking targeted measures for correction, thereby improving the construction positioning efficiency and construction positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a system block diagram of an intelligent positioning system for precast beams according to an embodiment of the present invention;

[0041] Figure 2 This is a flow chart of the comparison unit in accordance with an embodiment of the present invention for determining whether there is a tip movement deviation;

[0042] Figure 3 A flowchart of a deviation analysis module for determining a tip movement deviation category according to an embodiment of the present invention;

[0043] Figure 4 This is a flow chart of a trajectory correction module determining a positioning correction method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the objects and advantages of the present invention more clearly understood, the present invention is 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.

[0045] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0046] It should be noted that, in the description of the present invention, terms such as "upper", "lower", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0047] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted" and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0048] See also Figure 1 As shown in FIG, which is a system block diagram of an intelligent positioning system for precast beams according to an embodiment of the present invention, the intelligent positioning system for precast beams according to the present invention includes:

[0049] A visual capture module is used to illuminate the two end faces of the precast beam and obtain a video stream of the precast beam moving along the transport track;

[0050] 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 transportation site. The LED light source illuminates the end faces of the precast beams, forming projections of the connecting steel bars on each end face of the precast beams.

[0051] an image extraction module connected to the image extraction module, configured to acquire end face images of successive frames at preset time intervals based on the video stream, and identify and mark the projection outlines of a plurality of connecting steel bars in each end face image;

[0052] Specifically, the image extraction module in the present invention can be an image processor for processing the video stream and obtaining the end face image. The preset time interval in the present invention can be set by a technician in this field according to the monitoring requirements. In order to avoid the waste of computing resources caused by obtaining too many end face images for processing and analysis while ensuring the monitoring accuracy, the preset time interval can be set to 10s.

[0053] a feature comparison module connected to the image extraction module, comprising a construction unit and a comparison unit, wherein the construction unit is configured to construct a position tracking vector of each connecting steel bar based on changes in the projection contours of the connecting steel bars in the end face images of adjacent frames;

[0054] The comparison unit determines the end face deviation factor based on the comparison of the position tracking vectors of the plurality of connected steel bars, and determines whether there is an end head movement deviation in the transport track segment based on the end face deviation factor of each end face;

[0055] a deviation analysis module connected to the feature comparison module, for screening a number of feature comparison connecting steel bars according to the trajectory components of the transport trajectory segment, and determining the end movement deviation category according to the length change comparison of the projection profile of the feature comparison connecting steel bars;

[0056] The trajectory correction module is connected to the deviation analysis module and is used to determine the trajectory correction point of the prefabricated beam in the transportation trajectory for pause according to the end movement deviation category, or to regulate the movement speed of the prefabricated beam in the screened correction trajectory segment.

[0057] Specifically, the feature comparison module, deviation analysis module and trajectory correction module themselves or each unit therein in the present invention 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 repeated here.

[0058] It can be understood by those skilled in the art that the end face of the precast beam is a key part for connecting with other building components. In a construction environment, the precise transportation of the precast beam according to a pre-set transportation trajectory can reduce the deviation adjustment time when the precast beam is connected with other building components. Therefore, precise positioning and trajectory analysis and control of the precast beam during movement along the transportation trajectory are the key to improving construction efficiency. On the end face of the precast beam, the symmetrically distributed connecting steel bars are the key components for achieving a stable connection between the precast beam and other building components. This is a prior art and will not be elaborated here.

[0059] It can be understood that the connecting steel bars are key components in the precast beam structure, and their position and shape are fixed in the precast beam. During the construction and transportation process, the projection outline of the connecting steel bars changes with the position of the precast beam. In the special construction environment at night, the projection outline of the connecting steel bars can be clearly distinguished from the background. When the precast beam is translated, rotated or tilted during transportation, the projection outline of the connecting steel bars will also be displaced, deformed or change in angle accordingly. By analyzing the projection outline of the connecting steel bars, the position information of the precast beam can be accurately obtained.

[0060] Specifically, the construction unit is used to construct the posture tracking vector of each connecting steel bar, wherein,

[0061] 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 the 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 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 posture tracking vector of the connecting steel bar.

[0062] Specifically, the projection contour endpoint in the present invention is the point on the projection contour that is farthest from the bottom of the connected steel bar.

[0063] Specifically, the comparison unit is used to determine the end face deviation factor, wherein:

[0064] The comparison unit determines the angle between the posture tracking vectors of any two connecting steel bars in the end face, and determines the angle standard deviation of the multiple angles as the end face deviation factor of the end face.

