Intelligent Pre-embedded Control Method and System for Wiring Channels in Precast Concrete Components

Abstract

This invention discloses an intelligent pre-embedded control method and system for wire-threading channels in precast concrete components, belonging to the field of intelligent construction technology for prefabricated buildings. The method includes: establishing constrained perforation paths for precast components; analyzing the center coordinates and redundancy of the wire-threading paths; aligning the wire-threading paths of various types of precast components according to the analyzed path parameters and the constrained perforation paths of the precast components; searching for the optimal wire diameter; setting shape memory alloy elements and pre-embedding MEMS attitude sensors; collecting six-degree-of-freedom pose data through the MEMS attitude sensors, comparing it with the target pose, and if the pose exceeds a preset allowable range, energizing and heating the shape memory alloy elements to control the pre-embedding of the wire-threading channels according to the target pose. This application solves the technical problems in the prior art where pre-embedding of wire-threading pipes relies on manual passive fixing, leading to easy displacement and misalignment during vibration, resulting in low pre-embedding accuracy, high wire-threading failure rate, and high rework costs.

Description

Technical Field

[0001] This invention relates to the field of intelligent construction technology for prefabricated buildings, specifically to an intelligent pre-embedded control method and system for wiring channels in precast concrete components. Background Technology

[0002] Prefabricated concrete buildings represent a core direction for the transformation towards industrialized and green construction. The standardized production and modular assembly of prefabricated components significantly improve construction efficiency and reduce on-site labor intensity. Wiring channels, as the core carrier of a building's electrical and communication systems, directly determine the quality of electromechanical installation and the convenience of subsequent operation and maintenance through their pre-embedded accuracy and reliability. Therefore, they are a key quality control point in the prefabricated component production process.

[0003] Current methods for pre-embedded wiring channels generally employ a passive process of manual positioning and wire binding. Under the strong impact of concrete pouring and vibration, this process is highly susceptible to problems such as conduit displacement, skewness, flattening deformation, and grout leakage and blockage. Furthermore, misalignment of multiple precast component interfaces is frequent. These defects are usually only discovered during the later wiring stage, leading to extensive rework and significantly increasing construction time and costs. Simultaneously, existing technologies lack real-time monitoring and proactive intervention capabilities throughout the entire process, and have not established a comprehensive traceability and on-site location system, making it difficult to meet the demands of high-quality development in prefabricated buildings. Summary of the Invention

[0004] This application provides an intelligent pre-embedded control method and system for the conduit channel of precast concrete components, aiming to solve the technical problems in the prior art where the conduit pre-embedding relies on manual passive fixing, and the conduit is prone to displacement and misalignment during vibration, resulting in low pre-embedding accuracy, high conduit failure rate, and high rework cost.

[0005] In view of the above problems, this application provides a method and system for intelligent pre-embedded control of wiring channels in precast concrete components.

[0006] The first aspect disclosed in this application provides an intelligent pre-embedded control method for wiring channels in precast concrete components. This method includes: decomposing the concrete workpiece according to building design drawings; establishing constrained wiring paths for the precast components; the constrained wiring paths include the geometric paths of the wiring channels within each precast component, constraint conditions for avoiding reinforcing bars, and matching relationships of the channel interfaces; analyzing the center coordinates and redundant path quantities of the wiring paths based on the constrained wiring paths of the precast components; and aligning the wiring paths of multiple types of precast components according to the analyzed path parameters and the constrained wiring paths of the precast components, and searching for wiring paths... The optimal wire diameter is determined. Based on the optimal wire diameter, a shape memory alloy element is installed on the outer wall of the pre-embedded conduit, and a MEMS attitude sensor is also pre-embedded. During concrete pouring and vibration, the six-degree-of-freedom pose data of the conduit is collected in real time by the MEMS attitude sensor and compared with the preset target pose, which includes the center coordinates and the direction of the pipe axis. When the pose deviation exceeds the preset allowable range, the shape memory alloy element is energized and heated to cause phase change contraction and apply a reverse restoring force to the conduit. The pre-embedding control of the conduit channel is performed according to the target pose.

[0007] Another aspect of this application discloses an intelligent pre-embedded control system for wiring channels in precast concrete components. This system includes: a constrained wiring path establishment module, used to decompose concrete workpieces according to building design drawings and establish constrained wiring paths for precast components. The constrained wiring paths include the geometric paths of the wiring channels within each precast component, constraint conditions for avoiding reinforcing bars, and matching relationships of channel interfaces; and a wire diameter optimal search module, used to analyze the center coordinates and redundant path quantity of the wiring paths based on the constrained wiring paths of the precast components, and to align the wiring paths of various types of precast components according to the analyzed path parameters and the constrained wiring paths of the precast components. The system includes: an optimal wire diameter for cable threading; a shape memory alloy element setting module, used to set shape memory alloy elements on the outer wall of the pre-embedded conduit according to the optimal wire diameter, and to pre-embed MEMS attitude sensors; and a pre-embedded control module, used to collect six-degree-of-freedom pose data of the conduit in real time through the MEMS attitude sensors during concrete pouring and vibration, and compare it with the preset target pose, which includes the center coordinates and the direction of the pipe axis. When the pose deviation exceeds the preset allowable range, the shape memory alloy element is energized and heated to cause phase change contraction and apply a reverse restoring force to the conduit, thereby controlling the pre-embedded cable channel according to the target pose.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0009] By adopting a technical solution that establishes prefabricated constrained perforation paths including geometric paths, rebar avoidance constraints, and interface matching relationships, analyzes path parameters, completes multi-component path alignment and optimal wire diameter search, and prepares intelligent conduits integrating MEMS attitude sensors and shape memory alloy elements, and collects pose data in real time during the casting process and actively corrects it through shape memory alloy elements, the technical problems of low pre-embedding accuracy and easy displacement and deviation of conduits in existing technologies have been solved. This achieves the technical effects of closed-loop control of the entire pre-embedding process of the conduit channel, improving pre-embedding accuracy to the millimeter level, and significantly improving the success rate of conduit threading on the first attempt.

[0010] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0011] Figure 1 A flowchart illustrating the intelligent pre-embedded control method for the wiring channel of precast concrete components is provided for the embodiments of this application.

[0012] Figure 2 A schematic diagram of the intelligent pre-embedded control system for the wiring channel of precast concrete components is provided for the embodiments of this application.

[0013] Figure labeling: 11 Constrained perforation path establishment module, 12 Optimal wire diameter search module, 13 Shape memory alloy element setting module, 14 Pre-embedded control module. Detailed Implementation

[0014] The overall concept of the technical solution provided in this application is as follows: This application provides an intelligent pre-embedded control method and system for wire-threading channels in precast concrete components. By digitally modeling, a constrained wire-threading path for the precast component, including geometric paths, rebar avoidance constraints, and interface matching relationships, is constructed. The path parameters are analyzed to complete the alignment of wire-threading paths across multiple components and the search for the optimal wire diameter. An intelligent wire-threading tube integrating a MEMS attitude sensor and a shape memory alloy element is fabricated. During the pouring process, the posture is acquired in real time and actively corrected using the shape memory alloy, achieving precise closed-loop control of the entire wire-threading channel pre-embedding process.

[0015] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0016] Example 1 like Figure 1 As shown in the embodiment of this application, an intelligent pre-embedded control method for wiring channels in precast concrete components is provided. The method includes: Step S100: Decompose the concrete workpiece according to the building design drawings and establish the precast component constrained perforation path. The constrained perforation path includes the geometric path of the wire channel inside each precast component, the constraint conditions for avoiding the reinforcing bars, and the matching relationship of the channel interface.

[0017] Specifically, the precast component constrained perforation path is a three-dimensional constraint model integrating the geometry of the wiring channel, structural avoidance rules, and interface connection requirements. It is not a simple line representation as in traditional CAD, but serves as the design basis for subsequent pre-embedded control operations. The geometric path refers to the three-dimensional spatial coordinate trajectory of the wiring channel within the precast component, including parameters such as start point, end point, bend position, and bending radius. The constraint conditions for avoiding reinforcing bars refer to the hard structural safety constraints that the wiring channel layout must adhere to, derived from the reinforcing bar layout model of the precast component. The matching relationship of the channel interfaces refers to the spatial position, axial direction, and pipe diameter matching requirements that the corresponding wiring channel interfaces of adjacent precast components must meet during assembly and connection.

