Prefabricated building component simulation assembling method and system

Abstract

The invention relates to the technical field of building engineering construction, in particular to a simulated assembling method and system for fabricated building components. According to the method, the differentiated historical vibration retention coefficient and amplitude conversion coefficient are calculated by obtaining the geometric parameters of each steel bar, the cumulative vibration state value is updated by using the recursive algorithm in combination with the real-time vibration signal, and then the dynamic swing coverage radius is obtained through overlay analysis. And finally, the radius is compared with the effective guide radius of the sleeve in real time, a setting control instruction is automatically generated, accurate quantification and safety decision making of the non-synchronous swing risk of the reinforcing steel bar in the blind area are achieved, and the construction safety and the automation level are improved.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically to a method and system for simulating the assembly of prefabricated building components. Background Technology

[0002] In the on-site construction of precast concrete structures, the quality of the vertical connection of precast components depends on the precise alignment of the bottom rebar array and the lower embedded sleeve. At the final stage of the actual hoisting operation, when the lifting equipment suspends the component in the macroscopic alignment blind zone above the designed position, although the component itself appears stationary, the bottom rebar array, as a cantilevered elastic body, will still be in a state of asynchronous micro-oscillation due to the inertia of its previous motion. Because of manufacturing tolerances in the cantilever length and cross-sectional diameter of the rebars, rebars with different slenderness ratios exhibit significantly different energy dissipation rates and oscillation periods; slender rebars often maintain a relatively long period of lag oscillation after the main body of the component has stopped moving due to their low damping characteristics. This hidden dynamic interference risk is difficult to quantify with the naked eye or conventional measurement methods. If a drop operation is rashly performed during this period, the tip of the rebar, still in a state of residual oscillation energy, is very likely to collide with the sleeve opening, causing the rebar to bend or the inner wall of the connector to be damaged.

[0003] However, in the blind zone connection process of prefabricated component hoisting, traditional visual observation methods have subjective blind spots, while existing BIM simulation technology based on rigid body assumptions cannot reflect the independent dynamic behavior of flexible members. Therefore, how to transform the invisible dynamic energy risk of steel bars into visible geometric compatibility indicators in the blind zone connection stage is a key issue to improve the connection safety of prefabricated components. Summary of the Invention

[0004] To address the technical problem that existing technologies struggle to transform the invisible dynamic energy risk of reinforcing steel into visible geometric compatibility indicators, the present invention aims to provide a method and system for simulating the assembly of prefabricated building components. The specific technical solution adopted is as follows: This invention proposes a method for simulating the assembly of prefabricated building components, the method comprising: S101: Obtain the geometric parameters of each steel bar in the building component; obtain the historical vibration retention coefficient and amplitude conversion coefficient of each steel bar according to the numerical relationship of the geometric parameters; S102: Obtain the vibration signal of each steel bar at each moment, and quantify the vibration intensity of the steel bar at each moment based on the vibration signal; use a recursive algorithm with the historical vibration retention coefficient as the weight of the vibration intensity at each moment for recursive analysis, and update the cumulative vibration state value of each steel bar at each moment in real time; superimpose the cumulative vibration state value with the geometric parameters and amplitude conversion coefficient of the steel bar to obtain the dynamic swing coverage radius of each steel bar at each moment. S103: At each moment, based on the comparison between the dynamic swing coverage radius of each steel bar and the preset effective guide radius of the sleeve, a building component placement control command is generated.

[0005] Furthermore, before obtaining the geometric parameters, a preprocessing process is included, which includes: Point cloud data of building components is acquired, and each steel bar of the building component is identified using a point cloud segmentation algorithm based on the point cloud data. Using the feature points of the building component identified by the point cloud data, the feature point closest to any steel bar is selected as the origin, and a coordinate system of the building component body is established, the axis of which rotates with the rigid body motion of the building component.

