Precast beam data acquisition method and system

Abstract

The invention provides a precast beam data acquisition method and system, and belongs to the technical field of data processing, and the method comprises the steps: receiving a beam finding request containing at least one target precast beam identifier; obtaining storage data corresponding to each target precast beam identifier on the basis of a beam manufacturing information database, wherein the storage data comprises a region code and a station code; a first control signal is sent to the area guiding device based on the storage data, and the area guiding device responds and sends out a first guiding signal; when the working body enters a target area corresponding to the first guide signal, obtaining a trigger signal; and sending a second control signal to a station indicating device corresponding to the target station in the target area in response to the trigger signal. According to the method, the global road network model and the sub road network model are constructed, cross-regional macroscopic path planning and intra-regional microcosmic guiding are decoupled, regional order optimization of a multi-target precast beam collection task is achieved, the invalid moving distance of an operation body is reduced, and the overall efficiency and guiding definition of beam finding operation are improved.

Description

Technical Field

[0001] This application relates to the field of data processing, and in particular to a method and system for acquiring data from precast beams. Background Technology

[0002] Precast beams are key precast components in bridge, rail transit, and municipal engineering construction, characterized by large unit weight, diverse dimensions, long storage periods, and high turnover rates. Precast beam yards are typically divided into multiple functional areas, including beam fabrication, storage, curing, tensioning, and loading / unloading areas, each further subdivided into dozens to hundreds of workstations. A large precast beam yard can store thousands of precast beams simultaneously. In scenarios involving batch shipments, inspections, or transfers of multiple beams, quickly and accurately guiding the workpieces to the designated locations of multiple target precast beams distributed across different areas and workstations remains a core technical challenge for yard production management.

[0003] Traditional precast beam location operations rely heavily on manual experience. On-site operators use paper ledgers or mobile devices to search for precast beams area by area based on their identification numbers. When a search request includes multiple target precast beam identifiers located in different storage areas, the work team must frequently move between these areas. Due to the lack of scientific planning for the order of area visits, the actual travel route depends entirely on the driver's personal experience or random selection, resulting in a high proportion of ineffective back-and-forth movements across areas, and the total travel distance for a single multi-target task often far exceeds the theoretical optimal value. Summary of the Invention

[0004] This application provides a method and system for acquiring data from precast beams to improve the above-mentioned problems.

[0005] To achieve the above objectives, this application adopts the following technical solution: Firstly, this application proposes a method for acquiring data from precast beams, including: Receive a beam-finding request containing at least one target precast beam identifier; Based on the beam fabrication information database, the storage data corresponding to the identifier of each target precast beam is obtained. The storage data includes the area code and the work station code. Based on the stored data, a first control signal is sent to the area guidance device, and the area guidance device responds to the control signal by issuing a first guidance signal; When the workpiece enters the target area corresponding to the first guidance signal, a trigger signal is obtained; In response to the trigger signal, a second control signal is sent to the workstation indicator device corresponding to the target workstation in the target area.

[0006] In conjunction with the first aspect, optionally, based on the stored data, a first control signal is sent to the area guidance device, and the area guidance device, in response to the control signal, issues a first guidance signal, including: Obtain the global road network model of the precast beam yard area and the sub-road network model within each target area. The global road network model uses different areas as nodes and the connecting paths between areas as edges. The sub-road network model uses the workstations within each area as nodes and the walkable passages between workstations as edges. Obtain the destination location, determine the first access sequence based on the global road network model, the destination location, and the stored data. The first access sequence is a sequence formed by arranging multiple regions, and the region corresponding to the first access sequence is taken as the target region.

[0007] In conjunction with the first aspect, optionally, in response to a trigger signal, a second control signal is sent to a workstation indicator device corresponding to the target workstation in the target area, including: Multiple second access sequences are determined based on multiple regions corresponding to the first access sequence. The second access sequence is a sequence formed by arranging multiple workstations. The return path is determined based on multiple second access sequences, and the corresponding workstation in the return path is identified as the target workstation.

[0008] In conjunction with the first aspect, optionally, a first access sequence is determined based on a global road network model, the endpoint location, and stored data. The first access sequence is a sequence formed by arranging multiple regions, and the corresponding region in the first access sequence is taken as the target region, including: Determine the target size conditions based on the target precast beam identification; Obtain the size constraints corresponding to each region. If the target size condition of the region is less than the size constraint, the region is determined as the first region. If the target size condition of the region is greater than or equal to the size constraint, the region is determined as the second region. The first access sequence is determined based on the global road network model, the destination location, and the stored data. The first access sequence is a sequence formed by arranging multiple first regions.

[0009] In conjunction with the first aspect, optionally, the target size conditions are determined based on the target precast beam identification, including: Based on the target precast beam identification, the corresponding three-dimensional contour model and stacking posture of the precast beam are determined from the beam information database. Based on the 3D contour model and stacking posture, the minimum spatial envelope required for the target precast beam to move in the current posture is determined. Use the minimum spatial envelope as the target size condition.

[0010] In conjunction with the first aspect, optionally, based on the three-dimensional contour model and stacking posture, the minimum spatial envelope required for the target precast beam to move in the current posture is determined, including: Obtain the geometric contour model of the work body, and based on the three-dimensional contour model and stacking posture, determine the combined envelope model of the work body when it carries the target precast beam; Obtain the sweep space of the combined envelope model in the moving state, and determine the minimum pass space envelope based on the sweep space.