[0018] Specifically, the BIM design drawings of the building across all disciplines are imported, and the overall geometric information of the concrete structure, the reinforcement layout information, and the overall pipeline routing information of the power and communication systems are extracted. Following the modular standards of prefabricated buildings, the dimensions of the production formwork in the prefabrication plant, the height and width restrictions for road transportation, and the on-site hoisting capabilities, the overall concrete structure is decomposed into components. Split joints are preferentially placed in the mid-span area where the stress is relatively low, avoiding the core area of ​​beam-column joints, areas with denser stirrups, and areas where pipelines concentrate their passage, and controlling the weight of a single component to not exceed 80% of the rated hoisting load. Generate a list of precast components with unique project numbers; for each precast component, extract the preliminary geometric paths of all wiring channels that need to be pre-embedded inside, and simultaneously import the reinforcement BIM model of the component to generate hard constraints for avoiding reinforcement; then, based on the assembly sequence and interface position of the precast components, establish a one-to-one matching relationship between the wiring channel interfaces of adjacent precast components; integrate and verify all the geometric paths of the wiring channels, the constraints for avoiding reinforcement, and the matching relationships of the channel interfaces, automatically identify and mark design problems with reinforcement conflicts or interface mismatches, and after correction, generate the precast component constraint perforation path corresponding to each precast component.

[0019] This step transforms traditional two-dimensional drawing requirements into a calculable and verifiable three-dimensional constraint model through digital modeling, eliminating errors and design conflicts caused by manual drawing interpretation from the source, and providing a precise and unified benchmark for subsequent intelligent pre-embedded control. At the same time, it realizes collision detection and interface matching verification between the wiring channel and the steel structure in advance, avoiding problems such as the inability to place wiring pipes and misaligned interfaces during later production and assembly processes, greatly reducing design changes and rework costs, and improving the standardization and automation level of precast component production.

[0020] Step S200: Based on the prefabricated component constrained perforation path, analyze the center coordinates and redundant path quantity of the threading path, and according to the analyzed path parameters and the prefabricated component constrained perforation path, align the threading paths of multiple types of prefabricated components and search for the optimal wire diameter for threading.

[0021] Specifically, the center coordinates of the wiring path refer to the sequence of discrete coordinate points of the wiring conduit axis in three-dimensional space, covering the start and end points of the wiring channel, all bends and turning points, and interface positions. This serves as the target benchmark for subsequent pose monitoring and correction. Redundancy refers to the maximum allowable amount of space that the wiring path can be dynamically adjusted in three-dimensional space while meeting all constraints such as avoiding rebar and bending radius. It is divided into translational redundancy and bending redundancy. Wiring path alignment for various prefabricated components refers to achieving precise matching of the center coordinates and axis direction of the corresponding wiring channel at the assembly interface for different types of prefabricated components such as interior wall panels, exterior wall panels, composite floor slabs, and stairs. This supports dynamic adjustment of the internal path of the component to compensate for production errors, rather than simple hard coordinate matching. The optimal wire diameter refers to the minimum inner diameter of the wiring conduit while simultaneously meeting three core constraints: the total cross-sectional area occupancy threshold of the cable, the minimum allowable bending radius of the cable, and the available space for conduit placement within the prefabricated component.

[0022] Specifically, from the constrained perforation pathways of precast components, the axial point cloud data of all threading channels are extracted to generate a sequence of center coordinates for the threading pathways covering the start point, end point, bends, and interface locations. Simultaneously, a three-dimensional spatial expansion algorithm is employed, expanding outwards from each center coordinate point to calculate the minimum distance to obstacles such as reinforcing bars and embedded parts. This yields the translational redundancy at each point and the bending redundancy of the entire pathway, completing the parameter analysis of the threading pathways. Furthermore, the center coordinates and axial direction vectors of the corresponding threading channels at the interfaces of all adjacent precast components are extracted, and their spatial position and angular deviations are calculated. When the deviation exceeds a preset allowable range, minimum energy path deformation is employed. The algorithm prioritizes moving the bend positions inside the component while keeping the start and end coordinates of the passage unchanged. It automatically adjusts the internal passage path for deviation compensation and alignment. If the requirements are still not met after compensation, it is marked as a design conflict and an alarm is output. It obtains the type, single diameter, quantity, and minimum allowable bending radius parameters of the cable to be threaded. It first calculates the minimum candidate inner diameter that meets the preset threshold of the total cross-sectional area occupancy of the cable not exceeding 40%. Then it checks whether the minimum bending radius of the conduit corresponding to the inner diameter meets the cable requirements. If it does not meet the requirements, it increases the inner diameter step by step. At the same time, it checks whether the increased inner diameter conflicts with the space available for conduit placement in the prefabricated component's constrained perforation passage. If there is no conflict, it is determined as the optimal wire diameter for threading.

[0023] The three-dimensional spatial expansion algorithm is used to accurately calculate the redundant path amount at each point of the cable threading path. Its specific implementation is as follows: Using the central axis of the cable threading channel in the prefabricated component-constrained perforation path model as a reference, it is discretized into a three-dimensional coordinate point cloud with a spacing of 50mm. The outer diameter of the cable conduit and a safety clearance of 20mm are input. A unit sphere is constructed with each discrete point as its center and the initial radius of the cable conduit radius and safety clearance. Boolean intersection operations are performed between all unit spheres and the three-dimensional solid models of the reinforcing bars, embedded parts, and prefabricated component boundaries. If no collision occurs, the radius is gradually increased until the first collision occurs, and the radius value at this point is recorded. The above expansion process is repeated along the six orthogonal directions X, Y, and Z to obtain the maximum movable distance of each discrete point in each direction, i.e., the single-direction translational redundancy. Based on the translational redundancy distribution of adjacent points, the maximum bendable angle of the path without violating the minimum bending radius constraint of the cable is calculated to obtain the bending redundancy. Finally, a redundancy matrix covering the entire cable threading path is generated, providing an insurmountable safety boundary for subsequent path adjustment and pose correction.

[0024] This step enables automated analysis and quantification of wiring path parameters, providing a precise target benchmark for subsequent pose closed-loop control. Flexible alignment technology, supporting dynamic adjustment of internal paths, effectively compensates for production errors in prefabricated components, significantly reducing wiring difficulties and rework caused by interface misalignment. The multi-constraint iterative optimal wire diameter search method avoids wiring jams and cable insulation damage caused by excessively small wire diameters, while also preventing wasted internal space in prefabricated components due to excessively large wire diameters, significantly improving space utilization and overall efficiency of electromechanical installation.

[0025] Step S300: Based on the optimal wire diameter, a shape memory alloy element is installed on the outer wall of the pre-embedded conduit, and a MEMS attitude sensor is pre-embedded.

[0026] Specifically, the shape memory alloy element in this application serves as the active posture correction execution unit. It is made of nickel-titanium-based shape memory alloy wire and utilizes its martensitic-austenitic phase transformation characteristics. When heated to above the phase transformation temperature of 40-60℃, it generates directional shrinkage strain, which outputs a stable restoring force to pull the conduit back to its original position. After cooling, it regains its flexibility without affecting subsequent construction. The MEMS six-degree-of-freedom attitude sensor is a micro-electromechanical system attitude sensor with a built-in triaxial accelerometer and triaxial gyroscope. It can simultaneously measure three translational components and three rotational components of the conduit. It has a body size ≤5mm×5mm×2mm, low power consumption, and resistance to concrete vibration impact, making it suitable for long-term embedding within structures.