[0006] Furthermore, the geometric parameters include: Based on point cloud data, a coordinate system for the building component body is constructed. The three-dimensional coordinates of the center point of the steel bar tip on the side exposed outside the concrete are taken as the static tip coordinates. The distance between the static tip coordinates and the coordinates of the fixed point of the steel bar on the bottom surface of the concrete is taken as the cantilever length. The cross-sectional diameter of the steel bar is taken as the cross-sectional diameter. The static tip coordinates, cantilever length, and cross-sectional diameter are taken as geometric parameters.

[0007] Furthermore, the calculation method for the historical vibration retention factor and amplitude conversion factor includes: An exponential decay model is constructed based on the ratio of the cross-sectional diameter to the cantilever length of the reinforcing bar to calculate the historical vibration retention coefficient; based on the negative correlation between the cantilever length and the cross-sectional diameter of the reinforcing bar, the amplitude conversion coefficient is calculated.

[0008] Furthermore, the vibration intensity calculation method includes: The two acceleration components of the horizontal plane of the steel bar are obtained using an inertial measurement unit. The acceleration components are used as vibration signals, and the sum of the squares of the two acceleration components is used as vibration intensity.

[0009] Furthermore, the methods for updating the accumulated vibration state values ​​include: Using the historical vibration retention coefficient of the reinforcing steel as a recursive coefficient, the cumulative vibration state value at the current moment is updated by a first-order recursive formula based on the cumulative vibration state value at the previous moment and the vibration intensity at the current moment.

[0010] Furthermore, the method for calculating the dynamic swing coverage radius includes: The expected value of the maximum displacement on one side of the reinforcing bar is obtained based on the amplitude conversion coefficient and the cumulative vibration state value; the dynamic swing coverage radius is obtained based on the reinforcing bar radius, combined with the expected value of the maximum displacement and the preset error compensation value.

[0011] Furthermore, the method for setting the effective guide radius of the sleeve includes: For each reinforcing bar, the sum of the inner radius of the cylindrical section of the sleeve and the horizontal projection radius of the top flared chamfer is taken as the effective guide radius of the sleeve. The inner radius of the cylindrical section of the sleeve and the horizontal projection radius of the top flared chamfer are obtained by calling the prefabricated component detailed design database.

[0012] Furthermore, the method for generating the building component placement control command includes: If the dynamic swing coverage radius of all steel bars in the building component at the current moment is less than or equal to the effective guide radius of the corresponding sleeve, the building component is allowed to fall; if the dynamic swing coverage radius of one steel bar in the building component at the current moment is greater than the effective guide radius of the corresponding sleeve, the building component is prohibited from falling.

[0013] The present invention also proposes a prefabricated building component simulation assembly system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the steps of the prefabricated building component simulation assembly method described above.

[0014] The present invention has the following beneficial effects: This invention achieves precise modeling of the differentiated dynamic behavior of heterogeneous steel bar arrays by acquiring the geometric parameters of each steel bar and analyzing its corresponding historical vibration retention coefficient and amplitude conversion coefficient. It also achieves quantitative perception and dynamic tracking of invisible sway risks in blind zones by updating the cumulative vibration state value using real-time vibration signals and recursive algorithms. Furthermore, it obtains the dynamic sway coverage radius by superimposing and analyzing the cumulative state value with geometric parameters and amplitude conversion coefficients, providing a concrete and clear physical geometric criterion for safety assessment. Finally, it generates placement instructions in real-time based on this radius, transforming complex time-varying dynamic risks into deterministic geometric compatibility indicators. This provides a standardized placement criterion with physical interpretability for on-site construction, improving the construction accuracy and structural safety of vertical connection nodes in prefabricated buildings. Attached Figure Description

[0015] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating a method for simulating the assembly of prefabricated building components, as provided in one embodiment of the present invention. Detailed Implementation

[0017] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a prefabricated building component simulation assembly method and system proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0018] 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 invention pertains.

[0019] The following description, in conjunction with the accompanying drawings, details the specific scheme of the prefabricated building component simulation assembly method and system provided by the present invention.

