Construction equipment work space calculation method, device, equipment and medium

Abstract

The application relates to the technical field of simulation design, and discloses a construction equipment operation space calculation method, device, equipment and storage medium. The method comprises the following steps: performing simulation modeling on the construction equipment to generate a simulation equipment model; performing motion decomposition on a component model in the simulation equipment model to extract motion attribute features, master-slave features and operation features of each component model in the simulation equipment model; and determining an operation coverage space and an operation influence space of the simulation equipment model according to the motion attribute features, the master-slave features and the operation features of the component model. According to the embodiment of the application, the construction equipment can be simulated and designed, and the rationality and scientificity of the construction equipment can be improved.

Description

Technical Field

[0001] This application relates to the field of simulation design technology, and in particular to a method, apparatus, equipment and storage medium for calculating the workspace of construction equipment. Background Technology

[0002] Construction sites contain construction equipment such as tower cranes, excavators, concrete mixers, and construction robots.

[0003] Different construction environments require different types and / or specifications of construction equipment. However, the component selection and geometric feature planning of construction equipment in related technologies are based on the experience of engineers, and the design of the workspace for construction equipment lacks rationality and scientific rigor. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, equipment and storage medium for calculating the working space of construction equipment, so as to improve the rationality and scientific nature of construction equipment through simulation design.

[0005] This application provides a method for calculating the working space of construction equipment, including:

[0006] Simulation modeling is performed on construction equipment to generate simulation equipment models;

[0007] Motion deconstruction is performed on the component models in the simulation equipment model to extract the motion attribute features, master-slave features, and operational features of each component model in the simulation equipment model;

[0008] The operational coverage space and operational influence space of the simulation equipment model are determined based on the motion attribute characteristics, master-slave characteristics, and operational characteristics of the component model.

[0009] In some embodiments, the simulation modeling of the construction equipment includes:

[0010] The construction equipment is disassembled into multiple target components;

[0011] Select the target component model required to constitute the target component from the preset component library;

[0012] Configure the motion attribute features, operational features, and master-slave features of the target component model;

[0013] The target component model is assembled based on its motion attribute characteristics, operational characteristics, and master-slave characteristics to obtain the simulation equipment model.

[0014] In some embodiments, before selecting the target component model required to constitute the target component from a preset component library, the method further includes:

[0015] Obtain the component model;

[0016] Extract the equipment type information, component type information, and geometric feature information of the component model;

[0017] Based on the equipment type information and the component type information, several storage paths are constructed, and the component model and the geometric feature information are stored in the corresponding storage paths to generate the component library.

[0018] In some embodiments, assembling the target component model based on its motion attribute features, operational features, and master-slave features includes:

[0019] Based on the operational characteristics and master-slave characteristics of the target component models, the assembly mapping characteristics between each target component model are configured, and the target component models are assembled based on the motion attribute characteristics of the target component models and the assembly mapping characteristics between the target component models to obtain the simulation equipment model.

[0020] In some embodiments, the motion deconstruction of the component models in the simulation equipment model includes:

[0021] The simulation equipment model is imported into a preset application simulation environment. Each component model in the simulation equipment model is traversed, and the identifiers related to the motion attribute features, master-slave features, and operation features in the component models are extracted. The application simulation environment is built based on the Three.js library in WebGL technology.

[0022] In some embodiments, determining the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute characteristics, master-slave characteristics, and operational characteristics of the component model includes:

[0023] The movable space of the component model is determined based on the motion attribute characteristics of the component model, and the movable space of the component model is superimposed based on the master-slave characteristics of the component model to confirm the operational coverage space of the simulation equipment model.

[0024] The operational influence space of the component model is determined based on its operational characteristics, and the operational influence spaces of each component model are superimposed to confirm the operational influence space of the simulation equipment model.

[0025] In some embodiments, determining the movable space of the component model based on its motion attribute characteristics includes:

[0026] Extract the geometric structural features of the component model;

[0027] The motion path of the component model and the pose features of the component model on the motion path are determined based on the motion attribute features of the component model.

[0028] Based on the geometric and pose features of the component model, bounding box detection is performed on the motion path of the component model to determine the movable space of the component model.

[0029] This application embodiment also provides a workspace calculation device for construction equipment, including:

[0030] The first module is used to perform simulation modeling of construction equipment and generate simulation equipment models.

[0031] The second module is used to perform motion deconstruction on the component models in the simulation equipment model in order to extract the motion attribute features, master-slave features and operational features of each component model in the simulation equipment model;

[0032] The third module is used to determine the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute characteristics, master-slave characteristics and operational characteristics of the component model.

[0033] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method for calculating the working space of construction equipment.