[0027] Specifically, shape memory alloy (SMI) elements and MEMS sensors of corresponding specifications are matched according to the optimal wire diameter for conduit. For DN10-DN15 conduits, 0.3mm diameter SMI elements are used; for DN20-DN25, 0.5mm diameter SMI elements are used; and for DN32 and above, 0.8mm diameter SMI elements are used. The MEMS sensors are uniformly selected using industrial-grade chips with a sampling frequency of 100Hz and an accuracy of ±0.1°. The element arrangement scheme is determined according to the length and structural characteristics of the conduit. For straight sections, one set of SMI elements and one MEMS sensor are placed every 1.5m. Two additional sets of symmetrical SMI elements are added at bends. One MEMS sensor is placed at each end of the interface to ensure docking accuracy. For example, for a 2.2m long DN20 straight conduit, one set of SMI elements and one sensor are placed 0.7m from each end, for a total of two sets of SMI elements and two MEMS sensors. For a long section with one 90° bend... For a DN15 conduit with a length of 1.8m, in addition to two MEMS sensors at both ends, one set of shape memory alloy elements is arranged on each side of the bend, and two more sets of symmetrical shape memory alloy elements are added at the bend, for a total of four sets of shape memory alloy elements and two MEMS sensors. For a DN25 conduit with a length of 3.5m, three sets of shape memory alloy elements and three MEMS sensors are arranged. Then, all shape memory alloy elements are subjected to a 4% pre-stretching treatment, and high-temperature resistant epoxy resin is used to symmetrically attach them to the outer side of the conduit wall along the conduit axis, ensuring that the shrinkage direction of each set of shape memory alloy elements is opposite to the corresponding deviation direction. At the same time, the MEMS sensors are fixed on the central axis of the inner wall of the conduit using special clamps, so that the sensor coordinate system is completely coincident with the conduit axis coordinate system. Finally, all shape memory alloy elements are subjected to power-on continuity tests, and the MEMS sensors are subjected to six-degree-of-freedom initial pose calibration. The calibrated initial pose data is recorded and uploaded to the control system, completing the preparation of an intelligent pre-embedded pipe with sensing and execution capabilities.

[0028] This step upgrades the traditional passively fixed conduit into an intelligent component with autonomous posture sensing and active deviation correction capabilities, providing a core hardware foundation for closed-loop posture control in the subsequent pouring process. The component adopts a miniaturized design, occupying almost no internal space of the conduit or the structural space of the precast component, and will not affect cable installation or concrete structural strength. The blind-spot-free layout of the entire pipe section ensures the comprehensiveness of posture monitoring and the uniformity of correction force, achieving millimeter-level posture correction accuracy, and solving the vibration displacement problem that traditional processes cannot overcome from a hardware perspective.

[0029] Step S400: During the concrete pouring and vibration process, the six-degree-of-freedom pose data of the conduit is collected in real time by the MEMS attitude sensor and compared with the preset target pose. The target pose includes the center coordinates and the direction of the pipe axis. When the pose deviation exceeds the preset allowable range, the shape memory alloy element is energized and heated to cause phase change contraction and apply a reverse restoring force to the conduit. The pre-embedding control of the conduit channel is performed according to the target pose.

[0030] Specifically, the six-degree-of-freedom pose data refers to the spatial state parameters of the conduit measured in real time by the MEMS sensor. It includes translational components in the X, Y, and Z directions and rotational components in the pitch, roll, and yaw directions, measured in degrees (°). This data comprehensively describes the conduit's position and attitude in three-dimensional space. The reverse restoring force, a tensile force completely opposite to the conduit's deviation direction, is generated by heating a shape memory alloy element at the corresponding position and orientation. It serves as the power source for pose correction.

[0031] Specifically, before concrete pouring, initial pose calibration of all MEMS sensors is completed, aligning the sensor's local coordinate system with the precast component's global coordinate system, and loading target pose data from discrete monitoring points along the conduit path. Simultaneously, conduction tests and initial temperature calibrations of all shape memory alloy components are performed. Throughout the concrete pouring and vibration process, MEMS sensors at each monitoring point acquire six-degree-of-freedom pose data of the conduit in real-time at a frequency of 100Hz. This data is transmitted to the precast plant's central control system via pre-embedded shielded cables. The control system performs Kalman filtering on the raw data to remove noise generated by vibration and electromagnetic interference. The filtered data is then processed... The real-time pose and the target pose of the corresponding monitoring point are calculated in a unified coordinate system to obtain the translational deviation vector and the rotational deviation vector. The norm of the two vectors is calculated to obtain the total deviation value, which is then compared with the preset three-level deviation threshold. When the deviation exceeds the first-level threshold, the system automatically selects the shape memory alloy element with the corresponding position and direction for heating according to the direction and magnitude of the deviation. At the same time, the temperature of the shape memory alloy element and the internal temperature of the surrounding concrete are monitored in real time through the pre-embedded miniature thermocouples. The temperature of the shape memory alloy is strictly controlled within the phase transition temperature range of 45-55℃ to avoid overheating and damage to the conduit or affecting the strength of the concrete.

[0032] This step deeply integrates MEMS high-precision sensing with shape memory alloy active execution technology and applies it to the pre-embedded control of conduit in precast concrete components. It realizes real-time closed-loop active correction of conduit posture, eliminates reliance on manual experience, reduces the cost of rework and construction delays caused by conduit displacement, and significantly improves the quality and efficiency of electromechanical installation in prefabricated buildings.

[0033] Furthermore, before concrete pouring, the process includes: using a flexible capacitive sensor array to scan the area where the pre-embedded conduit is located, measuring the capacitance value and retrieving the dielectric constant distribution image; based on the dielectric constant distribution image, identifying the flattening deformation or micro-cracks of the conduit, and if damage is detected, marking the damage location and triggering a replacement alarm.

[0034] Specifically, the flexible capacitive sensor array is a planar sensing device composed of a flexible polyimide substrate with a thickness of ≤0.5mm and an array of interdigitated electrodes etched onto it. It can be bent and conform to irregular surfaces such as reinforcing bars and conduits. By detecting changes in capacitance between the electrodes, it senses differences in the dielectric constant of the medium, achieving non-contact, non-destructive testing. The dielectric constant distribution image refers to a two-dimensional distribution map of the detection area obtained through capacitance tomography algorithms. Different materials have characteristic dielectric constants, which can visually represent the material distribution and structural defects.

[0035] Specifically, after the conduit is tied and fixed to the reinforcing steel frame at the designed position and before concrete pouring, a flexible capacitive sensor array is laid flat to cover the entire area where the conduit to be tested is located. Utilizing its flexibility, it conforms to the irregular surfaces of the reinforcing steel frame and the conduit, ensuring that all conduits are within the sensor's detection range. The control system sequentially applies a 1kHz AC excitation signal to each electrode pair of the sensor array, collecting capacitance change data between each electrode pair. The collected capacitance data is input into a pre-trained capacitance tomography inversion model to reconstruct a two-dimensional dielectric constant distribution image of the detection area. The reconstructed dielectric constant distribution image is compared with a standard dielectric constant template of an undamaged conduit. The damage type and location are identified based on the abnormal characteristics of the dielectric constant: the dielectric constant of a normal PVC conduit is 3.2-3.8, but when the conduit... When flattening deformation occurs, the thickness of the air layer inside the pipe decreases, and the dielectric constant of the corresponding area increases to 4.5-7.0. For example, if a DN20 PVC conduit is compressed by a transverse steel bar, causing its cross-section to flatten by 25%, the dielectric constant of the corresponding area increases from 3.5 to 5.8, and the system can identify it as flattening deformation. When there are microcracks in the conduit, air will seep into the crack, and the dielectric constant of the corresponding area will decrease to 1.5-2.8. For example, if a 0.3mm wide microcrack occurs at the bend of a DN15 conduit, the dielectric constant at the crack drops to 2.2, and the system can identify it as microcrack damage. Finally, the precise three-dimensional coordinates of the damage are marked in the BIM model, and laser marking is performed at the corresponding position on the precast component mold. This triggers an audible and visual alarm and a conduit replacement prompt. After replacement, the inspection is repeated until all conduits are undamaged.