[0065] It can be understood that in each frame of the image, the image extraction module will identify and mark the projection outline of the connecting steel bars. The endpoints of the projection outline are selected as reference points because the endpoints have clear positional characteristics in the image, which facilitates accurate identification and positioning, and the position changes of the endpoints can more intuitively reflect the overall movement trend of the connecting steel bars. The endpoints of the projection outline of the previous frame in the adjacent frames are used as the starting point of the vector, and the corresponding endpoints of the next frame are used as the end point of the vector. The vector constructed in this way can represent the displacement and direction change of the connecting steel bars between the two frames of images. This vector contains the movement information of the connecting steel bars on the plane, including changes in translation and rotation, so that the posture changes of the connecting steel bars can be quantified.

[0066] Specifically, the present invention constructs a posture tracking vector based on the endpoints of the projection contour 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 posture of the prefabricated beam, this method can accurately reflect the posture changes of the prefabricated beam during the transportation process. The comparison unit calculates the angle between the posture tracking vectors of each connecting steel bar and uses the standard deviation of the angle as the end face deviation factor. It can effectively quantify the degree of deviation of the end face of the prefabricated beam, thereby achieving a more comprehensive and accurate reflection of the overall deviation status of the end face of the prefabricated beam during the transportation process.

[0067] Specifically, see Figure 2 FIG. 1 is a flowchart of a comparison unit for determining whether there is an end tip movement deviation according to an embodiment of the present invention. The comparison unit calculates the difference between the end face deviation factors of two end faces, and determines whether there is an end tip movement deviation based on a comparison result of the difference with a preset factor difference threshold.

[0068] If the difference exceeds a preset factor difference threshold, the comparison unit determines that there is an end movement deviation in the transport trajectory segment;

[0069] If the difference does not exceed a preset factor difference threshold, the comparison unit determines that there is no end movement deviation in the transport trajectory segment;

[0070] The transport track segment is a track segment where the prefabricated beam moves along the transport track at the time when the adjacent frames are located.

[0071] In implementation, the value of the preset factor difference threshold should avoid the system's insufficient sensitivity to the end movement deviation due to a too large value, and the misjudgment of normal fluctuations or small changes due to a too small value. The value range of the factor difference threshold is set to [5°, 10°]. Preferably, the value of the factor difference threshold is 8°.

[0072] Specifically, the present invention can accurately determine whether there is an end movement deviation of the precast beam within the transportation track segment by calculating the difference between the end face deviation factors of the two end faces and comparing it with a preset factor difference threshold. The end face deviation factor itself is a quantitative indicator of the consistency of the posture change of the steel bars connected to the end face of the precast beam. The difference can more sensitively reflect the changes in the state of the precast beam ends between adjacent track segments, thereby realizing the rapid and accurate determination of the movement deviation based on the steel bar projection contour of the night construction scene.

[0073] Specifically, the deviation analysis module selects the dominant trajectory components according to the trajectory components of the transport trajectory segment, wherein:

[0074] The deviation analysis module is used to determine the trajectory length component of the transport 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 to filter the maximum value of the trajectory length component, the trajectory width component, and the trajectory height component as the dominant trajectory component.

[0075] Specifically, the deviation analysis module is used to screen several feature comparison connecting steel bars, wherein:

[0076] The number of characteristic matching connecting steel bars screened out by the deviation analysis module and the distribution position of each characteristic matching connecting steel bar are determined according to the component direction of the explicit trajectory component, and there is at least one characteristic matching connecting steel bar on each end face.

[0077] Exemplarily, the present invention sets different feature comparison connection steel bar screening modes according to the component directions of the dominant trajectory components;

[0078] If the dominant trajectory component is the trajectory length component, the number of characteristic comparison connecting steel bars screened by the deviation analysis module may be two, and the two characteristic comparison connecting steel bars are respectively distributed on the two end faces, and the positions of the end faces where the connecting steel bars are located are the same;

[0079] If the dominant trajectory component is the trajectory width component, the number of characteristic comparison connecting steel bars screened by the deviation analysis module can be four, with two distributed on each end face, and the two characteristic comparison connecting steel bars on each end face are at the same distance from the end face edge in the width direction of the precast beam;

[0080] If the explicit trajectory component is the trajectory height component, the number of feature comparison connecting steel bars screened by the deviation analysis module can be four, with two distributed on each end face, and the two feature comparison connecting steel bars on each end face are at the same distance from the end face edge in the height direction of the precast beam.

[0081] Specifically, see Figure 3 As shown, it is a flow chart of the deviation analysis module determining the end head movement deviation category according to an embodiment of the present invention. The deviation analysis module is used to determine the end head movement deviation category, wherein:

[0082] The deviation analysis module obtains the average value of the projection profile length change of the connecting steel bars in a preset time period by comparing the characteristics of each end face;

[0083] If the average value of the change in the length of the connection projection contour of different end faces meets the end deviation classification condition, the deviation analysis module determines that the end movement deviation category is the first deviation category;

[0084] If the mean value of the projected profile length changes of different end faces does not meet the end tip deviation classification condition, the deviation analysis module determines that the end tip movement deviation category is the second deviation category.