[0011] In conjunction with the first aspect, optionally, the dimensional constraints corresponding to each region are obtained. If the target dimensional condition of the region is less than the dimensional constraint, the corresponding region is determined to be the first region; if the target dimensional condition of the region is greater than or equal to the dimensional constraint, the corresponding region is determined to be the second region, including: Obtain a three-dimensional feasible space model for each region. The three-dimensional feasible space model is the minimum allowable passage space in the dimensions of width, height, and turning radius on the passage path from the region entrance to each workstation inside the region. The minimum spatial containment relationship is compared with the three-dimensional feasible spatial model through the spatial envelope; If the minimum pass-through spatial envelope can be completely contained by the three-dimensional feasible spatial model, then the target size condition is determined to be less than the size constraint, and the region is determined to be the first region. If the minimum pass-through spatial envelope cannot be completely contained by the three-dimensional feasible spatial model, it is determined that the target size condition is greater than or equal to the size constraint, and the region is identified as the second region.

[0012] In conjunction with the first aspect, optionally, a three-dimensional feasible space model is obtained for each region. This three-dimensional feasible space model represents the minimum permissible passage space in width, height, and turning radius along the passage path from the region entrance to each workstation within the region, including: Acquire the actual passage trajectory uploaded by the work unit when performing tasks in the area, and obtain passage status data based on sensors; Based on the determination of the location of the collision, sudden stop or detour through state data, and the combined envelope model at the time of the event; Based on the event location and combined envelope model, the implicit boundary of the actual available passage space corresponding to the event location is obtained; Based on implicit boundaries, the boundary of the minimum allowable passage space at the corresponding position in the pre-stored 3D feasible space model is shrunk and corrected.

[0013] Secondly, this application proposes a precast beam data acquisition system, which is configured as follows: Receive a beam-finding request containing at least one target precast beam identifier; Based on the beam fabrication information database, the storage data corresponding to the identifier of each target precast beam is obtained. The storage data includes the area code and the work station code. Based on the stored data, a first control signal is sent to the area guidance device, and the area guidance device responds to the control signal by issuing a first guidance signal; When the workpiece enters the target area corresponding to the first guidance signal, a trigger signal is obtained; In response to the trigger signal, a second control signal is sent to the workstation indicator device corresponding to the target workstation in the target area.

[0014] Thirdly, this application proposes an electronic device, which includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method proposed in the first aspect of the present invention.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in the first aspect of the present invention.

[0016] In summary, the above method and apparatus have the following technical effects: This invention provides a method for acquiring precast beam data, comprising: receiving a beam-finding request containing at least one target precast beam identifier; acquiring stored data corresponding to each target precast beam identifier based on a beam-making information database, the stored data including a region code and a workstation code; sending a first control signal to a region guidance device based on the stored data, the region guidance device responding by issuing a first guidance signal; acquiring a trigger signal when the workpiece enters the target region corresponding to the first guidance signal; and sending a second control signal to a workstation indicator device corresponding to the target workstation in the target region in response to the trigger signal. This invention, by constructing a global road network model and a sub-road network model, decouples cross-regional macro-path planning from intra-regional micro-guidance, achieving regional-level sequential optimization of multi-target precast beam acquisition tasks, reducing the invalid movement distance of the workpiece, and improving the overall efficiency and guidance clarity of the beam-finding operation. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a precast beam data acquisition method proposed in an embodiment of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] This application proposes a method for acquiring data from precast beams. (Please refer to [link / reference]). Figure 1 This includes the following steps: S101: Receive a beam-finding request containing at least one target precast beam identifier.

[0020] Understandably, the beam locator request carries at least one target precast beam identifier. The target precast beam identifier is a unique identification code used to identify one or more precast beams, such as the precast beam's factory number, production batch number, RFID tag code, or QR code string.

[0021] For example, when on-site quality inspectors need to complete the outbound inspection or quality data retest of several precast beams, they select the corresponding precast beam number from the task list on their handheld terminal and click "Start Beam Finding." The terminal then generates a beam finding request containing the aforementioned precast beam number and sends it to the system. Upon receiving this request, the system can identify the specific precast beam that needs to be located.

[0022] For example, when the scheduling system of the precast beam yard automatically triggers the material preparation instruction according to the shipping plan, the scheduling system packages the identifiers of multiple precast beams that need to be shipped out into a beam-finding request and sends it to the data acquisition system in batches. Then, it receives beam-finding requests containing multiple target precast beam identifiers as the task list for this guiding operation.

[0023] S102: Based on the beam fabrication information database, obtain the storage data corresponding to the identifier of each target precast beam. The storage data includes the area code and the work station code.

[0024] Understandably, this step involves data querying and matching. After receiving a beam-finding request and obtaining the target precast beam identifier, this identifier can be used as a query index to access the beam fabrication information database. The beam fabrication information database is a core data resource continuously maintained during the precast beam production management process. It stores the real-time location information of each precast beam throughout the entire process, from the beam fabrication platform, curing area, storage area, to delivery. When each precast beam completes its warehousing or relocation, its current storage location is recorded and updated in this database. The database then extracts the description information of the precast beam's currently bound storage location, i.e., the storage data. This storage data contains at least two levels of location coding: area coding and workstation coding.

[0025] Specifically, the area code is used to identify the storage area where the precast beam is located, such as Area A, Area B, West Beam Storage Area, or Shipment Waiting Area. The workstation code is used to further pinpoint the specific storage workstation where the precast beam is located within the area, such as A-12-3, B-07-5, or West Area, Row 2, Workstation 6.