[0034] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for calculating the workspace of construction equipment.

[0035] The beneficial effects of this application are as follows: Simulation modeling of construction equipment is performed, and the component models in the resulting simulation equipment model are deconstructed to extract the motion attribute characteristics, master-slave characteristics, and operational characteristics of each component model. Based on these characteristics, the operational coverage space and operational influence space of the simulation equipment model are determined. Since simulation modeling is performed on construction equipment, traditional experience-based construction planning is transformed into a data-driven intelligent decision-making process. By combining the component division of construction equipment and automatically extracting the motion attribute characteristics, master-slave characteristics, and operational characteristics of each component model through parameter deconstruction, the operational coverage space and operational influence space of the construction equipment are determined. This lays the foundation for construction equipment selection simulation, application planning rationality assessment, and equipment-environment coordination, thereby improving the rationality and scientific nature of construction equipment. Attached Figure Description

[0036] Figure 1 This is an application environment diagram of the working space calculation method for construction equipment provided in the embodiments of this application.

[0037] Figure 2 This is a flowchart of the method for calculating the working space of construction equipment provided in the embodiments of this application.

[0038] Figure 3 This is a schematic diagram illustrating the simulation equipment model provided in the embodiments of this application.

[0039] Figure 4 This is a schematic diagram of the movable space of the component model provided in the embodiments of this application.

[0040] Figure 5 This is a schematic diagram of the movable space of the superimposed component model provided in the embodiments of this application.

[0041] Figure 6 This is a schematic diagram of the active coverage space of the simulation equipment model provided in the embodiments of this application.

[0042] Figure 7 This is a schematic diagram of the working space calculation device for the construction equipment provided in the embodiments of this application.

[0043] Figure 8 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and drawings are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0047] The method for calculating the workspace of construction equipment provided in this application embodiment can be executed by a computer device, which can be a terminal device or a server. The terminal device includes, but is not limited to, mobile phones, computers, intelligent voice interaction devices, smart home appliances, vehicle terminals, and aircraft. The server can be a standalone physical server, a server cluster consisting of multiple physical servers, a distributed system, or a cloud server.

[0048] Furthermore, the information, data, and signals involved in the embodiments of this application are all authorized by the relevant parties or fully authorized by all parties, and the collection, use, and processing of the relevant data comply with the relevant laws, regulations, and standards of the relevant countries and regions.

[0049] To facilitate understanding of the method for calculating the working space of construction equipment provided in this application embodiment, the following example uses a server as the execution subject of the method for calculating the working space of construction equipment to illustrate the application scenarios of the method for calculating the working space of construction equipment.

[0050] Figure 1 This diagram illustrates the application environment of the workspace calculation method for construction equipment provided in this embodiment. (See also...) Figure 1 The method for calculating the workspace of this construction equipment is applied to a workspace calculation system for construction equipment. This workspace calculation system includes a terminal 110 and a server 120. The terminal 110 and server 120 are connected via a network. The terminal 110 can be a desktop terminal or a mobile terminal; a mobile terminal can be at least one of a mobile phone, tablet, or laptop. The server 120 can be a standalone server or a server cluster consisting of multiple servers. The terminal 110 is used to perform simulation modeling of the construction equipment and sends the generated simulation equipment model to the server 120. The server 120 is used to acquire the simulation equipment model, perform motion deconstruction on the component models in the simulation equipment model to extract the motion attribute features, master-slave features, and operational features of each component model in the simulation equipment model, and determine the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute features, master-slave features, and operational features of the component models.

[0051] It should be understood that Figure 1The application scenarios shown are merely examples. In practical applications, the method for calculating the working space of construction equipment provided in this application embodiment can also be applied to other scenarios. For example, the above-mentioned method for calculating the working space of construction equipment can be directly applied to terminal 110. Terminal 110 is used to perform simulation modeling for construction equipment, generate a simulation equipment model, perform motion deconstruction on the component models in the simulation equipment model, extract the motion attribute features, master-slave features and working features of each component model in the simulation equipment model, and determine the working coverage space and working influence space of the simulation equipment model based on the motion attribute features, master-slave features and working features of the component models.

[0052] Figure 2 This is a flowchart illustrating a method for calculating the workspace of construction equipment according to an embodiment of this application. (See attached document.) Figure 2 In some embodiments, the method includes, but is not limited to, steps S210 to S230.

[0053] Step S210: Perform simulation modeling for the construction equipment to generate a simulation equipment model.

[0054] Simulation modeling refers to the process of constructing a three-dimensional motion model of equipment through digital means. Specifically, parametric modeling tools can be used to create component models including basic sections, slewing mechanisms, and balance arms. The modeled component models are then assembled into a simulation equipment model, such as a crane tower.