[0020] Please see Figure 1 The diagram illustrates a flowchart of a method for simulating the assembly of prefabricated building components according to an embodiment of the present invention. The method includes: S101: Obtain the geometric parameters of each steel bar in the building component; obtain the historical vibration retention coefficient and amplitude conversion coefficient of each steel bar according to the numerical relationship of the geometric parameters.

[0021] Because building components have tolerances during manufacturing, and the cutting length of steel bars in different batches is random, and the dynamic characteristics of the steel bars (energy decay rate, oscillation amplitude) strictly depend on their own geometric dimensions, it is necessary to extract the true geometric parameters of each steel bar to characterize its material properties. Since the subsequent step S102 needs to run in real-time on an embedded device at millisecond intervals, directly performing finite element analysis (FEA) would result in an excessive computational load, failing to meet real-time requirements. Furthermore, the damping ratio of slender steel bars is much smaller than that of short, thick steel bars, and their dissipation rate of historical vibration energy is slower. To simulate this difference in inertial hysteresis in the discrete time domain, it is necessary to analyze the historical vibration retention coefficient of each steel bar. Since collision determination requires displacement signals, according to the lateral stiffness theory of cantilever beams, under the same strength of base excitation, longer reinforcing bars will produce greater end displacements. To map vibration intensity to spatial displacement, it is necessary to analyze the amplitude conversion coefficient of each reinforcing bar. Therefore, it is necessary to calculate the historical vibration retention coefficient and amplitude conversion coefficient of each reinforcing bar based on the obtained geometric parameters, simplifying the complex continuum dynamics characteristics into discrete algebraic coefficients, which can significantly reduce the computational dimensionality while ensuring engineering accuracy.

[0022] It should be noted that this step is performed during the static preparation stage before the precast components are lifted; the purpose is to provide the necessary static model parameters for subsequent real-time dynamic calculations; the final output results are stored in the system memory as read-only constants for step S102 to call.

[0023] In this embodiment of the invention, a 3D laser scanner is used to acquire point cloud data of the bottom of the component to be installed in a static state. Based on the point cloud data, a cylinder fitting algorithm is used to obtain the geometric parameters of each steel bar in the building component. The lumped parameter method is used in conjunction with the numerical relationship of the geometric parameters to obtain the historical vibration retention coefficient and amplitude conversion coefficient of each steel bar. After completing the above calculations, the geometric parameters, historical vibration retention coefficient, and amplitude conversion coefficient of each steel bar are packaged into a set of geometric and dynamic parameters for each individual steel bar. This parameter set is loaded into the system's cache and used to provide fixed physical model coefficients for recursive calculations at each sensor interruption in step S102. For the initialization operations required in step S102, the above parameter set will be called for zero-state configuration before entering the dynamic loop. The cylinder fitting algorithm is a well-known technique to those skilled in the art, and the specific process will not be described in detail here.

[0024] Preferably, in some possible implementations of the embodiments of the present invention, a preprocessing process is further included before obtaining the geometric parameters, the preprocessing process including: Due to tolerances in the manufacturing process of precast components and the randomness of the cutting length of steel bars in different batches, the actual spatial position of each steel bar in the connection interface deviates from the design drawings. In order to ensure that the subsequent inertial measurement data can be accurately mapped to the actual physical position of each steel bar, it is necessary to establish a spatial reference that follows the movement of the building components using the measured data. At the same time, in order to obtain and analyze the geometric parameters of each steel bar individually, each steel bar in the building components needs to be processed separately.

[0025] Specifically, point cloud data of building components are acquired, and a random sampling consensus algorithm is used to identify each steel bar of the building component and define a unique index for each steel bar. Using the feature points of the building component identified by the point cloud data, a steel bar is randomly selected as a reference steel bar, and the feature point closest to the reference steel bar is selected as the origin to establish a coordinate system of the building component body, whose axis direction rotates with the rigid body motion of the building component.

[0026] In one specific implementation of this invention, corner points or pre-embedded positioning points of building components are selected as feature points of the building components.