[0085] In implementation, the value of the preset time length should avoid being too long so that the average value of the obtained projection contour length change is not representative, and should also avoid being too short so that the average value of the obtained projection contour length change is not obvious. Therefore, the preset time length can be set to 5s.

[0086] It can be understood that for the feature comparison of each end face connecting steel bars, the average value of the change in the projected contour length within the preset time length is obtained in order to quantify the degree of deformation of the connecting steel bars. If the average value of the change in the projected contour length of different end faces meets the end deviation distinction condition, it means that the deformation of each end face in the main moving direction is relatively consistent, and the precast beam as a whole has undergone a relatively uniform offset during the transportation process. If the end deviation distinction condition is not met, it means that there are obvious differences in the deformation of different end faces, and there may be a separate offset at a certain end.

[0087] Specifically, the present invention determines the trajectory components of the transport trajectory segment in the length, width and height directions of the precast beam and screens out the dominant trajectory components, which can clarify the main movement direction of the precast beam during the transport process, and help to accurately locate in which dimension the deviation is more prominent. According to the direction of the dominant trajectory component, the feature comparison connecting steel bars are screened so that the selected connecting steel bars are related to the main movement direction of the precast beam, which can more accurately reflect the deformation or movement of the precast beam end in this direction. By obtaining the average value of the projection contour length change of the feature comparison connecting steel bars of each end face within a preset time length, and determining the end movement deviation category according to whether the end deviation differentiation condition is met, it is helpful to take different measures to correct the deviation.

[0088] Specifically, the end deviation differentiation condition is that the difference between the mean values ​​of the projected profile length changes of different end faces does not exceed a preset difference condition value.

[0089] In practice, the difference condition value L c The average length change of the projection profile of several connecting steel bars at the end face within a preset time can be obtained by pre-calculation and pre-obtaining the average length L1 and L2 of the projection profile of several connecting steel bars at the end face during the movement of the precast beam along the transportation track. c =δ×L1, δ is the factor of the difference condition value, and the range of δ is [0.15, 0.25]. Here we provide a difference condition value L c The value of the difference condition value L c is 0.2.

[0090] Specifically, see Figure 4 As shown, it is a flow chart of the trajectory correction module determining the positioning correction method according to the embodiment of the present invention. The trajectory correction module determines the positioning correction method for transporting prefabricated beams according to the end movement deviation category, wherein:

[0091] If the end movement deviation category is the first deviation category, the trajectory correction module determines to set a trajectory correction point in the transport trajectory of the precast beam for pausing;

[0092] If the end movement deviation category is the second deviation category, the trajectory correction module determines to regulate the movement speed of the precast beam in the screened correction trajectory segment.

[0093] Specifically, the trajectory correction module sets a trajectory correction point according to the trajectory curvature of the transport trajectory;

[0094] The trajectory correction module selects a correction trajectory segment according to the trajectory components of the transport trajectory, and controls the prefabricated beam to reduce the moving speed within the correction trajectory segment.

[0095] Exemplarily, the trajectory correction point is screened and determined based on the trajectory curvature, and the point with the maximum value of the trajectory curvature of the transport trajectory is determined as the trajectory correction point.

[0096] Exemplarily, the correction trajectory segments may be screened by dividing the transport trajectory into several transport trajectory segments according to the time instants of adjacent frames, pre-acquiring the trajectory length component of each transport trajectory segment along the length direction of the prefabricated beam, the trajectory width component along the width direction of the prefabricated beam, and the trajectory height component along the height direction of the prefabricated beam, and determining the transport trajectory segment where the maximum value of the trajectory length components, trajectory width components, and trajectory height components of the several transport trajectory segments is located as the correction trajectory segment, and the moving speed of the prefabricated beam in the correction trajectory segment is negatively correlated with the trajectory component of the correction trajectory segment.

[0097] It can be understood that the trajectory curvature of the transport track reflects the degree of bending of the track. In places with larger curvatures, precast beams are more likely to deviate due to factors such as centrifugal force. Setting trajectory correction points according to the trajectory curvature means setting correction points at locations where the trajectory is more curved to correct the relatively uniform overall offset of the precast beams during transportation, thereby avoiding the accumulation of deviations that lead to position errors between the final position of the precast beams along the transport track and the set installation position. By analyzing the trajectory components, it can be determined that in some trajectory segments, the trajectory components of the precast beams in the length, width and height directions vary greatly, indicating that there may be factors in the trajectory segment that cause the position offset of the precast beams. By reducing the moving speed of the precast beams, the precast beams can be made more stable when passing through the trajectory segment, reducing the degree of uneven deviation aggravated by excessive speed.