[0036] The inversion of the dielectric constant distribution image employs an attention-enhanced U-Net capacitance tomography inversion model. Its specific structure is as follows: the input layer receives a 120-dimensional differential capacitance vector output from a 16×16 flexible capacitance sensor array, eliminating environmental temperature and humidity interference; the encoder consists of four layers of convolutional-pooling units, extracting local and global features of the capacitance data layer by layer and downsampling them to a 16×16 feature map; the intermediate layer embeds channel attention and spatial attention modules to focus on the area where the conduit is located and suppress background noise such as rebar and air; the decoder consists of four layers of transposed convolutional units, fusing high and low resolution features of corresponding encoder layers through skip connections, ultimately outputting a 256×256 pixel two-dimensional dielectric constant distribution image; specifically, the finite element method is used to generate... A simulated dataset of 100,000 samples covers 10%–50% flattening deformation, 0.1–1 mm microcracks, and interference scenarios with different rebar spacing and concrete humidity for PVC conduits of all sizes from DN10 to DN32. Simultaneously, 5,000 sets of real-world test samples of precast components were collected and damaged using industrial CT. After data augmentation by rotating, flipping, and adding Gaussian noise to all samples, the model was pre-trained using the simulated dataset and fine-tuned using real-world labeled samples. The loss function used was weighted mean square error, where the weight of the damaged area was a combination of 10 times the background weight and the structural similarity loss. The optimizer used was AdamW, with cosine decay of the learning rate and an early stopping mechanism. The trained model can accurately identify microcracks and slight flattening deformation invisible to the naked eye.

[0037] This step enables automated, non-contact, non-destructive testing of hidden damage to conduits before pre-embedding, solving the industry pain point that traditional manual visual inspection cannot identify slight flattening deformation and micro-cracks; it eliminates conduits with damage in advance, avoiding the scrapping and large-scale rework of conduit channels due to pipe rupture and grout blockage after concrete pouring, thus improving the consistency of pre-embedding quality and production efficiency.

[0038] Furthermore, it also includes: installing an acoustic transducer at one end of the conduit to intermittently emit acoustic pulses during concrete pouring and receive reflected or transmitted waves; determining in real time whether cement slurry has seeped into the conduit and the location of the blockage based on the time difference of the waveform and amplitude attenuation; and initiating high-pressure flushing or triggering an alarm when the degree of blockage exceeds a threshold based on the identified blockage location.

[0039] Specifically, the acoustic transducer uses a narrowband transceiver sensor made of piezoelectric ceramic material, operating at a frequency of 20-50kHz. It balances air propagation efficiency within the pipe with sensitivity to cement slurry reflection. The detachable, sealed installation at the conduit port does not interfere with subsequent cable installation. It converts electrical signals into acoustic pulses for transmission and simultaneously receives reflected / transmitted sound waves, converting them back into electrical signals. The time-of-flight difference (TOF) refers to the time interval between the emission of the acoustic pulse and the reception of the reflected wave. Combined with the speed of sound in air, the distance between the reflecting surface and the transducer can be accurately calculated, serving as the core basis for blockage location. Amplitude attenuation refers to the degree of energy loss during sound wave propagation in the medium. Cement slurry has a much higher acoustic impedance than air, resulting in strong reflection and attenuation when sound waves encounter a cement slurry blockage surface. The attenuation amplitude is positively correlated with the degree of blockage.

[0040] Specifically, after the pre-embedded pipe is installed and before concrete pouring, a detachable 30kHz acoustic transducer is sealed and installed at the upper end of the conduit. A reference acoustic pulse is emitted, and the flight time and amplitude of the reflected wave from the bottom of the pipe under air medium are recorded as reference data. For long conduits exceeding 3m in length, an additional receiving transducer is installed at the lower end to use transmitted wave detection to improve accuracy. Throughout the concrete pouring and vibration process, the control system drives the acoustic transducer to emit acoustic pulses in an intermittent mode every 2 seconds. The system synchronously collects reflected or transmitted wave signals returning from inside the pipe, and uses bandpass filtering to remove interference from vibration, environmental noise, and other sources. It calculates the time-of-flight difference of the reflected wave and precisely locates the blockage point using the formula: blockage location + sound velocity × time-of-flight difference / 2. Simultaneously, it calculates the ratio of the reflected wave amplitude to the reference wave amplitude to determine the degree of blockage. For example, for a 1.2m long DN20 conduit, if the reference wave's flight time is 7.06ms and its amplitude is 100mV before pouring, and a blockage is detected at 2.35ms after 20 minutes of pouring... A strong reflection peak with an amplitude of 25mV indicates a blockage location 0.4m from the transducer. A 75% amplitude attenuation, exceeding the 60% threshold, indicates a severe blockage. If the detected reflected wave amplitude is 70mV with a 30% attenuation, it indicates minor grout leakage, requiring continuous monitoring without intervention. A tiered response is implemented based on the blockage location and severity: When the blockage location is ≤0.3m from the port, the high-pressure flushing device connected to the transducer interface is automatically activated, flushing at 0.8-1.2MPa for 30 seconds, then re-detecting until the blockage is cleared. For example, if cement slurry accumulates and blocks the pipe opening at 0.15m from the port, the intermediate reflection peak disappears after flushing, and the baseline reflection wave at the bottom of the pipe returns to normal. When the blockage location is greater than 0.3m from the port or flushing is ineffective, the system checks if a pre-planned redundant path or a dynamically replaceable path exists. If so, it automatically switches to the backup path and marks the original path as obsolete. If not, an audible and visual alarm is triggered, and the precise three-dimensional coordinates of the blockage are marked in the BIM model. Staff are notified to suspend pouring in the area and perform manual handling.

[0041] This step enables real-time, non-invasive online monitoring of grout seepage and blockage in conduits during concrete pouring, solving the problem that traditional processes can only detect blockages in the later wiring stage. Through a graded response mechanism, manual intervention is reduced, and early warnings can be given for deep blockages that cannot be automatically handled, avoiding the complete scrapping of the wiring channel due to irreparable damage after the concrete has solidified.

[0042] Furthermore, based on the identified blockage location, when the blockage level exceeds a threshold, high-pressure flushing or an alarm is initiated, including: identifying whether the wiring path is configured with a redundant path according to the blockage location, and identifying whether there is an alternative physical path within the constrained perforation path range inside the precast component; wherein, the redundant path is a pre-planned backup wiring channel; the alternative physical path is an alternative wiring route dynamically generated by a path search algorithm under the premise of meeting the requirements of avoiding steel reinforcement constraints and bending radius; and matching the response relationship between high-pressure flushing and alarm triggering based on the identification results of the redundant path and alternative physical path, and the blockage level, and executing high-pressure flushing or alarm triggering based on the matching result.

[0043] Specifically, alternative physical paths are defined as follows: After the main path becomes blocked, a new wiring route is dynamically generated by a path search algorithm within the safe range of the precast component-constrained perforated path. Since this route is not pre-embedded, the pipes must be re-laid before the concrete initially sets, and three hard constraints must be met simultaneously: rebar avoidance, bending radius, and available pipe space. The response relationship matching table is a built-in hierarchical decision matrix that maps the degree of blockage, the availability of alternative paths, and response actions one-to-one, enabling automated decision-making.

[0044] Specifically, when the system detects that the degree of blockage in the conduit exceeds a preset threshold, it determines the distance between the blockage location and the port. If the distance is ≤0.3m, it prioritizes activating a 0.8-1.2MPa high-pressure flushing device for 30 seconds. After flushing, it re-detects. If the blockage is cleared, normal monitoring resumes; if flushing fails, it enters the alternative path identification process. Next, the system queries the pre-associated redundant path corresponding to the main path from the precast component constrained perforation path model. It verifies whether the redundant path is intact, undamaged, and unblocked through acoustic detection. If a usable redundant path exists, the electromechanical wiring task is automatically switched to the redundant path, the main path is marked as scrapped, and recorded in the traceability database without manual intervention. If no usable redundant path exists, the path search algorithm uses the junction boxes and component interfaces on both sides of the blockage point as the starting and ending points to traverse all feasible routes within the constrained perforation path range that meet the requirements of rebar avoidance and minimum bending radius. If the shortest alternative physical path is found, the alternative path is identified. If a path is found, a new pipe laying construction drawing and positioning coordinates are generated, triggering a general alarm and pushing it to the on-site worker terminal, notifying them to complete the re-layout before the concrete initially sets. For example, if the wiring path of a Q5 interior wall panel is severely blocked 0.6m from the port, with no redundant path, but the system finds a new path with a bending radius of 120mm between two adjacent main reinforcement bars spaced 180mm apart, then generates a pipe laying drawing and alarms. If the system does not find any alternative physical path that meets the constraints after searching, it is determined to be an unrepairable fault, immediately triggering an emergency audible and visual alarm, accurately marking the blockage location and affected area in the BIM model, and notifying on-site management personnel to suspend concrete pouring in that area for manual emergency handling. For example, if the wiring path in the core area of ​​a shear wall is severely blocked 1.2m from the port, with neither redundant path nor additional pipe laying space, the system immediately triggers an emergency alarm to avoid the entire passage being scrapped due to irreparable damage after the concrete sets.