[0026] S103: Based on the stored data, a first control signal is sent to the area guidance device, and the area guidance device responds to the control signal by issuing a first guidance signal.

[0027] Specifically, after obtaining the area code of the target precast beam, the corresponding area guidance device is determined based on the area code, and a first control signal is generated and sent to the device. The area guidance device is a signal generating device deployed at the entrance of each storage area in the precast beam yard or in a prominent location within the area. Its specific forms include, but are not limited to, area indicator light boxes, digital displays, voice announcers, ground LED guide light strips, or intelligent signs with directional markings. Each area guidance device is uniquely bound to a specific area code. The first control signal includes at least the target area code and the guidance instruction type. Upon receiving the first control signal, the area guidance device immediately parses the instruction and activates the corresponding signal output mechanism, issuing a first guidance signal that can be perceived by the operators or autonomous mobile devices.

[0028] The form of the first guidance signal matches the type of area guidance device. For example, when the area guidance device is an indicator light box, the first guidance signal is the indicator light corresponding to the area lighting up in a specific color or flashing pattern; when the area guidance device is a voice broadcaster, the first guidance signal is a voice prompt such as "Area C, the target precast beam is located in Area C"; when the area guidance device is a ground LED guide light strip, the first guidance signal is a dynamic light flow guidance from the current position to the entrance of the area.

[0029] Further, step S103 may include the following steps: S1031: Obtain the global road network model of the precast beam yard area and the sub-road network model within each target area. The global road network model uses different areas as nodes and connecting paths between areas as edges. The sub-road network model uses workstations within each area as nodes and walkable passages between workstations as edges.

[0030] Understandably, the global road network model represents the traffic network of the entire precast beam yard. In this model, each storage area, work area, or functional area within the yard is defined as an independent node; for example, Area A, Area B, the shipping area, and the maintenance area are all nodes in the model. The main roads and connecting passages between areas that allow work units to pass through are defined as edges connecting these nodes. Each edge carries attribute information such as travel direction, distance, road surface conditions, and speed limits. The global road network model comprehensively depicts the path selection space for how work units move from one area to another.

[0031] A sub-path network model represents the operational pathways within a specific area. In this model, each storage station, inspection station, or transfer station within the area is defined as a node. Internal pathways between stations, allowing the workpiece to travel, turn, and make U-turns, are defined as edges connecting the nodes. Each edge also includes local attribute information such as pathway width, turning radius limits, and whether it is one-way traffic. The sub-path network model comprehensively depicts the path selection space within an area after the workpiece enters that area, traversing multiple target stations.

[0032] S1032: Obtain the destination location, determine the first access sequence based on the global road network model, the destination location and the stored data. The first access sequence is a sequence formed by arranging multiple regions, and the corresponding region in the first access sequence is taken as the target region.

[0033] The starting point is the current location of the work unit when it receives the task, that is, the location where the work unit has completed the loading of the target precast beam and is ready to start moving across areas. This location can be obtained in real time through the site positioning system, or it can be automatically reported by the work unit's vehicle-mounted terminal when it receives a beam-finding request. The starting point location carries the precast beam that needs to be transferred or collected in this task, so all subsequent cross-area movements will use this location as the initial node for path planning.

[0034] The endpoint location is the position the work unit should move to after completing this beam-finding task. This location may be determined by multiple factors, such as the precast beam loading and unloading area, the next process area, the work unit's daily parking area or charging station, or a specific ending location specified by the operator when initiating the beam-finding request. The endpoint location information is extracted from the task scheduling plan or automatically determined by the system based on the work unit's task queue.

[0035] Based on a global road network model, with the starting point as the path's origin and the destination as its final destination, all necessary target areas are designated as intermediate nodes. A path optimization algorithm suitable for multiple mandatory node visits is used to solve for an overall movement route that starts from the origin, traverses each target area in a specific order, and finally arrives at the destination after visiting the last area. This list of target area codes arranged in the order of visit is the first visit sequence. Each area in the first visit sequence is determined as a target area to be entered sequentially in subsequent steps. Following this sequence, the guiding devices for each corresponding area are activated, issuing the first guiding signal to ensure that the workpiece, while carrying the precast beam, completes the visit to all target areas in an orderly manner with the shortest movement distance, least time consumption, or lowest overall cost, and successfully reaches the designated destination upon completion of all tasks.

[0036] Furthermore, for the target area, the following steps S201-S203 may also be included: S201: Determine the target size conditions based on the target precast beam identification.

[0037] S202: Obtain the size constraint corresponding to each region. If the target size condition of the region is less than the size constraint, the corresponding region is determined as the first region. If the target size condition of the region is greater than or equal to the size constraint, the corresponding region is determined as the second region.

[0038] Specifically, after obtaining the target precast beam identifier, the identification code needs to be converted into a set of geometric dimensional parameters that can be used for spatial accessibility assessment. This set of parameters is defined as the target dimensional conditions. The target precast beam identifier is a unique identification code assigned to each precast beam when it is produced and put into storage. It usually exists in the beam manufacturing information database in the form of a serial number, QR code string, or RFID tag ID. The system uses this identifier as a search keyword to initiate a query request to the beam manufacturing information database to obtain all design parameters and production records associated with the precast beam. The beam manufacturing information database pre-stores a complete technical file for each precast beam. The three-dimensional contour model of the precast beam is extracted from the file, including at least the basic control dimensions such as the total length, total width, and total height of the beam. For precast beams with irregular cross-sections, the system also needs to extract local feature dimensions such as flange width, web thickness, exposed length of end anchors, and protruding position of lifting holes. These dimensional data together constitute the static geometric contour of the precast beam in a free state.