[0027] It should be noted that other point cloud segmentation methods, such as deep learning-based segmentation networks, can also be used in other implementations of the present invention, which are not limited or elaborated here.

[0028] Preferably, in some possible implementations of the embodiments of the present invention, the geometric parameters include: Based on a coordinate system constructed from point cloud data, the three-dimensional coordinates of the center point of the steel bar tip exposed outside the concrete on the building component's body coordinate system are used as the static tip coordinates. These coordinates define the geometric center of the steel bar in a vibration-free state. Since the energy dissipation characteristics and lateral displacement response of the steel bar strictly depend on its slenderness ratio, the cantilever length and cross-sectional diameter of the steel bar also need to be obtained. The distance between the static tip coordinates and the coordinates of the fixed point of the steel bar on the concrete bottom surface is used as the cantilever length, which determines the natural frequency of the steel bar as a cantilever beam. The cross-sectional diameter of the steel bar is used as the cross-sectional diameter, which determines the cross-sectional moment of inertia and bending stiffness of the steel bar. The static tip coordinates, cantilever length, and cross-sectional diameter are used as geometric parameters.

[0029] Preferably, in some possible implementations of the embodiments of the present invention, the calculation method for the historical vibration retention coefficient and the amplitude conversion coefficient includes: Considering that the energy decay of free vibration follows a natural exponential law in the physical world, an exponential decay model is constructed based on the ratio of the cross-sectional diameter to the cantilever length of the steel bar, and the historical vibration retention coefficient is calculated. Based on the Euler-Bernoulli beam theory, the amplitude conversion coefficient is calculated based on the negative correlation between the cantilever length and the cross-sectional diameter of the steel bar.

[0030] As an example, in one specific implementation of this invention, the historical vibration retention coefficient... The calculation formula can be expressed as: in, It is an exponential function with the natural constant as its base; It is an empirical damping constant determined based on the material properties of steel bars (such as HRB400 grade steel bars). It is used to package the material properties of steel bars into a single constant and to balance the dimensions, ensuring that the calculated exponential term is dimensionless. The diameter of the reinforcing bar cross section; This refers to the cantilever length of the reinforcing bar; The sampling frequency of the sensor. This indicates the step size of the discrete time step set in this embodiment, used to convert the continuous time constant into discrete vibration retention coefficients. Set to 100Hz; It is a dimensionless numerical value, and its range is [value range missing]. The closer the coefficient is to This indicates the first The stronger the ability of a steel bar to retain its historical vibration state within a single sampling period, the more significant the hysteresis effect.

[0031] According to vibration theory, the vibration decay time constant of a cantilever beam, i.e., the historical vibration retention coefficient, is proportional to the square of its length; the cross-sectional diameter mainly provides stiffness and damping area, and the larger the diameter (…). The larger the value, the faster the decay. The smaller the value, the better; therefore, this embodiment selects... This ratio relationship analyzes the historical vibration retention coefficient. The variation of the sampling frequency; at the same time, the higher the sampling frequency and the shorter the time interval between two samplings, the less vibration energy dissipation of the steel bar, and the corresponding historical vibration retention coefficient. The larger the value, the better. Considering the above characteristics, this embodiment uses an exponential function with the natural constant as the base to perform a negative correlation mapping on the final ratio, ultimately obtaining a value range of [value range missing]. The quantitative results.

[0032] Amplitude conversion coefficient The calculation formula can be expressed as: in, This is a preset constant used for balancing dimensions. Since the time dimension of the input excitation term needs to be offset later, it is necessary to... The physical dimensions are set as Considering The dimensions of the calculation result are Therefore, it is necessary to introduce and set its dimensions as Used to balance dimensions; The diameter of the reinforcing bar cross section; For the cantilever length of the reinforcing bars; set The physical dimensions are This is used to subsequently offset the input excitation term (the square of the acceleration). The time dimension is used to ensure that the subsequently calculated dynamic swing coverage radius has the length dimension. ).