[0055] In some embodiments, simulation modeling of construction equipment includes: disassembling the construction equipment into multiple target components; selecting target component models required to constitute the target components from a preset component library; configuring the motion attribute characteristics, operational characteristics, and master-slave characteristics of the target component models; and assembling the target component models according to the motion attribute characteristics, operational characteristics, and master-slave characteristics of the target component models to obtain a simulation equipment model.

[0056] A target component refers to a component of construction equipment that has independent movement or operation functions. For example, a tower crane can be disassembled into a foundation, tower body, cab, boom counterweight boom, jacking frame, attachment device, luffing trolley, hook, and hoisting rope. Specifically, the equipment can be decomposed into multiple functional units using mechanical structure disassembly, with each functional unit corresponding to a target component.

[0057] A component library is a database that stores models of various components for construction equipment. This can be implemented by constructing a hierarchical storage path using equipment type information and component type information. For example, the boom model of a tower crane can be stored under the path "Tower Crane / Boom" for easy retrieval and access.

[0058] Motion attribute features refer to the motion range, trajectory, and degrees of freedom parameters of a component model. Specifically, they can be described using parametric data such as joint rotation angles and translation distances, used to define the model's motion constraints in the simulation environment. Motion attribute features can include three displacement degrees of freedom (Translate_x, Translate_y, Translate_z) and three spatial rotation degrees of freedom (Rotate_x, Rotate_y, Rotate_z). Each degree of freedom data is assigned a numerical range (i.e., minimum value min, maximum value max; when the minimum and maximum values ​​coincide, it indicates that the model is fixed at that degree of freedom), named the motion range, representing the range of displacement or rotation that the target component model can achieve at that degree of freedom.

[0059] Job characteristics refer to the work effect and work coverage attributes of a component model when performing a job task. Examples include the digging trajectory of an excavator bucket, the unloading area of ​​a concrete mixer truck, and the working range of a multi-axis robotic arm. These can be determined through geometric motion envelope analysis. Both the work effect and work coverage attributes include "Bool" and "extension" values. When the "Bool" value is "True," it indicates that a work effect space or work coverage space will be generated, and the component model will participate in the calculation of the work effect space or work coverage space; otherwise, it will not participate in the calculation. The "extension" value, when the "Bool" value is "True," expands the work effect space or work coverage space according to this value; a positive value expands the space outward, while a negative value contracts the space inward.

[0060] The master-slave characteristic refers to the driving relationship between multiple component models. For example, the tower crane slewing mechanism acts as the master component, driving the boom movement. This can be achieved through a parent-child hierarchical relationship or linkage parameter configuration. The master-slave characteristic is designed as the attribute "Driven," whose value can be either a "unique identifier" or "Null" for other component models. When the value is a "unique identifier," it means that the component model will move synchronously with the other component model while maintaining relative motion. When the value is "Null," it means that the component model will not move with other component models.

[0061] Specifically, after the construction equipment is disassembled into multiple target components, corresponding target component models are matched from the component library based on the equipment type and component type. The motion attribute features of each target component model are configured to define its motion boundaries, its operational features are configured to describe its spatial influence area during operation, and its master-slave features are configured to define the linkage relationship between the target component models. By assembling the target component models according to their motion attribute features, operational features, and master-slave features, a simulation equipment model capable of simulating the motion and operational behavior of real construction equipment is formed. For example, the tower crane boom model is configured to rotate around the base, its operational feature is set as the spatial envelope formed by the lifting trajectory, and the master-slave features establish the driving relationship between the base and the boom. The constructed simulation equipment model includes the motion attribute features, operational features, and master-slave features of each target component model.

[0062] In some embodiments, before selecting the target component model required to constitute the target component from a preset component library, the method further includes: obtaining the component model; extracting the equipment type information, component type information, and geometric feature information of the component model; constructing several storage paths based on the equipment type information and component type information, and storing the component model and geometric feature information to the corresponding storage paths to generate the component library.

[0063] Equipment type information identifies the category of construction equipment to which the component model belongs, such as a tower crane or a concrete pump truck, and can be achieved through a classification coding system. Component type information distinguishes different functional parts of the same equipment, such as the foundation section, slewing mechanism, or counterweight boom of a tower crane, and can be defined using hierarchical naming rules. Geometric feature information includes the dimensions, shape, and spatial topology of the component model, which can be calculated through bounding boxes or extracted from point cloud data. The storage path is a multi-dimensional index structure based on equipment type information and component type information, such as a tree hierarchy with equipment category as the main directory and component function as the subdirectories, enabling classified storage of component models. This achieves standardized storage management of component models, solving the problems of scattered component data and difficult retrieval in traditional planning systems. The component library based on the classified storage path supports rapid matching of construction scheme requirements, improves the assembly efficiency of simulation equipment models, and ensures the integrity of geometric feature information, providing an accurate data foundation for subsequent feasibility analysis.