[0039] However, the static geometric profile is not equivalent to the passage space required for the precast beam during actual movement. Further information on the current stacking posture of the precast beam is needed. The same precast beam may be stacked in different postures within the site, such as lying flat, standing upright, tilting, or stacking. Different postures will cause significant changes in its horizontal projection width and vertical passage height. The system reads the real-time stacking posture of the precast beam from the workstation records containing associated data, or obtains this information through posture analysis results fed back by on-site image recognition sensors.

[0040] Based on the basic external dimensions and current stacking posture of the precast beam, the minimum spatial envelope for the precast beam to move in the current posture is calculated using geometric projection and spatial transformation algorithms. This envelope dimension describes the minimum rectangular or irregular space range occupied by the precast beam and is the direct basis for determining whether it can pass through a certain channel, enter a certain area, or stop at a certain workstation.

[0041] Specifically, based on the three-dimensional contour model and stacking posture, the combined envelope model of the working body carrying the target precast beam can be determined, the sweep space of the combined envelope model in the moving state can be obtained, and the minimum passage space envelope can be determined based on the sweep space.

[0042] Understandably, the workpiece itself has a fixed geometric profile, including the vehicle's length, width, height, tire outer dimensions, and the range of motion of the steering mechanism. The model parameters of the workpiece currently performing the task can be retrieved from the equipment management database to obtain its precise three-dimensional geometric profile model. Simultaneously, the three-dimensional profile model of the target precast beam and its current stacking posture have been obtained from the beam fabrication information database. The stacking posture determines the placement direction of the precast beam on the workpiece's support platform—whether it is placed horizontally, vertically, or tilted—as well as the specific coordinates of the precast beam's position on the platform.

[0043] The geometric contour model of the workpiece and the three-dimensional contour model of the precast beam are spatially superimposed according to their actual load-bearing position relationships. The precast beam is placed on the workpiece platform using supports, wooden blocks, or special brackets, with a defined relative displacement and rotation angle between the two. Based on the loading plan recorded in the stored data or the actual loading position fed back by on-site sensors, the two models are aligned and merged in the virtual three-dimensional scene to form an inseparable combined envelope model. This model fully describes the entire external space occupied by the workpiece and the precast beam as a whole during transportation.

[0044] The combined envelope model is static. However, the working body does not always move in a straight line during its movement. When the working body turns, goes uphill or downhill, or crosses uneven surfaces, the trajectory traced by the combined envelope model in space will form a dynamic spatial range that is larger than the static envelope. This dynamic spatial range is called the sweep space.

[0045] Based on preset parameters such as road alignment, intersection turning radius, and gradient change rate in the global road network model, and combined with the kinematic characteristics of the workpiece, a three-dimensional spatial simulation of the motion process of the combined body envelope model on the expected driving path is performed. In the simulation, with the turning center of the workpiece as the axis of rotation, the total spatial positions traversed by each vertex on the combined body envelope model during a complete turning maneuver of the workpiece are calculated. The maximum outer boundary obtained by performing a union operation on these point clouds is the sweep space of the combined body under a specific motion state.

[0046] The shape of the swept space is usually irregular, and its maximum projected cross-sectional dimension perpendicular to the direction of travel is often larger than the static envelope dimension of the assembly. For example, when a long precast beam turns in the work area, the two ends of the beam will draw an arc-shaped trajectory much larger than the width of the vehicle. The space occupied by this trajectory on the inside and outside of the curve will not appear when traveling in a straight line.

[0047] The sweeping space is determined by its maximum extension in the width direction, maximum rise in the height direction, and potential outward tilt on uneven surfaces. By combining these limiting values, a minimum rectangular or irregular cross-section that can completely contain the sweeping space can be determined; this cross-sectional dimension is the minimum through-space envelope.

[0048] The minimum passage space envelope is a highly condensed safe passage threshold. It does not represent the physical dimensions of the precast beam or workpiece itself, but rather the total amount of exclusive space resources that the workpiece must request from site roads and work areas to carry the precast beam to complete the expected movement task. If any passage, entrance, or workstation provides available passage space that cannot fully accommodate this minimum passage space envelope, it means that the path or area is not safe for passage under the current work conditions.

[0049] Therefore, in this embodiment, step S202 may further include the following steps: S2021: Obtain the three-dimensional feasible space model for each region. The three-dimensional feasible space model is the minimum allowable passage space in the dimensions of width, height, and turning radius on the passage path from the region entrance to each workstation inside the region.

[0050] For example, the actual passage trajectory uploaded by the work unit when performing a task in the area can be obtained, and passage status data can be acquired based on sensors. Based on the passage status data, the location of the event of collision, emergency stop or detour, and the combined envelope model at the time of the event can be determined. Then, the implicit boundary of the actual available passage space corresponding to the event location can be obtained, and the boundary of the minimum allowable passage space at the corresponding location in the pre-stored three-dimensional feasible space model can be shrunk and corrected based on the implicit boundary.

[0051] Understandably, the three-dimensional feasible space model does not describe the entire physical space of the area, but rather specifically depicts the maximum allowable passage limits in the three core dimensions of width, height, and turning radius along the entire process of reaching each workstation inside the area from the area entrance along all accessible paths.