[0045] Among them, the path search algorithm adopts an improved A algorithm based on redundancy path quantity constraints. The path search algorithm, specifically, is initialized by using the center coordinates of the two interfaces blocking the main path as fixed start and end points S and E. Core constraint parameters from the precast component constrained perforation path model, such as the 3D solid of the rebar-forbidden zone, the translation redundancy matrix of each point, and the minimum allowable bending radius of the cable, are loaded. A 3D grid search space is constructed, discretizing the effective space of the constrained perforation path into uniform 10mm×10mm×10mm cubic grids. Boolean operations are used to mark the state of each grid: grids overlapping with rebar or embedded parts or exceeding the corresponding point translation redundancy are marked as "forbidden grids," and the rest are marked as "feasible grids." The total cost function of algorithm A is defined. ,in Let n be the actual path length from the starting point S to the current node n. Let n be the Euclidean distance from the current node n to the destination E. An acceptable heuristic function is used to guarantee optimality. To compensate for the bend penalty, a virtual length of 0.1m is added for each additional bend, prioritizing paths with fewer bends; then, search loop A is started, adding the starting point S to the open list, and retrieving elements from the open list each time. The node with the smallest value is selected as the current expansion node. If the current node is the endpoint E, the search is successful; otherwise, the current node's 26 3D neighborhood grid nodes are expanded. For each expansion node, three constraint checks are performed sequentially: first, whether it is a "feasible grid"; second, whether the bending radius of the path segment composed of the current node, the previous node, and the previous-previous node is greater than or equal to the minimum allowable bending radius of the cable (the minimum allowable bending radius of the cable is calculated by the angle between the three points and converted into the bending radius); and third, whether the entire path segment is within the redundancy range. Nodes that satisfy all constraints are added to the open list and their parent nodes are recorded, while the current node is moved to the closed list. Once the search successfully reaches the endpoint E, the parent node is traced back from E to S to obtain an initial path composed of discrete grid points. Subsequently, the initial path is smoothed using cubic B-spline curves. While keeping the coordinates of the start and end points unchanged, unnecessary bends are reduced and the path direction is optimized. At the same time, the smoothed continuous path is sampled and verified point by point to ensure that the bending radius of each 10mm sampling point is greater than or equal to the minimum allowable bending radius of the cable and does not enter the "no-penetration grid". The smoothed path is then checked for global redundancy to confirm that all points are within the translation redundancy range of their corresponding positions. Finally, the three-dimensional replaceable physical path coordinate sequence is output.

[0046] This step establishes a fault-tolerant response system, changing the traditional passive approach of stopping work and re-laying pipes when a blockage occurs. Through a fault-tolerant design that combines pre-redundancy and dynamic pipe replenishment, the robustness of the system is significantly improved. At the same time, it avoids the strength damage and construction delays caused by large-scale structural removal after concrete has solidified, effectively ensuring the progress and quality of electromechanical installation in prefabricated buildings.

[0047] Furthermore, it also includes: monitoring data, alarm information, compensation intervention parameters, and the construction of redundant wiring paths throughout the entire life cycle of interactive concrete pouring, and establishing a traceability database; based on the traceability database, a traceability identification module is constructed, which includes an RFID chip embedded in the precast component. The RFID chip is used to store at least part of the data in the traceability database and is used by reading devices to identify and obtain the wiring channel information of the corresponding precast component; according to the traceability database, the wiring position is determined by parsing, and a visible positioning mark is set at the corresponding wiring channel exit on the surface of the precast component. The visible positioning mark is a thermochromic heat shrink label or a magnetic fingerprint coding layer, which can be directly visually observed by on-site construction personnel or quickly located by handheld detectors.

[0048] Specifically, the traceability database refers to a structured data center for the entire lifecycle of the wiring channels. Indexed by a three-level system of "component number - channel number - timestamp," it uniformly stores design parameters, production and testing data, pouring process monitoring and intervention records, and post-construction maintenance information, serving as the sole authoritative source for all wiring channel information. The passive UHF RFID chip is an offline information carrier embedded in the non-stressed area of ​​the precast component. It requires no external power supply, has a lifespan consistent with the concrete structure, and can be stably read through 30cm of concrete, storing core wiring channel parameters. The visible positioning mark refers to the dual positioning marker at the wiring exit on the surface of the precast component, possessing both visual identification and instrument penetration detection capabilities. The thermochromic heat-shrink label is concrete gray at room temperature; when heated to 55-65℃, it irreversibly reveals a red arrow, channel number, and pipe diameter in the heat-shrink sleeve. After heating, it fits tightly to the port, exhibiting wear and corrosion resistance. The magnetic fingerprint coding layer refers to the permanent magnet micro-powder coding layer embedded inside the label, forming a unique binary code corresponding to the precise channel information in the traceability database.

[0049] Specifically, throughout the entire prefabrication process, data on constrained perforation pathway models, optimal wire diameters, and redundant pathway planning from the design phase are collected in real time; data on flexible capacitor damage detection records, shape memory alloy element pre-stretch calibration data, and MEMS attitude sensor initial pose data from the production phase are collected; and data on six-degree-of-freedom pose monitoring, shape memory alloy element compensation parameters, and acoustic blockage monitoring and handling records from the casting phase are collected. A structured traceability database is established according to a three-level index structure. Before casting the prefabricated components, passive UHF RFID chips are pre-embedded in the non-stressed areas at the edges of the components. Each chip is written with the unique number of the corresponding component, the total number of wire channels, the three-dimensional coordinates of each channel, and the wire diameter. Core data such as path, redundant path status, damage and blockage records form a traceability and identification module. Based on the precise coordinates of all wiring exits analyzed from the traceability database, after the precast components are demolded, a thermochromic shrink label is applied to each exit. The label is heated to 60°C with a hot air gun to shrink and fix it, revealing a red arrow and channel number. At the same time, the label has a magnetic fingerprint code layer that corresponds one-to-one with the channel number. If the surface of the component is covered by mortar and the visual markings are not visible, the construction personnel can use a handheld magnetic detector to scan the corresponding area, penetrate the 2cm thick mortar layer, and read the magnetic fingerprint code, automatically matching the traceability database to obtain the precise location and parameter information of the channel.

[0050] This step establishes a traceability and positioning system that includes a cloud database, offline RFID, and dual positioning labels. The RFID chip enables permanent storage and offline reading of data throughout the entire lifecycle of the threading channel, facilitating quality traceability and responsibility identification. The dual positioning labels, consisting of thermochromic and magnetic fingerprints, improve the efficiency and convenience of subsequent maintenance.

[0051] Furthermore, the alignment of wiring paths for multiple types of prefabricated components includes: extracting the center coordinates and axial direction vectors of the wiring paths to be connected in adjacent prefabricated components at the component interfaces; aligning the wiring paths of multiple types of prefabricated components based on the center coordinates and axial direction vectors; wherein, the spatial position deviation and angular deviation between adjacent interfaces are calculated, and when the spatial position deviation or the angular deviation exceeds a preset allowable range, the path inside at least one component is automatically adjusted to perform deviation compensation alignment; if the deviation compensation alignment cannot meet the target requirements, the prefabricated component with deviation is marked as a design conflict and an alarm is output.

[0052] Specifically, the axial direction vector refers to the unit vector of the conduit's axis at the interface, representing the direction of the conduit's extension. Spatial position deviation refers to the Euclidean distance between the center coordinates of the two interfaces to be connected, an indicator of the degree of misalignment of the interfaces, with a preset allowable value typically of 3-5 mm. Angular deviation refers to the angle between the axial direction vectors of the two interfaces to be connected, an indicator of the degree of interface skew, with a preset allowable value typically of 2-3°. Deviation compensation alignment refers to a flexible alignment method that, when the interface deviation exceeds the allowable range, does not modify the precast component itself, but rather adjusts the local path of the conduit's internal wiring pathway to offset the interface deviation. Design conflict refers to situations where the interface deviation is too large, and even adjusting the internal pathway path cannot meet the alignment requirements, and would violate hard constraints such as rebar avoidance and bending radius, requiring modification of the original design.