[0033] According to the Euler-Bernoulli beam theory, the maximum displacement at the end of a cantilever beam, i.e., the tip of the reinforcing bar, when subjected to lateral force is directly proportional to the cube of the cantilever length and inversely proportional to the moment of inertia of the cross section. The moment of inertia is directly proportional to the fourth power of the cross section diameter. Because... It is an amplitude conversion coefficient that quantifies the ability of a reinforcing bar to convert force into displacement. It is directly proportional to the maximum displacement when the tip of the reinforcing bar is subjected to a lateral force. Considering the above characteristics, this embodiment selects... This ratio relationship analyzes the amplitude conversion coefficient. The changes.

[0034] S102: Obtain the vibration signal of each steel bar at each moment, and quantify the vibration intensity of the steel bar at each moment based on the vibration signal; use a recursive algorithm with the historical vibration retention coefficient as the weight of the vibration intensity at each moment for recursive analysis, and update the cumulative vibration state value of each steel bar at each moment in real time; superimpose the cumulative vibration state value with the geometric parameters and amplitude conversion coefficient of the steel bar to obtain the dynamic oscillation coverage radius of each steel bar at each moment.

[0035] To transform the macroscopic mechanical motion of building components into standardized numerical excitation information, it is necessary to acquire the vibration signal of each reinforcing bar at each moment and quantify the vibration intensity of the reinforcing bar at each moment based on the vibration signal. To simulate the energy dissipation process of the damped vibration of reinforcing bars in the physical world and to track the energy residual state of reinforcing bars with different slenderness ratios in parallel, thereby reproducing the asynchronous physical phenomenon of "long reinforcing bars swinging for a long time and short reinforcing bars stopping quickly," it is necessary to perform recursive analysis using a recursive algorithm with the historical vibration retention coefficient as the weight of the vibration intensity at each moment, and to update the cumulative vibration state value of each reinforcing bar in real time. To transform the abstract energy state value into a concrete geometric space constraint for subsequent physical interference determination, it is necessary to superimpose the cumulative vibration state value with the geometric parameters and amplitude conversion coefficient of the reinforcing bar to obtain the dynamic swing coverage radius of each reinforcing bar at each moment.

[0036] In this embodiment of the invention, the sampling frequency is set to [value] via a data sampling interrupt driven by an inertial measurement unit (IMU) mounted on the component. At each discrete time step ( The system collects the vibration signal output by the inertial measurement unit, which is a multi-component acceleration signal. After calculating the dynamic swing coverage radius, the system outputs a set of dynamic swing coverage radii containing all the reinforcing bars, which serves as a description of the dynamic spatial state of the reinforcing bar group at the current moment and is immediately transmitted to step S103 for compatibility determination.

[0037] In one specific implementation of this invention, the sampling frequency The frequency is set to 100Hz, and the discrete time step size is set to 0.01 seconds, the size of which is determined by the sensor's sampling frequency. Decide.

[0038] Preferably, in some possible implementations of the embodiments of the present invention, the vibration intensity calculation method includes: Raw acceleration data is acquired using an inertial measurement unit. Since the collision risk between the rebar and the sleeve mainly stems from the horizontal swinging deviation of the rebar, the raw acceleration data is projected onto the constructed component body coordinate system using a preset installation error calibration matrix to obtain two orthogonal acceleration components in the horizontal plane. These acceleration components are used as vibration signals, and the sum of the squares of the two acceleration components is used as the vibration intensity to characterize the instantaneous disturbance power density applied to the root of the rebar by the crane lifting action. The sum of squares of the acceleration components is performed here to eliminate the influence of the motion direction on the excitation intensity, retaining only the scalar magnitude of the signal as the energy injection source.

[0039] It should be noted that the installation error calibration matrix is ​​a transformation matrix predetermined by system calibration. The specific settings can be made by the implementer and are technical means well known in the art, which will not be elaborated or limited here.