[0052] The width dimension refers to the minimum clearance between obstacles on both sides of the path cross-section, determining whether the workpiece can pass through in a straight line without scraping. The height dimension refers to the vertical clearance from the lowest obstacle above the path to the road surface, determining whether the workpiece can pass upright without collision. The turning radius dimension refers to the minimum radius of curvature of the curves in the path, determining whether the workpiece can complete the turning action without jamming. The three-dimensional feasible space model records the limit values ​​of these dimensions in a continuous or discrete form at each key node of the path, forming a complete regional traffic capacity map.

[0053] The initial version of this model is typically derived from the area's design and construction drawings. The system reads design parameters such as the passageway design width, gate clearance height, column spacing, and road centerline radius at turns in the beam storage area, converting them into initial boundary values ​​in the model. However, the precast beam yard is a dynamically changing environment; temporary material storage, long-term road surface settlement, and newly added facilities and equipment can all cause deviations between the actual usable space and the design drawings. A three-dimensional feasible space model that relies solely on design drawings is often too idealistic and cannot realistically reflect the increasingly narrow passageway on site. Therefore, a self-learning correction mechanism based on historical operation data can be introduced. By utilizing the passage traces left by the work units during actual operations, the actual usable space boundaries at each location can be deduced in reverse, and the pre-stored model can be dynamically shrunk and corrected.

[0054] Specifically, the system can continuously collect the actual travel trajectory uploaded by each work unit while performing tasks within the area. The trajectory data is recorded at a fixed frequency by the work unit's onboard positioning terminal and includes information such as timestamps, planar coordinates, heading angles, and instantaneous speeds. The curve formed by connecting these trajectory points accurately reflects the autonomous route chosen by the work unit without additional interference.

[0055] Simultaneously, it can receive passage status data collected by sensors deployed at fixed locations around and within the work area. These sensors include lidar, ultrasonic ranging modules, anti-collision strip pressure sensors, accelerometers, and a panoramic image analysis system. The status data records key events during passage, such as the work body's proximity to surrounding obstacles, whether physical contact occurred, whether emergency braking was applied, and whether it actively detoured.

[0056] By performing spatiotemporal correlation analysis on the above trajectory data and passage status data, when it is found that the work body frequently exhibits abnormal behaviors such as decelerating to near stop, making sharp turns of the steering wheel, triggering alarms by the collision avoidance sensor, or the driver actively reversing to reselect the route at a certain fixed position, the system marks that position as the event location.

[0057] The actual traffic capacity boundary at the event location cannot be directly measured because obstacles may not be physical entities, but rather avoidance behaviors caused by insufficient visibility, psychological stress, or inadequate safety margins. Therefore, a reverse calculation method can be used. Using the dimensions of the combined envelope model at the time of the event as a benchmark, and combining this with the actual track offset of the work body at that location, the theoretically maximum traffic cross-section that can be accommodated at that location can be calculated. This theoretically calculated cross-section boundary is the implicit boundary of the actual usable traffic space. The implicit boundary is usually smaller than the design boundary in the pre-stored model and cannot be directly detected by conventional surveying methods.

[0058] Furthermore, the implicit boundary is compared with the minimum allowable passage space boundary at the corresponding location in the pre-stored 3D feasible space model. If the implicit boundary is significantly smaller than the pre-stored boundary, the pre-stored model is deemed overly optimistic, posing a potential passage risk. The system then initiates a contraction correction procedure, reducing the minimum allowable passage space boundary at that location in the pre-stored model to a level matching the implicit boundary. The correction magnitude is dynamically determined based on the statistical distribution of the event frequency and the envelope size of the composite object; the higher the frequency and the larger the size, the more significant the contraction. The continuously corrected 3D feasible space model is a dynamic space model that continuously converges to the true physical limits.

[0059] For example, the width of the passageway on the east side of a beam storage area is marked as 4.2 meters on the design drawings. Historical trajectory data received by the system shows that within six months, a total of seventeen beam transport vehicles triggered the anti-collision sensor alarm at the middle section of this passageway. By retrieving the combined envelope model at the time of the alarm, it was found that the width of the precast beams carried by the beam transport vehicles at the time of the alarm was between 3.8 and 4.1 meters. Based on this, it can be deduced that the implicit boundary of the actual usable width of this passageway is approximately 4.0 meters. Subsequently, the width boundary of the corresponding position of this passageway in the pre-stored three-dimensional feasible space model was corrected from 4.2 meters to 4.0 meters. When a subsequent workpiece carrying a 4.1-meter-wide precast beam applies to enter this area, the corrected model will determine that the target size condition exceeds the size constraint, mark this area as the second area, and activate the special passage plan.

[0060] S2022: Compare the spatial inclusion relationship between the minimum through spatial envelope and the three-dimensional feasible spatial model.

[0061] First, the target path segment for comparison is determined. Based on the workstation code of the target precast beam, all continuous cross-sectional data from the entrance of the area along the planned path to the location of the target workstation are extracted from the three-dimensional feasible space model. These cross-sectional data are indexed by mileage station numbers, and each cross-section records the maximum allowable width value, maximum height value, and, if the cross-section is located at a curve, the minimum turning radius value.

[0062] The system compares the minimum required values ​​for width, height, and turning radius across the spatial envelope with the allowable values ​​for each cross-section along the path, one by one. The width requirement is compared to the allowable cross-section width, the height requirement to the allowable cross-section clearance, and the turning radius requirement to the allowable cross-section curve radius. These comparisons are performed independently and must be satisfied simultaneously.