[0053] Specifically, from the precast component constrained perforation path model, the center coordinates and axial direction vectors of the wiring paths to be connected for all adjacent precast components, such as interior wall panels and exterior wall panels, interior wall panels and composite floor slabs, stairs and platform slabs, are extracted at their respective interfaces to establish an interface pairing table; the spatial position deviation between each pair of interfaces is calculated, i.e., the Euclidean distance between the two center coordinate points and the angular deviation, i.e., the angle calculated by inversely using the cosine of the angle between the two direction vectors, and compared with a preset allowable threshold; when the deviation is within the allowable range, the alignment relationship is directly confirmed; when the deviation exceeds the allowable range, redundant checks are selected. For the component with a larger remaining path volume, the minimum energy path deformation algorithm is invoked. Under the premise of keeping the interface coordinates at both ends of the path unchanged and not violating the rebar avoidance constraints and the minimum bending radius of the cable, the position of the bend node inside the component is moved first to adjust the local path and perform deviation compensation and alignment. If the deviation still cannot be reduced to the allowable range after the maximum number of iterations, or if hard constraints such as rebar collision or insufficient bending radius occur during the adjustment process, it is determined to be a design conflict. The corresponding precast component is marked and an alarm message containing the deviation value, the cause of the conflict and the suggested modification scheme is output.

[0054] This step enables automated and flexible alignment of the wiring paths for different types of prefabricated components, eliminating the need for manual measurement and on-site cutting corrections, significantly improving interface alignment accuracy and on-site assembly efficiency. By compensating for production errors through internal path adjustments, it effectively reduces the scrap rate of prefabricated components and relaxes the stringent requirements for the production accuracy of prefabricated parts. At the same time, it automatically identifies design conflicts and provides early warnings, avoiding the discovery of incompatibility issues during later on-site assembly, and significantly reducing project delays and rework costs.

[0055] Furthermore, the path within at least one component is automatically adjusted for deviation compensation and alignment, including: using a minimum energy path deformation algorithm to prioritize moving the bend position while keeping the start and end coordinates unchanged.

[0056] Specifically, the minimum energy path deformation algorithm is used to achieve flexible deviation compensation and alignment of multi-prefabricated wiring paths. Specifically: the wiring path to be adjusted is discretized into a sequence of nodes including the start point, end point, and bend turning points. A total energy function is constructed, consisting of displacement energy, bending energy, and collision energy. Displacement energy is proportional to the square of the node displacement, bending energy is proportional to the square of the bend angle change, and collision energy is infinitely large when the node displacement exceeds the corresponding point translation redundancy. Rigid constraints are set: the interface nodes at both ends of the path must be precisely moved to the target alignment coordinates, and the bending radius of all bends must not be less than the minimum allowable value for the cable. The minimum value of the total energy function is iteratively solved using the gradient descent method. During the iteration, the position of bend nodes is adjusted first because their bending energy coefficient is much lower than the displacement energy coefficient of straight segment nodes, keeping straight segment nodes as stationary as possible. When the total energy converges and all constraints are satisfied, the adjusted optimal path is output. If the constraints cannot be satisfied even after the maximum number of iterations, it is marked as a design conflict and an alarm is output.

[0057] For example, when there is a 3.6mm spatial deviation at the interface between the composite floor slab and the interior wall panel, the algorithm will prioritize moving the 90° bend 1.2m away from the interface, moving it 3.6mm in the opposite direction of the deviation. This will completely offset the interface deviation with minimal total energy and will not cause any constraint violation. When there is a large spatial deviation of 6mm at the interface between the exterior wall panel and the interior wall panel, and moving a single bend would exceed its translational redundancy, the algorithm will automatically select two bends 0.8m and 1.5m away from the interface, moving them 3mm in the opposite direction of their respective deviations. This will satisfy all constraint conditions by distributing the displacement. When there is a 2° angular deviation at the interface between the stair slab T1 and the platform slab P2, the algorithm will adjust the angle of the internal bend of the stair slab from 90° to 92°, keeping the start and end coordinates unchanged. This will offset the angular deviation while still meeting the cable requirements for the bending radius. If the total energy still cannot converge after the maximum number of iterations, or if hard constraint violations such as collisions or insufficient bending radius occur during the adjustment process, it will be determined that alignment cannot be achieved through internal path adjustment, marked as a design conflict, and an alarm will be output.

[0058] This step achieves optimal flexible adjustment of the wiring path through a minimum energy path deformation algorithm. Compared with traditional overall path translation or on-site cutting correction methods, it minimizes changes to the original design and avoids new rebar collisions or spatial conflicts. The strategy of prioritizing the movement of bends significantly improves computational efficiency, enabling the adjustment calculation of a single path to be completed in milliseconds, meeting the automated processing requirements of batch prefabricated components. At the same time, it effectively compensates for the production errors of prefabricated components, relaxes the stringent requirements for the production accuracy of prefabricated components, and reduces the scrap rate of prefabricated components. It ensures that the interface alignment accuracy is at the millimeter level, fundamentally avoiding problems such as interface misalignment and wiring jams during later wiring, and significantly improving the efficiency and quality of electromechanical installation.

[0059] Further, the search for the optimal wire diameter includes: obtaining the prefabricated component list parameters, including cable type, single diameter, quantity, and minimum allowable bending radius; calculating the minimum candidate inner diameter that satisfies the requirement that the total cross-sectional area occupancy of the cable does not exceed a preset threshold based on the prefabricated component list parameters; verifying whether the bending radius corresponding to the minimum candidate inner diameter meets the minimum allowable bending radius of the cable, and if not, increasing the inner diameter until the bending radius is acceptable; simultaneously, verifying whether the increased inner diameter conflicts with the space available for pipe routing in the prefabricated component's constraint perforation path, and if there is no conflict, determining the current inner diameter as the optimal wire diameter.

[0060] Specifically, the total cross-sectional area occupancy rate refers to the ratio of the total cross-sectional area of ​​all cables (including insulation) within the conduit to the effective internal cross-sectional area of ​​the conduit. The minimum candidate inner diameter refers to the smallest standard conduit inner diameter that meets the total cross-sectional area occupancy rate requirement. Conduits use industry-standard series such as DN10, DN15, DN20, and DN25, rather than continuously variable values. The available conduit space refers to the three-dimensional space that the conduit can safely occupy in the prefabricated component-constrained perforated path model. It is defined by the rebar spacing, embedded part location, prefabricated component boundary, and a 20mm safety clearance, corresponding to the previously calculated redundancy path boundary.

[0061] Specifically, a complete list of cable parameters for the prefabricated components to be wired is extracted from the electromechanical BIM model. This includes the cable type, single insulated diameter, number of cables, and the minimum allowable bending radius provided by the manufacturer for each passage. The total cross-sectional area of ​​all cables within that passage is calculated and divided by a preset threshold for total cable cross-sectional area occupancy to obtain the required minimum effective inner cross-sectional area of ​​the conduit. The closest standard conduit specification is then matched upwards to determine the initial minimum candidate inner diameter. For example, three 2.5mm² BV copper core wires with a diameter of 3.4mm have a total cross-sectional area of ​​approximately 27.2mm². Based on a 40% occupancy rate, an effective inner cross-sectional area of ​​68mm² is required. Matching a standard DN15 conduit upwards yields the initial minimum candidate inner diameter. The minimum bending radius of the conduit corresponding to this candidate inner diameter is calculated and compared with the minimum allowable bending radius of the cable. If the conduit bending radius is less than the cable requirement, the inner diameter is gradually increased until it is met. For example, for a 16mm² multi-core cable with a diameter of 12.8mm, based on a 40% occupancy rate... The minimum candidate inner diameter for occupancy calculation is DN20, but its minimum allowable bending radius is 15 times the diameter, i.e., 192mm. However, the minimum bending radius of DN20 PVC pipe is only 150mm, which does not meet the requirements. Therefore, the inner diameter needs to be increased to DN25, but its minimum bending radius of 180mm still does not meet the requirements. It is further increased to DN32, with a minimum bending radius of 240mm, which meets the cable requirements. The outer diameter of the conduit that meets the bending radius requirement is checked for collision with the available space for conduit placement in the prefabricated component constrained perforation path. If there is no conflict with the reinforcing bars or embedded parts, the current inner diameter is determined to be the optimal wire diameter. For example, if the above-mentioned DN32 conduit is located in the ordinary area of ​​the composite floor slab, and the reinforcing bar spacing of 200mm can accommodate it, it is determined to be the optimal wire diameter. If it is located in the shear wall stirrup densified area, and the reinforcing bar spacing of only 120mm cannot accommodate the DN32 pipe, a path adjustment request is triggered. The path position is finely adjusted through the minimum energy path deformation algorithm to obtain a larger available space for conduit placement, and then the calculation is repeated until the optimal wire diameter that simultaneously meets the three constraints is found.

