Beam yard component real-time positioning structure based on multi-sensor cooperation

Abstract

The application provides a beam yard component real-time positioning structure based on multi-sensor cooperation, and relates to the technical field of wireless sensing positioning, which comprises multiple positioning modules, the multiple positioning modules can move along a preset or calculated path and cooperate with each other under the coordinated control of a control system to form a surrounding boundary with different regional sizes; a positioning sensor is used for communicating with a satellite positioning system to obtain positioning information; a rotating rod is uniformly arranged with multiple groups of laser emitters and laser receivers along the circumference; the laser emitters on different positioning rods can send and receive laser signals with the laser receivers on other positioning rods, and distance data is generated according to the received signals and fed back to a data processing terminal; the positioning module further comprises a walking structure for supporting and driving the positioning rod to move on the beam yard ground. The application can realize dynamic configuration through intelligent space management, improve space utilization and reduce idle areas.

Description

Technical Field

[0001] This invention relates to the field of wireless sensing and positioning technology, and more specifically, to a real-time positioning structure for beam yard components based on multi-sensor collaboration. Background Technology

[0002] During the beam yard construction of bridge projects, various types of materials and equipment typically need to be stacked and placed on site, including large box girders, steel cages, precast components, formwork, and construction machinery. These materials and equipment vary greatly in size and footprint, and their quantity and location change frequently depending on the construction stage.

[0003] To maintain order and safety on site, the common practice is to divide areas by marking lines or setting up fixed guardrails. However, traditional line markings only provide a static reference for placement and cannot be dynamically adjusted according to changes in material size. They are also easily worn down by construction vehicles and become ineffective. While fixed guardrails can provide physical isolation, frequent moving, disassembly, and rearrangement of guardrails when material specifications vary consumes a lot of manpower and time. This not only affects construction efficiency but also easily leads to chaotic on-site stacking and safety hazards due to untimely or inadequate placement. Summary of the Invention

[0004] The purpose of this invention is to provide a real-time positioning structure for beam yard components based on multi-sensor collaboration, which achieves dynamic configuration through intelligent space management, thereby improving space utilization and reducing idle areas.

[0005] This invention is achieved through the following technical solution: A real-time positioning structure for beam yard components based on multi-sensor collaboration, comprising multiple positioning modules; Multiple positioning modules, under the coordinated control of the control system, can move along preset or calculated paths and cooperate with each other according to on-site requirements to form boundaries of different area sizes; wherein: Each of the positioning modules includes a positioning rod, on which a positioning sensor is provided. The positioning sensor is used to communicate with the satellite positioning system to obtain positioning information and transmit the positioning information to a data processing terminal via a network to generate corresponding point data. The positioning rod is made of a transparent material to allow the laser beam to pass through; A rotating rod is rotatably mounted axially inside the positioning rod. The positioning rod is equipped with a driving component for driving the rotating rod to rotate. Multiple sets of laser emitters and laser receivers are evenly arranged circumferentially around the outer periphery of the rotating rod. The laser emitters on different positioning rods can send and receive laser signals to each other and generate distance data based on the received signals, which is then fed back to the data processing terminal. The positioning module also includes a walking structure, which supports and drives the positioning rod to move on the beam field surface. The walking structure is connected to the control system to receive the distance data and radar position data, and to perform position correction and path adjustment based on the feedback data, thereby realizing the autonomous movement and precise positioning of the walking structure.

[0006] Furthermore, the walking structure includes a base plate, the positioning rod is disposed on the base plate, a traveling wheel is disposed below the base plate, a control motor for driving the traveling wheel to rotate is disposed on the traveling wheel, and a steering motor for steering the traveling wheel is also disposed on the traveling wheel.

[0007] Furthermore, an adjusting push rod is provided on the base plate, and a corner component is provided on the output shaft of the adjusting push rod. The output end of the corner component is connected to the bottom of the positioning rod and is used to adjust the rotation angle of the positioning rod.

[0008] Furthermore, the corner component includes a hinge seat, the bottom of the positioning rod is hinged to the hinge seat, a corner motor is provided on the hinge seat, the corner motor is connected to the rotation shaft of the positioning rod, and an angle sensor is provided on the rotation shaft.

[0009] Furthermore, the base plate is also equipped with a level detector and a controller. The level detector is used to detect the level state of the base plate and send the detection data to the controller. The controller controls the rotation angle of the corner motor according to the detection data to realize the automatic adjustment of the posture of the positioning rod.