[0064] After acquiring the component model, a feature extraction algorithm is first used to automatically identify the equipment category and functional type of the component model. Simultaneously, geometric parameters are analyzed to determine the equipment type information, component type information, and geometric feature information of the component model. Subsequently, a primary storage directory is generated based on the equipment type information, for example, a separate folder for tower cranes. Secondary subdirectories are then created based on the component type information, for example, storing components such as booms and counterweights in their respective locations. Geometric feature information is stored in a structured data format bound to the component model, forming searchable metadata. The resulting component library employs a hierarchical management mechanism, enabling rapid location of target component models based on construction plans during subsequent assembly processes.

[0065] More specifically, a component library can be created in Revit, and the Revit API can be used to parse the obtained component models in real time. Equipment type information, component type information, and geometric feature information can be extracted from the component models. Triangular face data and material data are obtained from the geometric feature information, then Draco compression encoding is used, followed by GLTF / GLB binary encapsulation, and Revit attributes are added. Finally, it is saved as a GLTF / GLB model, and stored according to the extracted equipment type and component type information to complete the component library design. In some embodiments, component models can be divided into standard component models or non-standard component models based on structural function, reusability, and parametric requirements. Standard component models refer to simulation models of standard unit components that conform to industry standard parameters and can represent unit components of multiple models and manufacturers. Non-standard component models refer to simulation models of non-standard unit components, products born from applicable scenarios and specific functions, and lack reusability. For example, in tower crane equipment, the tower body standard section is a standard unit component. The standard section height is fixed at 2.2m, 2.5m, 2.8m, and 3m, and the materials include angle steel standard sections, square tube standard sections, and snap-fit ​​standard sections, etc., which can be set in advance using BIM modeling tools. However, hooks, luffing trolleys, etc., are non-standard unit components. The components of different manufacturers and equipment models are different, and BIM modeling must be carried out according to the specific product dimensions.

[0066] In some embodiments, assembling a target component model based on the motion attribute characteristics, operational characteristics, and master-slave characteristics of the target component model includes: configuring assembly mapping characteristics between each target component model based on the operational characteristics and master-slave characteristics of the target component model; assembling the target component model based on the motion attribute characteristics and assembly mapping characteristics between the target component models to obtain a simulation equipment model.

[0067] Assembly mapping features refer to the connection relationships and motion transmission rules between target component models. Specifically, they can be implemented by defining parent-child hierarchical structures or motion constraints to determine the assembly logic and cooperative motion methods between target component models.

[0068] Specifically, when assembling the target component models, the motion attribute features, operational features, and master-slave features of the target component models are extracted. Based on the operational features of the target component models, the functional positioning of each target component model during construction is determined. A driving relationship chain between components is established by combining the master-slave features of the target component models. Subsequently, target component models with motion associations are connected through the assembly mapping features between them, for example, the rotation joint of the tower crane boom is motion-coupled with the translation track of the hook. Under the constraints of the motion attribute features of the target component models, the motion paths of the target component models are matched and verified to ensure that the assembled simulation equipment model can accurately reflect the motion logic and operational form of the actual equipment.

[0069] For example, when building a simulation equipment model of a tower crane, the tower crane is disassembled into multiple target components such as the foundation, tower body, operator's cab, jib counterweight boom, jacking frame, anchoring device, luffing trolley, hook, and hoisting rope, and the target component model corresponding to each target component is selected. Then, the motion attribute characteristics, operational characteristics, and master-slave characteristics of the target component model are configured. Treating the boom and counterweight as independent components, the IsModule attribute is set to "True". Using the rotation center as the base point (origin), when designing its 6D motion properties, Translate_x, Translate_y, and Translate_z are all [0, 0], meaning no displacement degrees of freedom. Among Rotate_x, Rotate_y, and Rotate_z, only Rotate_y has a motion range of [0, 360], meaning this component can rotate 360 ​​degrees around the Y-axis. This component does not move with other components, so the Driven value is "Null". Regarding operational characteristics, the boom and counterweight have an impact within the rotational space, but do not directly create a work coverage space, i.e., WorkAffect_Bool is "True" and WorkCover_Bool is "False". For example, according to relevant building standards and regulations, a 2m safety distance needs to be ensured vertically and horizontally, so the WorkAffect_extension value can be set to 2. Treating the luffing trolley as an independent component, the IsModule attribute is set to "True". With the rotation center as the base point (origin), when designing the 6D motion attributes, only Translate_x has a motion range of [0, 55], meaning the component can move along the X-axis within the range of [0, 55]. Rotate_x, Rotate_y, and Rotate_z are all [0, 0], meaning there is no rotation. This component moves with the boom and counterweight assembly, and the Driven value is "boom and counterweight". In terms of operational characteristics, the boom and counterweight generate both the work influence space and the work coverage space, meaning the WorkAffect_Bool and WorkCover_Bool values ​​are both "True". The WorkAffect_extension value is set according to the construction industry standard. After traversing each target component model, the Revit API is invoked for real-time parsing to extract geometric data, parse triangular face data and material data, use Draco compression encoding, further encapsulate using GLTF / GLB binary, and add Revit properties. Based on the operational characteristics of the target component models, the functional positioning of each target component model in the construction process is determined. The driving relationship chain between components is established by combining the master and slave characteristics of the target component models. Then, the target component models with motion associations are connected through the assembly mapping characteristics between the target component models, and finally, the simulation equipment model of the tower crane is generated.