[0062] This step replaces traditional manual experience-based diameter selection with multi-constraint iterative quantitative calculations, avoiding the common problems in traditional processes where selecting the wrong diameter leads to difficulties in wire threading and damage to the cable insulation, while selecting the wrong diameter wastes internal space of prefabricated components and increases material costs. By incorporating the cable bending radius and available conduit space into the mandatory verification process, problems such as cable bending damage and the inability to pre-bury conduits during later wire threading are avoided from the outset. At the same time, it automates and standardizes wire diameter selection, significantly improving the efficiency and consistency of prefabricated component production, increasing the first-time success rate of wire threading, and significantly reducing rework costs in later electromechanical installation.

[0063] Furthermore, the pre-embedding control of the threading channel according to the target pose includes: the six-degree-of-freedom pose data includes translational and rotational components; the difference between the six-degree-of-freedom pose data and the target pose is calculated in a unified coordinate system to obtain translational deviation vectors and rotational deviation vectors; based on the norms of the translational deviation vectors and rotational deviation vectors, the deviation level is determined according to preset multi-level deviation thresholds; based on the deviation level determination result, the shape memory alloy element is electrically heated, and the temperature of the shape memory alloy element and the internal temperature of the concrete are detected in real time, so that the temperature of the shape memory alloy element rises above its phase transformation temperature to generate shrinkage strain, wherein the shrinkage direction of the shape memory alloy element is opposite to the direction of the translational deviation vector; by controlling the power and duration of the electric heating, the magnitude and duration of the reverse restoring force are adjusted to gradually pull the pose of the threading tube back to the target pose, thereby pre-embedding control of the threading channel.

[0064] Specifically, the translational deviation vector is the difference vector between the real-time center coordinates of a monitoring point on the conduit and the target center coordinates in the three-dimensional space of the device. It contains components in three orthogonal directions (X, Y, Z) and simultaneously characterizes the magnitude and direction of the deviation, serving as the core basis for determining the activation direction of the shape memory alloy element. The rotational deviation vector is the difference vector between the real-time axial direction of a monitoring point on the conduit and the axial direction of the target. It is represented using Euler angles and contains three rotational components: pitch, roll, and yaw. It is used to calculate the differential restoring force required for torsional correction. The vector norm uses the L2 norm (Euclidean distance) to convert the three-dimensional deviation vector into a single scalar value, used to quantify the total degree of deviation. The translational deviation norm = Rotational deviation norm = The multi-level deviation threshold is a preset three-level quantitative judgment standard. The first-level threshold (translation ≤ 2mm, rotation ≤ 1°) is normal fluctuation and does not require intervention; the second-level threshold (2mm < translation ≤ 5mm, 1° < rotation ≤ 3°) is a slight deviation that requires precise correction; and the third-level threshold (translation > 5mm, rotation > 3°) is a severe deviation that requires strong correction and warning.

[0065] Specifically, the six-DOF pose data after Kalman filtering and the target pose are transformed into the global coordinate system of the prefabricated part. Differences are calculated between corresponding components to obtain the three-dimensional translational deviation vector and the three-dimensional rotational deviation vector. The L2 norm of each vector is calculated and compared with a preset three-level deviation threshold to determine the deviation level. When the deviation exceeds the first-level threshold, shape memory alloy elements with corresponding positions and directions are automatically matched according to the direction of the deviation vector: pure translational deviation activates a single set of shape memory alloys with the opposite deviation direction, and pure rotational deviation activates two sets of circumferentially symmetrically distributed shape memory alloys for differential operation. Heating and combining deviations simultaneously activate multiple sets of shape memory alloys in corresponding directions; a corresponding level of DC voltage is applied to the selected shape memory alloy element, while the temperature of the shape memory alloy and the internal temperature of the surrounding concrete are detected in real time by miniature thermocouples embedded on the surface of the shape memory alloy wire, controlling the temperature of the shape memory alloy element within the phase transition range of 45-55℃. When the temperature exceeds 55℃, the power is immediately cut off for cooling, and the power is restored when the temperature is below 45℃; the magnitude of the reverse restoring force is adjusted by controlling the power and duration of the power supply, and the deviation is gradually corrected by adopting a segmented control strategy of heating-pause-detection.

[0066] For example, when a monitoring point exhibits a pure translational deviation of 3mm along the positive X-axis (norm 3mm, second-order deviation), a 0.5mm diameter shape memory alloy element positioned along the negative X-axis at that point is activated. A 3V DC voltage is applied and heated for 10 seconds, causing the shape memory alloy element to reach 50℃ and generate approximately 8N of reverse restoring force, smoothly pulling the conduit back to its target position. When a bend exhibits a pure rotational deviation of 2° around the Y-axis (norm 2°, second-order deviation), a 2.5V voltage is applied to the upper shape memory alloy element at that point and heated for 8 seconds, while the lower shape memory alloy element remains unenergized. The rotational deviation is corrected by differential contraction generating a torsional torque. When a long pipe section exhibits a translational deviation of 2mm along the X-axis and 2mm along the Y-axis, superimposed with a rotational deviation of 1.5° around the Z-axis... For a translational norm of 2.83 mm and a rotational norm of 1.5°, with a second-order deviation, two sets of shape memory alloy elements in the negative X and Y directions and a differential shape memory alloy element corresponding to the torsion are activated simultaneously. A segmented method of "heating for 5 seconds, pausing for 3 seconds, and repeating 3 times" is adopted. After each heating, the pose is detected and the heating parameters for the next cycle are adjusted to gradually reduce the deviation to within the first-order threshold. During the entire calibration process, the MEMS sensor continuously collects pose data at a frequency of 100 Hz for closed-loop feedback. When the translational deviation norm is ≤2 mm and the rotational deviation norm is ≤1°, the power supply and heating of all shape memory alloy elements are immediately stopped to prevent overcalibration. If the deviation still cannot be reduced to the allowable range after 3 consecutive calibration cycles, an audible and visual alarm is immediately triggered and the abnormal position is marked.

[0067] In summary, the intelligent pre-embedded control method for the wiring channel of precast concrete components provided in this application has the following technical effects: 1. Digital modeling is employed to establish constrained perforation pathways for precast components, incorporating geometric paths, rebar avoidance constraints, and interface matching relationships. Path parameters are analyzed, and multi-component pathway alignment and optimal wire diameter search are performed. Intelligent conduits integrating MEMS attitude sensors and shape memory alloy elements are fabricated. During casting, pose is acquired in real-time and actively corrected using the shape memory alloy elements. This achieves closed-loop control of the entire pre-embedded conduit process, fundamentally solving the displacement and skewness problem caused by vibration and improving pre-embedding accuracy to the millimeter level.

[0068] 2. A minimum energy path deformation algorithm is employed for path deviation compensation. A total energy function consisting of displacement energy, bending energy, and collision energy is constructed, and its minimum value is found using the gradient descent method. Priority is given to moving bend positions while maintaining the coordinates of the path's start and end points unchanged. This identifies the optimal adjustment scheme that minimizes changes to the original path, avoiding new rebar collisions or spatial conflicts, and significantly improving the computational efficiency of path adjustment.