[0010] Furthermore, the rotating rod includes two end plates and a central rod connected to the two end plates in the middle. The laser emitter is elongated and evenly distributed circumferentially between the two end plates with the central rod as the center. Multiple laser receivers are arranged along the length of the laser emitter to receive the light signal from the laser emitter. The driving component includes a drive motor, which is a stepper motor. The drive motor is coaxially arranged inside the rotating rod and connected to the end plates.

[0011] Furthermore, the positioning rods of different positioning modules each have different markings.

[0012] Furthermore, the positioning rod is also equipped with multiple cameras, which are connected to the display of the control system via a wireless network.

[0013] Furthermore, the positioning rod is equipped with an alarm light, which is electrically connected to the controller. The controller is also electrically connected to the laser receiver. When an object passes through and blocks the light signal emitted from the laser emitter to the adjacent laser receiver, the controller drives the alarm light to flash to issue an alarm.

[0014] Furthermore, the optical signal band of each laser emitter can be adjusted by the control system so that only the laser receiver corresponding to it and located on the adjacent positioning module can receive the optical signal, thereby realizing directional optical signal communication between the adjacent positioning modules.

[0015] The technical solution of the present invention has at least the following advantages and beneficial effects: 1. This invention utilizes multiple autonomously movable positioning modules, coordinated by a control system, to establish boundaries of varying sizes and contours along preset or calculated paths. This enables real-time zoning and rapid reconfiguration of beam yard components, equipment, and materials. It provides a dynamically adaptable solution to address the problems of rigid zoning, time-consuming relocation, and site chaos caused by relying solely on ground markings or fixed guardrails. Each positioning module's positioning sensor communicates with a satellite positioning system to obtain global coordinates. Multiple laser emitters and receivers on the positioning rods perform mutual ranging to acquire relative distance data, which is then fused with radar position data in a data processing terminal to establish high-precision pose and boundary calculations.

[0016] 2. This invention utilizes a walking structure to move according to corrected pose and path commands, thereby achieving coordinated positioning and precise placement between modules. The positioning rod is made of transparent material and contains a rotatable rotating rod. Combined with multiple circumferentially arranged laser emitters and receivers, it achieves coverage and continuous scanning of the surrounding space, reducing the impact of occlusion on ranging stability and improving the accuracy and adaptability of boundary generation. Therefore, the system can quickly adjust the boundary according to component specifications and stacking requirements, eliminating the need for repeated disassembly and reassembly of guardrails, significantly reducing labor and time costs, improving site utilization and reducing idle areas. Simultaneously, it reduces the risk of mis-stacking and interference from overlapping operations, improving operational order and safety. Attached Figure Description

[0017] Figure 1 This invention aims to illustrate the structure of a single positioning module; Figure 2 This is a schematic diagram illustrating the structure of the walking structure and the corner component of this invention; Figure 3 This invention is intended to illustrate the structure of the rotating rod, the laser emitter, and the laser receiver. Figure 4 for Figure 3 Enlarged view of section A; Figure 5 This is a schematic diagram illustrating the structure of the rotating rod. Figure 6 This is one of the structural schematic diagrams of the present invention, which aims to illustrate the structure of multiple positioning modules enclosing boundaries of different sizes. Figure 7 This is the second schematic diagram of the structure of the present invention, which aims to demonstrate the formation of multiple positioning modules around a boundary of different sizes. Reference numerals: 1-Positioning module, 11-Positioning rod, 12-Positioning sensor, 13-Laser emitter, 14-Laser receiver, 2-Rotating rod, 20-End plate, 201-Center rod, 21-Drive component, 211-Drive motor, 3-Walking structure, 31-Base plate, 311-Adjusting push rod, 32-Traveling wheel, 320-Wheel frame, 321-Control motor, 322-Steering motor, 4-Corner component, 41-Hinge seat, 42-Corner motor, 43-Angle sensor, 5-Level detector, 51-Controller, 6-Marker, 7-Camera, 8-Alarm light, 9-Laser wave. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0020] The following is for reference Figures 1-7 As shown, and further explained with reference to specific embodiments, the system includes multiple positioning modules 1. Under the coordinated control of the control system, these multiple positioning modules 1 can autonomously move along a preset path or a calculated path according to the on-site operational requirements, and, in cooperation with each other, enclose boundary structures with different area sizes and outline shapes, such as... Figure 6 and Figure 7As shown, different shapes and sizes of perimeter fencing are displayed. This fencing structure enables dynamic division and spatial management of components, equipment, and materials in the beam yard, allowing for rapid changes and flexible adaptation of area boundaries. This avoids the rigid layout and space waste caused by the strong fixity of traditional methods such as guardrails and line markings. In practical applications, the control system can dynamically generate fencing schemes based on the actual size, quantity, and placement of components within the beam yard, and control each positioning module 1 to accurately reach its designated position without affecting other work paths, thereby significantly improving site utilization efficiency.