[0070] Step S220: Perform motion deconstruction on the component models in the simulation equipment model to extract the motion attribute features, master-slave features, and operational features of each component model in the simulation equipment model.

[0071] In some embodiments, motion deconstruction of component models in a simulation equipment model includes: importing the simulation equipment model into a preset application simulation environment, traversing each component model in the simulation equipment model, and extracting identifiers related to motion attribute features, master-slave features, and operational features from the component models. The application simulation environment is built based on the Three.js library in WebGL technology.

[0072] An application simulation environment refers to a virtual environment used to simulate the dynamic behavior of construction equipment. Specifically, it can be implemented using a simulation platform built with 3D modeling software or a physics engine, such as the Three.js library based on WebGL technology. The simulation environment enables the visualization and verification of component motion trajectories. The application simulation environment is created and initialized using Three.js with a "THREE.Scene()" scene. Objects such as cameras, renderers, controllers, lights, and environment maps are added to the scene, and mesh objects are added as the ground of the 3D simulation environment, serving as the scene for calculating the simulation equipment model.

[0073] Identifiers refer to feature tags predefined in the component model. Specifically, they can be implemented using metadata tags or custom attribute fields, such as describing motion parameters, master-slave relationships, and job attributes through XML tags or JSON key-value pairs.

[0074] Specifically, after the simulation equipment model is imported into the application simulation environment, a traversal algorithm visits each component model layer by layer, and reads the identifiers related to motion attributes, master-slave characteristics, and operational characteristics attached to the component model according to preset parsing rules. For example, when parsing the component model of a tower crane boom, the motion attributes of the component are extracted by reading its geometric parameters, rotation angle range, and hydraulic drive parameters; the master-slave characteristics are determined by reading its connection relationship identifier with the hook component; and the operational characteristics are determined by reading the lifting operation parameter identifiers. After all feature information is integrated, it provides a data foundation for subsequent workspace calculations.

[0075] More specifically, after the simulation equipment model is imported into the application simulation environment, a GLTFLoader reader is created to load and read the simulation equipment model, extract its scene, and use traverse to traverse all component models. It checks whether the isMesh attribute of the component model is true and whether it contains the IsModule attribute. If it does, it further checks whether the IsModule attribute value is true. When the above conditions are met, the component model is considered an independent component of the simulation equipment model. Extracting identifiers related to motion attribute features, master-slave features, and operational features from the component model involves extracting its "unique identifier" attribute. This extracts the motion and operational attributes of the component model, i.e., identifiers related to motion attribute features, master-slave features, and operational features, including Translate_x, Translate_y, Translate_z, Rotate_x, Rotate_y, Rotate_z, Driven, WorkAffect_Bool, WorkAffect_extension, WorkCover_Bool, and WorkCover_extension. Data is then established according to the "unique identifier" attribute. For example, a data dictionary built with the identifier as the key and component model, motion attribute features, master-slave features, and operation features as values ​​is as follows: {“Uid”: unique identifier, “object”: construction equipment component object, “Datas”: {“Translate_x”: value, “Translate_y” : value, “Translate_z” : value, “Rotate_x” : value, “Rotate_y” : value, “Rotate_z” : value, “Driven” : value, “WorkAffect_Bool” : value, “WorkAffect_extension” : value, “WorkCover_Bool” : value, “WorkCover_extension” : value}}, where “value” in the data dictionary represents the specific value of each feature.