[0063] Specifically, the 3D model with the minimum passage spatial envelope can be placed within the channel model depicted by the 3D feasible spatial model, and its movement can be simulated along the planned travel trajectory. At each location, the system determines whether the outer surface of the minimum passage spatial envelope intersects with or penetrates the boundary surface of the 3D feasible spatial model. If there is a gap between the two surfaces or no contact, the inclusion relationship is considered valid; if the minimum passage spatial envelope intrudes into the boundary or completely exceeds the boundary range, the inclusion relationship is considered invalid.

[0064] An inclusion relationship means that the workpiece has sufficient safety margin to support the current precast beam on that path segment, allowing for normal passage. An exclusion relationship means that there is a risk of physical interference on that path segment, prohibiting passage or requiring special measures.

[0065] The system performs a continuous spatial inclusion relationship scan along the entire path. Only when every cross-section, every curve, and every height restriction point on the path satisfies the inclusion relationship will the system ultimately determine that the area is eligible for access under the current target size conditions.

[0066] For example, the system calculates that the minimum spatial envelope for the current target precast beam is 3.2 meters wide and 4.5 meters high. The 3D feasible space model shows that the path to the target workstation needs to pass through a doorway with a designed clear width of 3.5 meters and a clear height of 4.3 meters. The system compares the minimum spatial envelope with the doorway cross-section for inclusion. The width of 3.2 meters is less than 3.5 meters, which meets the requirement, but the height of 4.5 meters is greater than 4.3 meters, which does not meet the requirement. Since the inclusion relationship is not valid, the system determines that the area is not eligible for access.

[0067] S2023: If the minimum pass space envelope can be completely contained by the three-dimensional feasible space model, then it is determined that the target size condition is less than the size constraint, and the region is determined as the first region; S2024: If the minimum pass-through spatial envelope cannot be completely contained by the three-dimensional feasible spatial model, it is determined that the target size condition is greater than or equal to the size constraint, and the region is determined as the second region.

[0068] Understandably, if the envelope is completely contained, the area is designated as the first area, suitable for the passage of precast beams; if the envelope is not completely contained, the area is designated as the second area, unsuitable for the passage of precast beams. This spatial containment relationship ensures that precast beams will not collide with obstacles within the area during movement, guaranteeing operational safety and efficiency.

[0069] S203: Determine the first access sequence based on the global road network model, the endpoint location, and the stored data. The first access sequence is a sequence formed by arranging multiple first regions.

[0070] Understandably, the first area refers to the region where the three-dimensional feasible space model can fully accommodate the minimum spatial envelope of the target precast beam, allowing the workpiece to enter normally and perform data acquisition tasks. The second area, however, is marked as not having direct access due to the risk of spatial interference and requires separate processing.

[0071] S104: When the workpiece enters the target area corresponding to the first guidance signal, a trigger signal is acquired.

[0072] In one implementation scenario, a geomagnetic induction coil is pre-buried beneath the ground at the entrance to the target area. This coil is connected to an area controller and continuously monitors changes in the mass of the metal above. When a workpiece fully loaded with precast beams passes over the coil, the inductance sensed by the coil undergoes a significant jump. The area controller immediately identifies this jump and generates a level trigger signal, which is transmitted to the system via an industrial Ethernet or wireless communication link. By analyzing this signal, it is confirmed that the workpiece has entered the area.

[0073] Upon receiving the trigger signal, the arrival of the work unit is confirmed. At this point, the first guidance signal can be maintained or automatically extinguished according to a preset strategy. Internally, the system switches the current work status from cross-region guidance to intra-region work preparation, establishing the execution prerequisite for subsequently issuing the second control signal to the specific workstation.

[0074] S105: In response to the trigger signal, a second control signal is sent to the workstation indicator device corresponding to the target workstation in the target area.

[0075] After receiving the trigger signal that the workpiece has entered the target area, the specific workstation information that the task needs to access in this area is immediately converted into a physical control command and sent to the indicator device uniquely bound to that workstation. The device then issues a second guidance signal that can be directly perceived by the workpiece operator or the autonomous data acquisition device.

[0076] The second control signal is a digital instruction packet generated by the system and transmitted via the site's industrial network. This instruction packet contains at least a unique code for the target workstation, indication mode parameters, and the instruction's validity period. Based on the workstation code corresponding to the target precast beam in the stored data, the communication address and drive protocol of the workstation's associated indicator device are retrieved from the equipment management service, and the instruction packet is routed to that device.

[0077] Workstation indicator devices are signal output equipment deployed near each beam storage or workstation. Their physical forms include column-mounted tri-color indicator lights, digital tube displays suspended above the workstation, LED light strips embedded in the ground, pan-tilt spotlights projecting light spots, buzzers, or voice broadcast modules. Each workstation indicator device is uniquely associated with a fixed workstation code upon deployment and continuously listens for control commands.

[0078] Upon receiving the second control signal, the workstation indicator device immediately parses the instruction and executes the corresponding action. Different types of devices emit the second guidance signal in different ways: indicator lights switch to a specified color and flash at a set frequency according to the instruction; digital tube displays scroll the workstation number and arrow symbol; the ground LED light strip lights up one by one along the path from the area entrance, forming a dynamic light track flowing towards the target workstation; the pan-tilt spotlight automatically rotates to a preset angle, projecting a bright spot of light onto the precast beam or the workstation floor; and the buzzer emits intermittent prompts, forming multiple redundant guidance signals with the visual signals.

[0079] In one implementation, step S105 may include the following steps: S1051: Based on the multiple regions corresponding to the first access sequence, determine multiple second access sequences, where the second access sequence is a sequence formed by arranging multiple workstations.