[0021] Reference Figure 1 and Figure 2 As shown, each positioning module 1 includes a positioning rod 11, on which a positioning sensor 12 is mounted. This positioning sensor 12 communicates with a satellite positioning system, such as the BeiDou Navigation Satellite System or the GPS Navigation Satellite System, to obtain the module's absolute positioning information within the beam yard. This positioning information is then transmitted wirelessly to a data processing terminal, generating point data corresponding to the actual location. In this embodiment, the positioning sensor 12 is fixedly installed at the bottom of the base plate 31 of the positioning module 1 to reduce the possibility of signal obstruction and improve reception accuracy. This is especially beneficial in environments where large components or metal structures may exist within the beam yard; bottom mounting also avoids interference from the upper structure of the equipment. The positioning sensor 12 can be a high-precision GNSS receiver with multipath interference resistance, ensuring stable positioning data is obtained even in complex construction site environments.

[0022] The positioning rod 11 is made of a transparent material to allow the laser beam to pass through directly without significant refraction or diffraction, thereby ensuring the stability of signal transmission between the laser transmitter 13 and the laser receiver 14. This transparent material can be polycarbonate (PC) or acrylic (PMMA) sheets with high mechanical strength, good weather resistance, and high light transmittance. This allows it to withstand prolonged exposure to sunlight, rain, and wind and sand in outdoor construction environments while preventing light signal attenuation. Furthermore, the use of transparent material ensures that the positioning rod 11 does not visually obstruct spatial judgment within the beam yard, facilitating operators' observation of the internal laser equipment's operating status.

[0023] Reference Figures 3-5As shown, a rotating rod 2 is rotatably mounted axially inside the positioning rod 11. The positioning rod 11 also contains a driving component 21 for rotating the rotating rod 2. Multiple sets of laser emitters 13 and laser receivers 14 are evenly arranged circumferentially around the rotating rod 2. This uniform distribution of laser devices enables continuous scanning of the surrounding 360° space, avoiding blind spots in ranging caused by device orientation. The driving component 21 is preferably a stepper motor, which can precisely control the rotation angle of the rotating rod 2, allowing the coverage and resolution of the laser scan to be flexibly adjusted as needed. The combination of the rotating rod 2 and the laser devices not only allows for real-time acquisition of relative distance data between the module and adjacent modules but can also be used to detect obstacles or external intrusions within the perimeter.

[0024] Laser emitters 13 on different positioning rods 11 and laser receivers 14 on other positioning rods 11 can send and receive laser signals to each other, and convert the received signals into distance data to be fed back to the data processing terminal. This point-to-point ranging method can eliminate some of the instantaneous errors that may occur in the positioning sensors 12 in complex environments, thereby improving the overall positioning accuracy through multi-source data fusion. In addition, the fast response speed of laser signals can provide real-time distance reference for the module's walking structure 3, enabling it to avoid collisions and maintain the stability of the enclosure shape during dynamic enclosure construction.

[0025] The positioning module 1 also includes a walking structure 3, which supports and drives the positioning rod 11 to move smoothly on the beam yard surface. The walking structure 3 is electrically connected to the control system to receive distance data and radar position data, and performs position correction and path adjustment based on this feedback data, thereby achieving autonomous movement and precise positioning of the walking structure 3. In practical implementation, the walking structure 3 can be equipped with omnidirectional wheels or a differential drive system for flexible steering in situations with limited space or obstacles. Combined with radar sensors, it can detect objects on the path ahead in advance, enabling automatic obstacle avoidance and path replanning, ensuring efficient completion of perimeter fencing even in complex environments like the beam yard.

[0026] It should be noted that the light waves transmitted between the laser emitter 13 and the laser receiver 14 are not only used for precise distance measurement, but also serve as a regional safety warning. When the laser beam is blocked by an external object, the control system can immediately identify the event and issue a warning signal, thereby alerting the workers that the object is outside the perimeter or attempting to cross the boundary. This detection method based on light signal interruption has a fast response speed and is not significantly affected by lighting conditions or noise environment, making it suitable for all-weather construction scenarios.