[0040] Preferably, in some possible implementations of the embodiments of the present invention, the method for updating the cumulative vibration state value includes: For each steel bar of the building component, the cumulative vibration state value of the steel bar at the previous moment and the historical vibration retention coefficient calculated in step S101 are read. The historical vibration retention coefficient of the steel bar is used as a recursive coefficient. The cumulative vibration state value at the current moment is updated by a first-order recursive formula based on the cumulative vibration state value at the previous moment and the vibration intensity at the current moment.

[0041] As an example, in a specific implementation of this invention, the cumulative vibration state value of the nth reinforcing bar at time k is... The calculation formula can be expressed as: in, This represents the cumulative vibration state value of the nth reinforcing bar at time k-1. The historical vibration retention factor for the nth reinforcing bar; Let be the vibration intensity of the nth reinforcing bar at time k. In this formula, As a historical inertia residue, for slender steel bars, its near This makes the cumulative vibration state value of the previous moment... The fact that most of these memories are retained to the present moment reflects the delayed memory characteristic of the physical system for heteronomous motion; For the current forced input item, for short and thick steel bars, its Smaller, making Mainly composed of the current input The decision reflects the real-time nature of the physical system. Through the above differentiated recursive calculations, the system accurately decouples the heterogeneous dynamic behavior of the steel reinforcement group at the numerical level.

[0042] Furthermore, at the initial stage of system startup, it is necessary to initialize the cumulative vibration state values ​​of all reinforcing bars to eliminate the risk of calculation divergence caused by transient noise during sensor power-on.

[0043] Specifically, when the monitoring system powers on or receives a reset command, a discrete time step index is defined. The system forcibly initializes the cumulative vibration state values ​​of all reinforcing bars stored in memory to [value]. At the same time, a filter convergence waiting window is set. .exist During the specified time period, the system only performs recursive iterative calculations in the background to make the filter converge to the true reference, but does not output valid dynamic envelope data, and forcibly outputs a "prohibit action" latching signal to the external controller to prevent malfunctions caused by misalignment of initial state data.

[0044] In one specific implementation of this invention, a filter convergence waiting window is used. Set as seconds or corresponding One sampling period.

[0045] Preferably, in some possible implementations of the embodiments of the present invention, the method for calculating the dynamic swing coverage radius includes: Since the cumulative vibration state value corresponds to the square of the acceleration in physical dimensions, it needs to be mapped to the displacement amplitude in combination with stiffness characteristics, and the necessary system tolerance needs to be added.

[0046] Specifically, for each rebar, the amplitude conversion coefficient and cross-sectional diameter pre-stored in step S101, as well as the preset error compensation value, are called. The expected value of the maximum displacement on one side of the rebar is obtained based on the amplitude conversion coefficient and the cumulative vibration state value; the dynamic oscillation coverage radius is obtained based on the rebar radius, combined with the expected value of the maximum displacement and the preset error compensation value.

[0047] As an example, in a specific implementation of this invention, the dynamic swing coverage radius of the nth rebar at time k is... The calculation formula can be expressed as: in, Let be the cumulative vibration state value of the nth reinforcing bar at time k; The amplitude conversion factor for the nth reinforcing bar; Let be the cross-sectional diameter of the nth reinforcing bar; This is the error compensation value, used to cover residual deviations from total station guidance or manual positioning. In this formula... Used to characterize the expected value of the maximum unilateral displacement of the tip of a reinforcing bar due to elastic vibration. The product unit is The square root operation is used to convert the energy dimension back to the length dimension; Physical radius compensation is used to characterize the physical structure of the reinforcing bar, ensuring that the envelope covers the edge of the reinforcing bar rather than just the axis. This is used to characterize the uncertainty compensation of the macroscopic operating environment and ensure that the generated envelope has sufficient safety redundancy.

[0048] In one specific implementation of this invention, the error compensation value is... Set it to 0.02m.

[0049] Step S103: At each moment, based on the comparison between the dynamic swing coverage radius of each steel bar and the preset effective guide radius of the sleeve, a building component placement control command is generated.