[0080] Understandably, after completing the planning of the first access sequence, it is clear which target areas the work unit needs to enter sequentially and in what order. Next, the tasks within each target area need to be decomposed and sorted. Each target area may contain multiple precast beams for which data needs to be collected, stored at different workstations within that area. Based on the specific locations of these workstations, the topology of the internal passageways, and the entry point for the work unit, an optimal workstation traversal order, i.e., the second access sequence, is calculated for each target area. The second access sequence is generated for a specific target area and consists of all workstation codes within that area arranged in the order of access. Each target area corresponds to an independent second access sequence, and multiple second access sequences correspond one-to-one with multiple areas in the first access sequence. When generating the second access sequence, all workstation codes belonging to the current target area are first selected from the stored data, forming a set of workstations to be accessed in that area. Then, the sub-path network model of the area is retrieved. This model uses each workstation in the area as a node and the passageways between workstations as edges, describing the internal traffic relationships. Taking the entry point of the workstation into the area or the end point of the previous task as the starting point of the sub-path, and aiming to traverse all workstations to be visited, a path optimization algorithm is used to find a movement route that can visit all target workstations sequentially with the shortest distance, least time, or lowest overall cost. The workstation visit order corresponding to this route is the second visit sequence for the area.

[0081] S1052: Determine the return path based on multiple second access sequences, and determine the corresponding workstation in the return path as the target workstation.

[0082] Understandably, the second access sequence describes the optimal order of accessing workstations within each region. However, these sequences are independent fragments and do not yet constitute a continuous, executable overall path from the start to the end of the task.

[0083] Based on the area access order specified in the first access sequence, the second access sequence of each area is concatenated according to the order in which they entered the area. Between two adjacent areas, the system plans an optimal cross-area movement path from the last workstation in the current area to the entrance of the next area based on a global road network model. After all the second access sequences of all areas have been concatenated, a return path is planned from the last workstation in the last area to the designated destination. All the above path segments are connected end to end to form a complete movement trajectory starting from the starting point, sequentially traversing each target workstation in each target area, and finally arriving at the destination. This complete trajectory is the return path.

[0084] This invention provides a method for acquiring precast beam data, comprising: receiving a beam-finding request containing at least one target precast beam identifier; acquiring stored data corresponding to each target precast beam identifier based on a beam-making information database, the stored data including a region code and a workstation code; sending a first control signal to a region guidance device based on the stored data, the region guidance device responding by issuing a first guidance signal; acquiring a trigger signal when the workpiece enters the target region corresponding to the first guidance signal; and sending a second control signal to a workstation indicator device corresponding to the target workstation in the target region in response to the trigger signal. This invention, by constructing a global road network model and a sub-road network model, decouples cross-regional macro-path planning from intra-regional micro-guidance, achieving regional-level sequential optimization of multi-target precast beam acquisition tasks, reducing the invalid movement distance of the workpiece, and improving the overall efficiency and guidance clarity of the beam-finding operation.

[0085] Based on the same inventive concept, this application also proposes a precast beam data acquisition system, which is configured as follows: Receive a beam-finding request containing at least one target precast beam identifier; Based on the beam fabrication information database, the storage data corresponding to the identifier of each target precast beam is obtained. The storage data includes the area code and the work station code. Based on the stored data, a first control signal is sent to the area guidance device, and the area guidance device responds to the control signal by issuing a first guidance signal; When the workpiece enters the target area corresponding to the first guidance signal, a trigger signal is obtained; In response to the trigger signal, a second control signal is sent to the workstation indicator device corresponding to the target workstation in the target area.

[0086] Based on the same inventive concept, embodiments of this application also propose an electronic device, which includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the precast beam data acquisition method of the embodiments of this application.

[0087] In addition, to achieve the above objectives, embodiments of this application also propose a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the precast beam data acquisition method of embodiments of this application.

[0088] The following is a detailed introduction to the various components of the electronic device: In this context, the processor is the control center of the electronic device. It can be a single processor or a collective term for multiple processing elements. For example, a processor can be one or more central processing units (CPUs), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0089] Alternatively, the processor can perform various functions of the electronic device by running or executing software programs stored in memory and by calling data stored in memory.

[0090] The memory is used to store the software program that executes the solution of the present invention, and the execution is controlled by the processor. The specific implementation method can be referred to the above method embodiment, which will not be repeated here.

[0091] Optionally, the memory can be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory can be integrated with the processor or exist independently and coupled to the processor through an interface circuit of an electronic device; the embodiments of the present invention do not specifically limit this.

[0092] A transceiver is used to communicate with network devices or with terminal devices.

[0093] Optionally, the transceiver may include a receiver and a transmitter. The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0094] Optionally, the transceiver can be integrated with the processor or exist independently and coupled to the processor through the router's interface circuit. This embodiment of the invention does not specifically limit this.

[0095] Furthermore, the technical effects of the electronic device can be referred to the technical effects of the data transmission method in the above method embodiments, and will not be repeated here.

[0096] It should be understood that the processor in the embodiments of the present invention can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0097] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DRRAM).

[0098] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. A computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

[0099] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0100] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0101] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0102] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

Claims

1. A method for acquiring data from precast beams, characterized in that, include: Receive a beam-finding request containing at least one target precast beam identifier; Based on the beam fabrication information database, the storage data corresponding to the identifier of each target precast beam is obtained, and the storage data includes the area code and the work station code; Based on the stored data, a first control signal is sent to the area guidance device, and the area guidance device responds to the control signal by issuing a first guidance signal; When the workpiece enters the target area corresponding to the first guidance signal, a trigger signal is acquired; In response to the trigger signal, a second control signal is sent to the workstation indicator device corresponding to the target workstation in the target area.