[0076] After importing the simulation equipment model into a preset application simulation environment, the simulation equipment model can also be rendered and displayed. For example, see [link to relevant documentation]. Figure 3 Taking tower crane construction equipment as an example, during the process of establishing the construction equipment component set, each component object is added to the Three.js computing scene for display.

[0077] Step S230: Determine the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute characteristics, master-slave characteristics and operational characteristics of the component model.

[0078] The work coverage space refers to the effective and operable range of construction equipment, which determines its operational capabilities. The work influence space refers to the spatial range occupied by the construction equipment during operation, and is an important basis for determining the area of ​​influence of the equipment during operation. Both the work coverage space and the work influence space can be determined by kinematic analysis of the joint angles and extension lengths of the equipment.

[0079] In some embodiments, determining the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute characteristics, master-slave characteristics, and operational characteristics of the component model includes: determining the movable space of the component model based on the motion attribute characteristics of the component model; superimposing the movable space of the component model based on the master-slave characteristics of the component model to confirm the operational coverage space of the simulation equipment model; determining the operational influence space of the component model based on the operational characteristics of the component model; superimposing the operational influence spaces of each component model to confirm the operational influence space of the simulation equipment model.

[0080] For the scope of the work coverage, please refer to Figure 4 to Figure 8 First, based on the motion attribute characteristics of the component models, the motion paths and pose changes of each component model are analyzed. For example, the swing trajectory of the tower crane boom is calculated using kinematic equations. Then, combining the master-slave characteristics of the component models, the movable spaces of the component models with linkage relationships are superimposed. For example, the movable areas of the tower crane base and the boom are merged for calculation to form the equipment operation range space of the simulation equipment model. For the operation influence space, the dynamic influence range of each component model during the operation process is extracted based on the operation characteristics of the component models. For example, the digging area and material stacking area of ​​the excavator bucket. Finally, the operation influence ranges of all components are integrated through a spatial superposition algorithm to form the equipment operation influence space of the simulation equipment model.

[0081] In some embodiments, determining the movable space of a component model based on its motion attribute features includes: extracting the geometric features of the component model; determining the motion path of the component model and its pose features along the motion path based on the motion attribute features of the component model; and performing bounding box detection on the motion path of the component model based on its geometric features and pose features to determine the movable space of the component model.

[0082] Geometric features refer to the shape, size, and spatial position information of the component model. Specifically, this can be achieved by extracting polygonal meshes or point cloud data using 3D modeling software, used to describe the physical form of the component during movement. Motion path refers to the trajectory of the component model under the constraints of motion attribute features. Specifically, this can be calculated using joint angle ranges, translation amounts, or rotation axis parameters, used to quantify the dynamic behavior boundaries of the component during operation. Pose features refer to the position and orientation of the component model at different times along the motion path. Specifically, this can be described using coordinate transformation matrices or Euler angle parameters, used to record the spatial state changes of the component model during movement. Bounding box detection refers to generating the minimum spatial volume containing the component's motion trajectory based on geometric and pose features. Specifically, this can be achieved using axial bounding boxes or directional bounding box algorithms, forming a continuous coverage area by superimposing dynamic pose data frame by frame.

[0083] When determining the movable space of a component model, the geometric features of the component model are first analyzed to obtain a precise description of its three-dimensional shape. Then, based on the joint degrees of freedom, rotation angle constraints, or translation range parameters defined in the motion attribute features of the component model, the motion path of the component model during operation is generated. Along this path, the pose features of the component model at different time points are calculated using discrete sampling or continuous interpolation methods. Finally, the geometric features are matched with the pose features, and the bounding box algorithm is used to dynamically calculate the spatial occupancy of the component during motion, generating a movable space covering all possible positions.

[0084] More specifically, for the work coverage space, the work coverage space of the simulation equipment model is obtained by traversing all component models of the simulation equipment model, and the union of the movable spaces generated by all component models with the "WorkCover_Bool" parameter value of "True". The specific process is as follows: for each component model, if the "WorkCover_Bool" attribute value is "False", it indicates that no work coverage space is generated; if the attribute value is "True", calculation is performed. The calculation process first calculates the movable space of the component model. First, the geometry of the component model is used as the basis for calculating its geometric structural features. Based on the motion attribute features of the component model, the corresponding motion path is created using THREE.Curve. Points are sampled on the motion path using the getPoints method. For each sampled point, the tangent vector at the path is obtained using the getTangentAt method. Based on this vector, the pose features of the basic calculated component model are adjusted. Furthermore, the transformation matrix of the pose features of the basic calculated component model at that position is calculated using the updateMatrixWorld method. For each transformation matrix, the bounding box in world coordinates is obtained using the THREE.Box3().setFromObject() method. Finally, the union method is used to perform a Boolean union operation on the bounding boxes at all sampling points to obtain the active space of the component model. Based on this active space and the master-slave characteristics of the component model, the next active component model is identified. If it exists, the above process is repeated until all active component models have been traversed. After traversing all component models, the active spaces of each component model are superimposed to obtain the work coverage space of the simulation equipment model. For the work influence space, the union of the active spaces of all component models with the "WorkAffect_Bool" parameter value of "True" is obtained by traversing all component models of the simulation equipment model. The specific process is as follows: for each component model, when the "WorkAffect_Bool" attribute value is "False", it means that it does not generate a work influence space. When the attribute value is "True", calculation is performed. Except for changing the attribute value from "WorkCover_Bool" to "WorkAffect_Bool", the calculation process is the same as the work coverage space process.