[0098] Specifically, in the present invention, for the first deviation category, by setting a trajectory correction point in the transportation trajectory for pause, the overall position of the prefabricated beam can be adjusted to ensure that it returns to the correct transportation trajectory; for the second deviation category, the moving speed of the prefabricated beam is regulated in the screened correction trajectory segment, and the motion state of the prefabricated beam can be changed by adjusting the speed, thereby achieving rapid and accurate determination of the movement deviation based on the steel bar projection contour of the night construction scene, and timely taking targeted measures for correction, thereby improving the efficiency and accuracy of construction positioning.

[0099] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0100] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent positioning system for precast beams, characterized in that: include: A visual capture module is used to illuminate the two end faces of the precast beam and obtain a video stream of the precast beam moving along the transport track; An image extraction module, connected to the visual capture module, is used to obtain end-face images of consecutive frames of the video stream at preset time intervals, and identify and mark the projection outlines of several connecting steel bars in each end-face image; a feature comparison module connected to the image extraction module, comprising a construction unit and a comparison unit, wherein the construction unit is configured to construct a position tracking vector of each connecting steel bar based on changes in the projection contours of the connecting steel bars in the end face images of adjacent frames; The comparison unit determines the end face deviation factor based on the comparison of the position tracking vectors of the plurality of connected steel bars, and determines whether there is an end head movement deviation in the transport track segment based on the end face deviation factor of each end face; a deviation analysis module connected to the feature comparison module, for screening a number of feature comparison connecting steel bars according to the trajectory components of the transport trajectory segment, and determining the end movement deviation category according to the length change comparison of the projection profile of the feature comparison connecting steel bars; The trajectory correction module is connected to the deviation analysis module and is used to determine the trajectory correction point of the prefabricated beam in the transportation trajectory for pause according to the end movement deviation category, or to regulate the movement speed of the prefabricated beam in the screened correction trajectory segment.

2. The intelligent positioning system for precast beams according to claim 1, characterized in that: The construction unit is used to construct the position tracking vector of each connecting steel bar, wherein, 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 the 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 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 posture 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, wherein, The comparison unit determines the angle between the posture tracking vectors of any two connecting steel bars in the end face, and determines the angle standard deviation of the multiple 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 the two end faces, and determines whether there is an end head movement deviation based on the comparison result of the difference and a preset factor difference threshold; If the difference exceeds a preset factor difference threshold, the comparison unit determines that there is an end movement deviation in the transport trajectory segment; The transport track segment is a track segment where the prefabricated beam moves along the transport track at the time when the adjacent frames are located.

5. The intelligent positioning system for precast beams according to claim 4, characterized in that: The deviation analysis module selects the dominant trajectory components according to the trajectory components of the transport trajectory segment, wherein: The deviation analysis module is used to determine the trajectory length component of the transport 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 to filter 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, characterized in that: The deviation analysis module is used to screen several feature comparison connecting steel bars, wherein, The number of characteristic matching connecting steel bars screened out by the deviation analysis module and the distribution position of each characteristic matching connecting steel bar are determined according to the component direction of the explicit trajectory component, and there is at least one characteristic matching connecting steel bar on each end face.

7. The intelligent positioning system for precast beams according to claim 6, characterized in that: The deviation analysis module is used to determine the end head movement deviation category, wherein, The deviation analysis module obtains the average value of the projection profile length change of the connecting steel bars in a preset time period by comparing the characteristics of each end face; If the average value of the projected contour length changes of different end faces meets the end deviation classification condition, the deviation analysis module determines that the end movement deviation category is the first deviation category; If the mean value of the projected profile length changes of different end faces does not meet the end tip deviation classification condition, the deviation analysis module determines that the end tip movement deviation category is the second deviation category.

8. The intelligent positioning system for precast beams according to claim 7, characterized in that: The end deviation differentiation condition is that the difference between the mean values ​​of the projected profile length changes of different end faces does not exceed a preset difference condition value.

9. The intelligent positioning system for precast beams according to claim 7, characterized in that: The trajectory correction module determines the positioning correction method for prefabricated beam transportation according to the end movement deviation category, wherein: If the end movement deviation category is the first deviation category, the trajectory correction module determines to set a trajectory correction point in the transport trajectory of the precast beam for pausing; If the end movement deviation category is the second deviation category, the trajectory correction module determines to regulate the movement 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 a trajectory correction point according to the trajectory curvature of the transport trajectory; The trajectory correction module selects a correction trajectory segment according to the trajectory components of the transport trajectory, and controls the prefabricated beam to reduce the moving speed within the correction trajectory segment.

Images