[0027] Reference Figure 2As shown, the walking structure 3 includes a base plate 31, with a positioning rod 11 positioned at the center of the base plate 31 to ensure the stability of the module's center of gravity. A traveling wheel 32 is mounted below the base plate 31, and the traveling wheel 32 is rotatably mounted on a wheel frame 320 via bearings. A control motor 321 that drives the traveling wheel 32 is fixed on the wheel frame 320. The shaft of the control motor 321 is horizontally positioned to directly connect with the axle of the traveling wheel 32, thereby efficiently transmitting power. A steering motor 322 for changing the direction of travel is also provided on the traveling wheel 32. The shaft of the steering motor 322 is vertically positioned and connected to a steering mechanism to achieve precise steering of the traveling wheel 32. Both the control motor 321 and the steering motor 322 are stepper self-locking motors. These motors can maintain their current position after power failure, ensuring that the module will not shift due to external forces or ground tilt after it has reached its designated position.

[0028] Reference Figure 1 and Figure 2 As shown, an adjusting push rod 311 is also provided on the base plate 31. This adjusting push rod 311 can be an electric push rod or a cylinder driven structure, which can adjust the height of the positioning rod 11 according to the height difference or slope change of the ground, thereby ensuring that the optical paths of the laser emitter 13 and the laser receiver 14 are kept on the same horizontal plane. A corner piece 4 is connected to the output shaft of the adjusting push rod 311. The output end of the corner piece 4 is connected to the bottom of the positioning rod 11 and is used to adjust the rotation angle of the positioning rod 11. When it is necessary to adapt to the tilted placement of the component or the adjacent positioning rod 11 tilts, the corner piece 4 can drive the positioning rod 11 to rotate a certain angle, thereby re-aligning the laser emitter 13 and the laser receiver 14 and ensuring that the signal transmission is not interrupted. This automatic adaptation function reduces manual intervention and is especially suitable for situations where the height and angle of the components are inconsistent in the beam yard.

[0029] Specifically, the corner component 4 includes a hinge base 41, to which the bottom of the positioning rod 11 is fixedly connected. A corner motor 42 is mounted on the hinge base 41, and the output of this motor is connected to the rotation shaft of the positioning rod 11. The rotation shaft is horizontally arranged and has an angle sensor 43 mounted on it. The angle sensor 43 can monitor the rotation angle of the positioning rod 11 in real time and feed the detection data back to the controller 51 or directly to the control system, so that timely correction can be made when the positioning rod 11 deviates from the target angle, thereby ensuring effective alignment and ranging accuracy of the laser device.

[0030] Furthermore, the base plate 31 is also equipped with a level detector 5 and a controller 51. The level detector 5 can detect the current levelness of the base plate 31 and send the data to the controller 51. The controller 51 automatically controls the rotation angle of the corner motor 42 based on the detection data, thereby automatically adjusting the posture of the positioning rod 11 in the event of uneven ground or tilting due to external forces. This automatic leveling function improves the stability of laser alignment and reduces optical path offset and ranging errors caused by tilting.

[0031] Reference Figures 3-5 As shown, the rotating rod 2 includes two end plates 20 and a central rod 201 connected between the two end plates 20. A long, strip-shaped laser emitter 13 is evenly distributed circumferentially between the two end plates 20 around the central rod 201, enabling multi-directional laser scanning. Multiple laser receivers 14 are arranged along the length of the laser emitter 13 to ensure sufficient light signals can be received for ranging even if part of the optical path is blocked. The driving component 21 includes a drive motor 211, preferably a stepper motor, which is coaxially mounted inside the rotating rod 2 and connected to the end plates 20 to achieve precise control and stable operation of the rotating rod 2.

[0032] As an optional embodiment, different markings 6 can be set on the positioning rods 11 of different positioning modules 1. The markings 6 can be physical indicator boards, areas coated with specific colors or reflective coatings, or each module can be assigned a unique electronic number by the control system so that the module identity can be quickly identified through a visual recognition system or wireless communication protocol during movement, thereby achieving precise module scheduling in the setting up of the perimeter and subsequent adjustments.

[0033] Optionally, multiple cameras 7 can also be installed on the positioning rod 11. The cameras 7 are connected to the display terminal of the control system via a wireless network, enabling operators to view the environmental conditions inside and around the enclosure in real time. These cameras 7 can support night vision or high dynamic range imaging to adapt to the day and night operation and large changes in lighting conditions in the beam yard.

[0034] Reference Figure 1 As shown, an alarm light 8 is installed on the top of the positioning rod 11. The alarm light 8 is electrically connected to the controller 51, which is also connected to the laser receiver 14. When an object crosses the beam between the laser emitter 13 and the adjacent laser receiver 14, the controller 51 will immediately drive the alarm light 8 to flash, emitting a high-brightness visual warning, and can simultaneously trigger an audible alarm device, thereby reminding operators to check the perimeter status in a timely manner to prevent unauthorized entry or incorrect material stacking.