[0050] By making an instantaneous and quantitative geometric comparison between the dynamic swing coverage radius, which represents real-time risk, and the effective guide radius of the sleeve, which represents physical safety tolerance, it is verified whether the dynamic swing coverage radius of the steel reinforcement group at the current moment has completely converged to the tolerable range of the sleeve. This ensures that the subsequent gravity fall process is not disturbed by lateral swing, reducing the complex time-varying dynamic safety problem to an intuitive and absolutely objective static spatial inclusiveness judgment.

[0051] In this embodiment of the invention, a logical AND operation is performed on the determination results of all individuals in the steel bar group to generate the current moment's building component placement control command.

[0052] Preferably, in some possible implementations of the embodiments of the present invention, the method for setting the effective guide radius of the sleeve includes: For each rebar, the corresponding sleeve parameters are retrieved from the precast component detailed design database, including the inner radius of the sleeve's cylindrical section and the horizontal projection radius of the top flared chamfer. The sum of the inner radius of the sleeve's cylindrical section and the horizontal projection radius of the top flared chamfer is taken as the effective guiding radius of the sleeve. This parameter characterizes the physical limit range within which the sleeve can accommodate and automatically correct the rebar's eccentricity under gravity guidance.

[0053] Preferably, in some possible implementations of the embodiments of the present invention, the method for generating the building component placement control command includes: If the dynamic oscillation coverage radius of all reinforcing bars in the building component at the current moment is less than or equal to the corresponding effective guide radius of the sleeve, it indicates that all nodes at the bottom of the component have reached a geometrically compatible state. At this time, the slight oscillation of the reinforcing bar array will not cause layout interference. The system outputs an "allow falling" enable signal to the crane control terminal. If, at the current moment, the dynamic oscillation radius of a reinforcing bar in the building component exceeds the effective guiding radius of the corresponding sleeve, it indicates that at least one reinforcing bar (usually a bar with a large slenderness ratio) is still in a high-energy oscillation state due to hysteresis, and its oscillation amplitude exceeds the guiding capacity of the sleeve. In this case, there is a very high probability that the tip of the reinforcing bar will impact the end face of the sleeve upon falling. The system outputs a "Do Not Fall" interlock signal to the crane control terminal and maintains the current hovering state until the energy decay condition is met in subsequent time steps.

[0054] In summary, this invention achieves precise modeling of the differentiated dynamic behavior of heterogeneous steel bar arrays by acquiring the geometric parameters of each steel bar and analyzing its corresponding historical vibration retention coefficient and amplitude conversion coefficient. It also achieves quantitative perception and dynamic tracking of invisible sway risks in blind zones by updating the cumulative vibration state value using real-time vibration signals and recursive algorithms. Furthermore, it obtains the dynamic sway coverage radius by superimposing and analyzing the cumulative state value with geometric parameters and amplitude conversion coefficients, providing a concrete and clear physical geometric criterion for safety assessment. Finally, it generates placement instructions in real-time based on this radius, transforming complex time-varying dynamic risks into deterministic geometric compatibility indicators. This provides a standardized placement criterion with physical interpretability for on-site construction, improving the construction accuracy and structural safety of vertical connection nodes in prefabricated buildings.

[0055] Based on the same inventive concept, the present invention also proposes a prefabricated building component simulation assembly system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the steps of a prefabricated building component simulation assembly method.

[0056] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0057] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A method for simulating the assembly of prefabricated building components, characterized in that, The method includes: Obtain the geometric parameters of each steel bar in the building component; obtain the historical vibration retention coefficient and amplitude conversion coefficient of each steel bar based on the numerical relationship of the geometric parameters; The vibration signal of each steel bar at each moment is acquired, and the vibration intensity of the steel bar at each moment is quantified based on the vibration signal. A recursive algorithm is used to perform recursive analysis with the historical vibration retention coefficient as the weight of the vibration intensity at each moment, and the cumulative vibration state value of each steel bar at each moment is updated in real time. The cumulative vibration state value is superimposed with the geometric parameters and amplitude conversion coefficient of the steel bar to obtain the dynamic swing coverage radius of each steel bar at each moment. At each moment, based on the comparison between the dynamic swing coverage radius of each steel bar and the preset effective guide radius of the sleeve, a building component placement control command is generated.