[0085] Please see Figure 7 This application also provides a working space calculation device for construction equipment, which can implement the above-mentioned working space calculation method for construction equipment. The device includes:

[0086] The first module 710 is used to perform simulation modeling of construction equipment and generate simulation equipment models.

[0087] The second module 720 is used to perform motion deconstruction on the component models in the simulation equipment model in order to extract the motion attribute features, master-slave features and operational features of each component model in the simulation equipment model;

[0088] The third module 730 is used to determine the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute characteristics, master-slave characteristics and operational characteristics of the component model.

[0089] The specific implementation of the working space calculation device of this construction equipment is basically the same as the specific implementation of the working space calculation method of the above-mentioned construction equipment, and will not be repeated here.

[0090] Figure 8 This is a block diagram illustrating an electronic device according to an exemplary embodiment.

[0091] The following reference Figure 8 To describe an electronic device 800 according to such an embodiment of the present disclosure. Figure 8 The electronic device 800 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0092] like Figure 8 As shown, the electronic device 800 is presented in the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to: at least one processing unit 810, at least one storage unit 820, a bus 830 connecting different system components (including storage unit 820 and processing unit 810), a display unit 840, etc.

[0093] The storage unit stores program code, which can be executed by the processing unit 810, causing the processing unit 810 to perform the steps described in the section on the method for calculating the workspace of construction equipment described above, according to various exemplary embodiments of this disclosure.

[0094] Storage unit 820 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 8201 and / or cache memory 8202, and may further include a read-only memory (ROM) 8203.

[0095] The storage unit 820 may also include a program / utility 8204 having a set (at least one) of program modules 8205, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0096] Bus 830 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0097] Electronic device 800 can also communicate with one or more external devices 800' (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 800, and / or with any device that enables electronic device 800 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 850. Furthermore, electronic device 800 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 860. Network adapter 860 can communicate with other modules of electronic device 800 via bus 830. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0098] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for calculating the workspace of construction equipment.

[0099] The method, apparatus, equipment, and storage medium for calculating the workspace of construction equipment provided in this application embodiment perform simulation modeling on the construction equipment. Motion deconstruction is performed on the component models in the simulation equipment model to extract the motion attribute characteristics, master-slave characteristics, and operational characteristics of each component model. Based on these characteristics, the work coverage space and work influence space of the simulation equipment model are determined. Since simulation modeling is performed on construction equipment, traditional experience-based construction planning is transformed into a data-driven intelligent decision-making process. By combining the component division of the construction equipment and automatically extracting the motion attribute characteristics, master-slave characteristics, and operational characteristics of each component model in the simulation equipment model through parameter deconstruction, the work coverage space and work influence space of the construction equipment are determined based on the motion attribute characteristics of the component models. This lays the foundation for construction equipment selection simulation, application planning rationality assessment, and equipment-environment coordination, improving the rationality and scientific nature of construction equipment.

[0100] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the methods described above according to the embodiments of this disclosure.

[0101] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0102] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0103] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0104] Exemplary embodiments of this disclosure have been specifically shown and described above. It should be understood that this disclosure is not limited to the detailed structures, arrangements, or implementations described herein; rather, this disclosure is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A method for calculating the working space of construction equipment, characterized in that, include: Simulation modeling is performed on construction equipment to generate simulation equipment models; Motion deconstruction is performed on the component models in the simulation equipment model to extract the motion attribute features, master-slave features, and operational features of each component model in the simulation equipment model; The operational coverage space and operational influence space of the simulation equipment model are determined based on the motion attribute characteristics, master-slave characteristics, and operational characteristics of the component model. The determination of the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute characteristics, master-slave characteristics, and operational characteristics of the component model includes: The movable space of the component model is determined based on the motion attribute characteristics of the component model, and the movable space of the component model is superimposed based on the master-slave characteristics of the component model to confirm the operational coverage space of the simulation equipment model. The operational influence space of the component model is determined based on its operational characteristics, and the operational influence spaces of each component model are superimposed to confirm the operational influence space of the simulation equipment model. The step of determining the movable space of the component model based on its motion attribute characteristics includes: calculating its geometric structure features based on the geometry of the component model; creating a corresponding motion path using THREE.Curve based on the motion attribute characteristics of the component model; sampling points on the motion path using the getPoints method; obtaining the tangent vector of the sampling point on the path using the getTangentAt method for each sampling point; adjusting the pose features of the basic calculated component model based on the vector; calculating the transformation matrix of the pose features of the basic calculated component model at the location of the component model using the updateMatrixWorld method; obtaining the bounding box in world coordinates for each transformation matrix using the THREE.Box3().setFromObject() method; and performing a union Boolean operation on the bounding boxes at all sampling points using the union method to obtain the movable space of the component model.