[0035] As an optional embodiment, the optical signal band of each laser emitter 13 can be adjusted by the control system so that only the corresponding laser receiver 14 located on the adjacent positioning module 1 can correctly receive the optical signal. This directional optical signal communication method can effectively avoid signal crosstalk between different modules, improve the stability of ranging and positioning, and ensure that there is no interference between the various enclosures when multiple enclosures are deployed at the same time, thereby supporting simultaneous multi-area operations in large-scale beam yards.

[0036] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A real-time positioning structure for beam yard components based on multi-sensor collaboration, characterized in that, Includes multiple positioning modules (1); Multiple positioning modules (1) can move along preset or calculated paths and cooperate with each other under the coordinated control of the control system, according to on-site requirements, to form boundaries with different area sizes; wherein: Each of the positioning modules (1) includes a positioning rod (11), and a positioning sensor (12) is provided on the positioning rod (11). The positioning sensor (12) is used to communicate with the satellite positioning system to obtain positioning information and transmit the positioning information to the data processing terminal through the network to generate corresponding point data. The positioning rod (11) is made of a transparent material to allow the laser beam to pass through; A rotating rod (2) is rotatably installed in the positioning rod (11) along the axial direction. The positioning rod (11) is provided with a driving component (21) for driving the rotating rod (2) to rotate. Multiple sets of laser emitters (13) and laser receivers (14) are evenly arranged on the outer periphery of the rotating rod (2). The laser emitter (13) on different positioning rods (11) can send and receive laser signals to each other and generate distance data based on the received signals and feed it back to the data processing terminal. The positioning module (1) also includes a walking structure (3), which is used to support and drive the positioning rod (11) to move on the beam field. The walking structure (3) is connected to the control system to receive the distance data and radar position data, and to perform position correction and path adjustment based on the feedback data, thereby realizing the autonomous movement and precise positioning of the walking structure (3).

2. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 1, characterized in that, The walking structure (3) includes a base plate (31), the positioning rod (11) is disposed on the base plate (31), a traveling wheel (32) is disposed below the base plate (31), a control motor (321) for driving the traveling wheel (32) to rotate is disposed on the traveling wheel (32), and a steering motor (322) for steering the traveling wheel (32) is also disposed on the traveling wheel (32).

3. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 2, characterized in that, An adjusting push rod (311) is provided on the base plate (31), and a corner piece (4) is provided on the output shaft of the adjusting push rod (311). The output end of the corner piece (4) is connected to the bottom of the positioning rod (11) and is used to adjust the rotation angle of the positioning rod (11).

4. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 3, characterized in that, The corner component (4) includes a hinge seat (41), the bottom of the positioning rod (11) is hinged to the hinge seat (41), a corner motor (42) is provided on the hinge seat (41), the corner motor (42) is connected to the rotation shaft of the positioning rod (11), and an angle sensor (43) is provided on the rotation shaft.

5. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 4, characterized in that, The base plate (31) is also equipped with a level detector (5) and a controller (51). The level detector (5) is used to detect the level state of the base plate (31) and send the detection data to the controller (51). The controller (51) controls the rotation angle of the angle motor (42) according to the detection data to realize the automatic adjustment of the posture of the positioning rod (11).

6. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 1, characterized in that, The rotating rod (2) includes two end plates (20) and a central rod (201) connected to the two end plates (20) in the middle. The laser emitter (13) is long and evenly distributed around the central rod (201) in the circumferential direction between the two end plates (20). Multiple laser receivers (14) are arranged along the length of the laser emitter (13) to receive the light signal from the laser emitter (13). The driving component (21) includes a driving motor (211), which is a stepper motor. The driving motor (211) is coaxially arranged in the rotating rod (2) and connected to the end plate (20).

7. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 1, characterized in that, The positioning rods (11) of different positioning modules (1) have different markings (6).

8. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 1, characterized in that, The positioning rod (11) is also equipped with multiple cameras (7), which are connected to the display of the control system via a wireless network.

9. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 5, characterized in that, The positioning rod (11) is equipped with an alarm light (8), which is electrically connected to the controller (51). The controller (51) is also electrically connected to the laser receiver (14). When an object passes through and blocks the light signal emitted from the laser emitter (13) to the adjacent laser receiver (14), the controller (51) drives the alarm light (8) to flash to issue an alarm.

10. The real-time positioning structure for beam yard components based on multi-sensor collaboration according to claim 1, characterized in that, The optical signal band of each laser emitter (13) can be adjusted by the control system so that only the laser receiver (14) corresponding to it and located on the adjacent positioning module (1) can receive the optical signal, thereby realizing the directional optical signal connection between the adjacent positioning modules (1).

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