2. The method for simulating the assembly of prefabricated building components according to claim 1, characterized in that, Before obtaining the geometric parameters, a preprocessing process is also included, which includes: Point cloud data of building components is acquired, and each steel bar of the building component is identified using a point cloud segmentation algorithm based on the point cloud data. Using the feature points of the building component identified by the point cloud data, the feature point closest to any steel bar is selected as the origin, and a coordinate system of the building component body is established, the axis of which rotates with the rigid body motion of the building component.

3. The method for simulating the assembly of prefabricated building components according to claim 2, characterized in that, The geometric parameters include: Based on point cloud data, a coordinate system for the building component body is constructed. The three-dimensional coordinates of the center point of the steel bar tip on the side exposed outside the concrete are taken as the static tip coordinates. The distance between the static tip coordinates and the coordinates of the fixed point of the steel bar on the bottom surface of the concrete is taken as the cantilever length. The cross-sectional diameter of the steel bar is taken as the cross-sectional diameter. The static tip coordinates, cantilever length, and cross-sectional diameter are taken as geometric parameters.

4. The method for simulating the assembly of prefabricated building components according to claim 3, characterized in that, The calculation methods for the historical vibration retention factor and amplitude conversion factor include: An exponential decay model is constructed based on the ratio of the cross-sectional diameter to the cantilever length of the reinforcing bar, and the historical vibration retention coefficient is calculated. Based on the negative correlation between the cantilever length and the cross-sectional diameter of the reinforcing bar, the amplitude conversion coefficient is calculated.

5. The method for simulating the assembly of prefabricated building components according to claim 1, characterized in that, The vibration intensity calculation method includes: The two acceleration components of the horizontal plane of the steel bar are obtained using an inertial measurement unit. The acceleration components are used as vibration signals, and the sum of the squares of the two acceleration components is used as vibration intensity.

6. The method for simulating the assembly of prefabricated building components according to claim 1, characterized in that, The methods for updating the cumulative vibration state values ​​include: Using the historical vibration retention coefficient of the reinforcing steel as a recursive coefficient, the cumulative vibration state value at the current moment is updated by a first-order recursive formula based on the cumulative vibration state value at the previous moment and the vibration intensity at the current moment.

7. The method for simulating the assembly of prefabricated building components according to claim 1, characterized in that, The calculation method for the dynamic swing coverage radius includes: The expected value of the maximum displacement on one side of the reinforcing bar is obtained based on the amplitude conversion coefficient and the cumulative vibration state value; the dynamic swing coverage radius is obtained based on the reinforcing bar radius, combined with the expected value of the maximum displacement and the preset error compensation value.

8. The method for simulating the assembly of prefabricated building components according to claim 1, characterized in that, The method for setting the effective guide radius of the sleeve includes: For each reinforcing bar, the sum of the inner radius of the cylindrical section of the sleeve and the horizontal projection radius of the top flared chamfer is taken as the effective guide radius of the sleeve. The inner radius of the cylindrical section of the sleeve and the horizontal projection radius of the top flared chamfer are obtained by calling the prefabricated component detailed design database.

9. The method for simulating the assembly of prefabricated building components according to claim 1, characterized in that, The method for generating the building component placement control command includes: If the dynamic swing coverage radius of all steel bars in the building component at the current moment is less than or equal to the effective guide radius of the corresponding sleeve, the building component is allowed to fall; if the dynamic swing coverage radius of one steel bar in the building component at the current moment is greater than the effective guide radius of the corresponding sleeve, the building component is prohibited from falling.

10. A prefabricated building component simulation assembly system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the prefabricated building component simulation assembly method as described in any one of claims 1 to 9.

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