2. The method for acquiring data of precast beams according to claim 1, characterized in that, Based on the stored data, a first control signal is sent to the area guidance device, and the area guidance device, in response to the control signal, issues a first guidance signal, including: Obtain the global road network model of the precast beam yard area and the sub-road network model within each target area. The global road network model uses different areas as nodes and the connecting paths between the areas as edges. The sub-road network model uses the workstations within each area as nodes and the walkable passages between the workstations as edges. Obtain the destination location, determine a first access sequence based on the global road network model, the destination location, and the stored data, the first access sequence being a sequence formed by arranging multiple regions, and take the region corresponding to the first access sequence as the target region.

3. The method for acquiring data of precast beams according to claim 2, characterized in that, In response to the trigger signal, a second control signal is sent to the workstation indicator device corresponding to the target workstation in the target area, including: Multiple second access sequences are determined based on the multiple regions corresponding to the first access sequence, and the second access sequence is a sequence formed by arranging the multiple workstations; The return path is determined based on multiple second access sequences, and the corresponding workstation in the return path is determined as the target workstation.

4. The method for acquiring data of precast beams according to claim 2, characterized in that, Based on the global road network model, the endpoint location, and the stored data, a first access sequence is determined. The first access sequence is a sequence formed by arranging multiple regions, and the region corresponding to the first access sequence is taken as the target region, including: Determine the target size conditions based on the target precast beam markings; Obtain the size constraint corresponding to each region. If the target size condition corresponding to the region is less than the size constraint, then the corresponding region is determined to be the first region. If the target size condition corresponding to the region is greater than or equal to the size constraint, then the corresponding region is determined to be the second region. A first access sequence is determined based on the global road network model, the endpoint location, and the stored data. The first access sequence is a sequence formed by arranging multiple first regions.

5. The method for acquiring data of precast beams according to claim 4, characterized in that, Determining the target size conditions based on the target precast beam identification includes: Based on the target precast beam identifier, the corresponding three-dimensional contour model and stacking posture of the precast beam are determined from the beam information database. Based on the three-dimensional contour model and the stacking posture, determine the minimum spatial envelope required for the target precast beam to move in the current posture. The minimum spatial envelope is used as the target size condition.

6. The method for acquiring data of precast beams according to claim 5, characterized in that, Based on the three-dimensional contour model and the stacking posture, the minimum spatial envelope required for the target precast beam to move in the current posture is determined, including: Obtain the geometric contour model of the work body, and based on the three-dimensional contour model and the stacking posture, determine the combined envelope model of the work body when it carries the target precast beam; Obtain the sweep space of the combined envelope model in the moving state, and determine the minimum pass-through space envelope based on the sweep space.

7. The method for acquiring data of precast beams according to claim 6, characterized in that, Obtain the size constraint corresponding to each region. If the target size condition corresponding to the region is less than the size constraint, then the corresponding region is determined to be a first region. If the target size condition corresponding to the region is greater than or equal to the size constraint, then the corresponding region is determined to be a second region. This includes: Obtain a three-dimensional feasible space model for each of the regions, wherein the three-dimensional feasible space model is the minimum allowable passage space in the dimensions of width, height and turning radius on the passage path from the entrance of the region to each workstation inside the region; Compare the spatial inclusion relationship between the minimum spatial envelope and the three-dimensional feasible spatial model; If the minimum passable spatial envelope can be completely contained by the three-dimensional feasible spatial model, then it is determined that the target size condition is smaller than the size constraint, and the region is determined as the first region; If the minimum pass-through spatial envelope cannot be completely contained by the three-dimensional feasible spatial model, then the target size condition is determined to be greater than or equal to the size constraint, and the region is determined to be the second region.

8. The method for acquiring data of precast beams according to claim 7, characterized in that, Obtain a three-dimensional feasible space model for each of the regions, wherein the three-dimensional feasible space model is the minimum allowable passage space in the dimensions of width, height, and turning radius along the passage path from the entrance of the region to each workstation inside the region, including: The actual travel trajectory uploaded by the work unit when performing tasks in the area is obtained, and the passage status data is obtained based on the sensors; Based on the determination of the location of the event of collision, sudden stop or detour through the state data, and the combined body envelope model at the time of the event; Based on the event location and the combined envelope model, the implicit boundary of the actual available passage space corresponding to the event location is obtained; Based on the implicit boundary, the boundary of the minimum allowable passage space at the corresponding position in the pre-stored three-dimensional feasible space model is shrunk and corrected.

9. A precast beam data acquisition system, characterized in that, The system is configured as follows: Receive a beam-finding request containing at least one target precast beam identifier; Based on the beam fabrication information database, the storage data corresponding to the identifier of each target precast beam is obtained, and the storage data includes the area code and the work station code; Based on the stored data, a first control signal is sent to the area guidance device, and the area guidance device responds to the control signal by issuing a first guidance signal; When the workpiece enters the target area corresponding to the first guidance signal, a trigger signal is acquired; In response to the trigger signal, a second control signal is sent to the workstation indicator device corresponding to the target workstation in the target area.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; And, a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, which are executed by at least one of the processors to enable the at least one of the processors to perform a precast beam data acquisition method as claimed in any one of claims 1-8.

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