2. The method for calculating the working space of construction equipment according to claim 1, characterized in that, The simulation modeling of construction equipment includes: The construction equipment is disassembled into multiple target components; Select the target component model required to constitute the target component from the preset component library; Configure the motion attribute features, operational features, and master-slave features of the target component model; The target component model is assembled based on its motion attribute characteristics, operational characteristics, and master-slave characteristics to obtain the simulation equipment model.

3. The method for calculating the working space of construction equipment according to claim 2, characterized in that, Before selecting the target component model required to constitute the target component from the preset component library, the method further includes: Obtain the component model; Extract the equipment type information, component type information, and geometric feature information of the component model; Based on the equipment type information and the component type information, several storage paths are constructed, and the component model and the geometric feature information are stored in the corresponding storage paths to generate the component library.

4. The method for calculating the working space of construction equipment according to claim 2, characterized in that, The assembly of the target component model based on its motion attribute features, operational features, and master-slave features includes: Based on the operational characteristics and master-slave characteristics of the target component models, the assembly mapping characteristics between each target component model are configured. Based on the motion attribute characteristics of the target component models and the assembly mapping characteristics between the target component models, the target component models are assembled to obtain the simulation equipment model.

5. The method for calculating the working space of construction equipment according to claim 1, characterized in that, The motion deconstruction of the component models in the simulation equipment model includes: The simulation equipment model is imported into a preset application simulation environment. Each component model in the simulation equipment model is traversed, and the identifiers related to the motion attribute features, master-slave features, and operation features in the component models are extracted. The application simulation environment is built based on the Three.js library in WebGL technology.

6. The method for calculating the working space of construction equipment according to claim 1, characterized in that, Determining the movable space of the component model based on its motion attribute characteristics includes: Extract the geometric structural features of the component model; The motion path of the component model and the pose features of the component model on the motion path are determined based on the motion attribute features of the component model. Based on the geometric and pose features of the component model, bounding box detection is performed on the motion path of the component model to determine the movable space of the component model.

7. A workspace calculation device for construction equipment, characterized in that, include: The first module is used to perform simulation modeling of construction equipment and generate simulation equipment models. The second module is used to perform motion deconstruction on the component models in the simulation equipment model in order to extract the motion attribute features, master-slave features and operational features of each component model in the simulation equipment model; The third module is used to determine the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute characteristics, master-slave characteristics and operational characteristics of the component model. The determination of the operational coverage space and operational influence space of the simulation equipment model based on the motion attribute characteristics, master-slave characteristics, and operational characteristics of the component model includes: The movable space of the component model is determined based on the motion attribute characteristics of the component model, and the movable space of the component model is superimposed based on the master-slave characteristics of the component model to confirm the operational coverage space of the simulation equipment model. The operational influence space of the component model is determined based on its operational characteristics, and the operational influence spaces of each component model are superimposed to confirm the operational influence space of the simulation equipment model. The step of determining the movable space of the component model based on its motion attribute characteristics includes: calculating its geometric structure features based on the geometry of the component model; creating a corresponding motion path using THREE.Curve based on the motion attribute characteristics of the component model; sampling points on the motion path using the getPoints method; obtaining the tangent vector of the sampling point on the path using the getTangentAt method for each sampling point; adjusting the pose features of the basic calculated component model based on the vector; calculating the transformation matrix of the pose features of the basic calculated component model at the location of the component model using the updateMatrixWorld method; obtaining the bounding box in world coordinates for each transformation matrix using the THREE.Box3().setFromObject() method; and performing a union Boolean operation on the bounding boxes at all sampling points using the union method to obtain the movable space of the component model.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the method for calculating the workspace of the construction equipment according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for calculating the workspace of the construction equipment according to any one of claims 1 to 6.

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