[0069] 3. When severe congestion is detected, the system identifies whether pre-planned redundant paths are intact, invokes a constrained path search algorithm to dynamically generate alternative physical paths that meet the requirements for rebar avoidance and bending radius, and matches a tiered response strategy based on the availability of alternative paths. This multi-level congestion management system automatically resolves the vast majority of congestion problems, significantly reducing manual intervention and unnecessary project delays.

[0070] Example 2 Based on the same inventive concept as the intelligent pre-embedded control method for the wiring channel of the precast concrete component in the foregoing embodiments, such as Figure 2As shown in the embodiment of this application, an intelligent pre-embedded control system for the wiring channels of precast concrete components is provided. This system includes: a constrained wiring path establishment module 11, used to decompose the concrete workpiece according to the building design drawings and establish constrained wiring paths for the precast components. The constrained wiring paths include the geometric path of the wiring path inside each precast component, the constraint conditions for avoiding reinforcing bars, and the matching relationship of the channel interfaces; and a wiring optimal wire diameter search module 12, used to analyze the center coordinates and redundant path quantity of the wiring path based on the constrained wiring paths of the precast components, and to align the wiring paths of multiple types of precast components according to the analyzed path parameters and the constrained wiring paths of the precast components, and to search for... The optimal wire diameter for threading; the shape memory alloy element setting module 13, used to set shape memory alloy elements on the outer wall of the pre-embedded threading pipe according to the optimal wire diameter for threading, and to pre-embed MEMS attitude sensors; the pre-embedded control module 14, used to collect the six-degree-of-freedom pose data of the threading pipe in real time through the MEMS attitude sensor during concrete pouring and vibration, and compare it with the preset target pose, the target pose including the center coordinates and the pipe axis direction. When the pose deviation exceeds the preset allowable range, the shape memory alloy element is energized and heated to cause phase change contraction and apply a reverse restoring force to the threading pipe, and the pre-embedded control of the threading channel is performed according to the target pose.

[0071] Furthermore, the intelligent pre-embedded control system for the conduit channel of the precast concrete component is also used to perform the following steps: using a flexible capacitive sensor array to scan the area where the pre-embedded conduit is located, measuring the capacitance value and retrieving the dielectric constant distribution image; based on the dielectric constant distribution image, identifying the flattening deformation or micro-cracks of the conduit, and if damage is detected, marking the damage location and triggering a replacement alarm.

[0072] Furthermore, the intelligent pre-embedded control system for the conduit channel of the precast concrete component is also used to perform the following steps: setting an acoustic transducer at one end of the conduit, intermittently emitting acoustic pulses during the concrete pouring process, and receiving reflected or transmitted waves; judging in real time whether cement slurry has seeped into the pipe and the location of the blockage based on the time difference of flight and amplitude attenuation of the waveform; and based on the identified blockage location, initiating high-pressure flushing or triggering an alarm when the degree of blockage exceeds a threshold.

[0073] Furthermore, the intelligent pre-embedded control system for the wiring channel of the precast concrete component is also used to perform the following steps: based on the location of the blockage, identifying whether the wiring path is configured with a redundant path, and identifying whether there is an alternative physical path within the constrained perforation path range inside the precast component; wherein, the redundant path is a pre-planned backup wiring channel; the alternative physical path is an alternative wiring route dynamically generated by a path search algorithm under the premise of meeting the requirements of avoiding steel reinforcement constraints and bending radius; based on the identification results of the redundant path and the alternative physical path, and the degree of blockage, performing a high-pressure flushing and alarm triggering response relationship matching, and performing high-pressure flushing or alarm triggering based on the matching result.

[0074] Furthermore, the intelligent pre-embedded control system for the wiring channels of the precast concrete components is also used to perform the following steps: interactively collecting monitoring data, alarm information, compensation intervention parameters, and constructing redundant wiring paths throughout the entire life cycle of concrete pouring, and establishing a traceability database; based on the traceability database, constructing a traceability identification module, which includes an RFID chip embedded in the precast component, the RFID chip being used to store at least a portion of the data in the traceability database and for reading devices to identify and obtain the wiring channel information of the corresponding precast component; according to the traceability database, resolving the wiring position constraints, and setting a visible positioning mark at the corresponding wiring channel exit on the surface of the precast component, the visible positioning mark being a thermochromic heat-shrink label or a magnetic fingerprint coding layer, for on-site construction personnel to directly visually or quickly locate using a handheld detector.

[0075] Furthermore, the intelligent pre-embedded control system for the wiring channels of the precast concrete components is also used to perform the following steps: extracting the center coordinates and axial direction vector of the wiring path to be connected in adjacent precast components at the component interface; aligning the wiring paths of multiple types of precast components based on the center coordinates and axial direction vector; wherein, calculating the spatial position deviation and angular deviation between adjacent interfaces, and when the spatial position deviation or the angular deviation exceeds the preset allowable range, automatically adjusting the path inside at least one component to perform deviation compensation alignment; if the deviation compensation alignment cannot meet the target requirements, marking the precast component with deviation as a design conflict and outputting an alarm.

[0076] Furthermore, the intelligent pre-embedded control system for the concrete precast component's wiring channel is also used to perform the following steps: using a minimum energy path deformation algorithm, prioritizing the movement of the bend position while keeping the starting and ending coordinates unchanged.

[0077] Furthermore, the intelligent pre-embedded control system for the wiring channel of the precast concrete component is also used to perform the following steps: obtaining the list parameters of the precast component to be wired, including cable type, single diameter, quantity, and minimum allowable bending radius; calculating the minimum candidate inner diameter that satisfies the requirement that the total cross-sectional area occupancy of the cable does not exceed a preset threshold based on the precast component list parameters; verifying whether the bending radius corresponding to the minimum candidate inner diameter meets the minimum allowable bending radius of the cable, and if not, increasing the inner diameter until the bending radius is qualified; simultaneously, verifying whether the increased inner diameter conflicts with the space available for pipe laying in the precast component's constrained perforation passage, and if there is no conflict, determining the current inner diameter as the optimal wire diameter.

[0078] Furthermore, the intelligent pre-embedded control system for the conduit channel of the precast concrete component is also used to perform the following steps: the six-degree-of-freedom pose data includes translational and rotational components; the difference between the six-degree-of-freedom pose data and the target pose is calculated in a unified coordinate system to obtain translational deviation vectors and rotational deviation vectors; based on the norms of the translational deviation vectors and rotational deviation vectors, the deviation level is determined according to preset multi-level deviation thresholds; based on the deviation level determination result, the shape memory alloy element is electrically heated, and the temperature of the shape memory alloy element and the internal temperature of the concrete are detected in real time, so that the temperature of the shape memory alloy element rises above its phase transformation temperature to generate shrinkage strain, wherein the shrinkage direction of the shape memory alloy element is opposite to the direction of the translational deviation vector; by controlling the power and duration of the electric heating, the magnitude and duration of the reverse restoring force are adjusted to gradually pull the pose of the conduit back to the target pose, thereby controlling the pre-embedding of the conduit channel.

[0079] In summary, any step of the method described above can be stored as a computer instruction or program in an unrestricted computer memory, and can be called and identified by an unrestricted computer processor to implement any method in the embodiments of this application, without any additional restrictions.

[0080] Furthermore, the "first" or "second" mentioned above may not only represent a sequential relationship, but may also represent a specific concept, and / or refer to the individual or collective selection of multiple elements. Clearly, those skilled in the art can make various modifications and variations to this application without departing from its scope. Therefore, if such modifications and variations fall within the scope of this application and its equivalents, this application intends to include such modifications and variations.

Claims

1. A method for intelligent pre-embedded control of wiring channels in precast concrete components, characterized in that, include: According to the building design drawings, the concrete workpieces are decomposed and the precast component constrained perforation path is established. The constrained perforation path includes the geometric path of the wire channel inside each precast component, the constraint conditions for avoiding the reinforcing bars, and the matching relationship of the channel interface. Based on the prefabricated component constrained perforation path, the center coordinates and redundant path quantity of the threading path are analyzed, and the threading paths of multiple types of prefabricated components are aligned according to the analyzed path parameters and the prefabricated component constrained perforation path, and the optimal wire diameter for threading is searched. Based on the optimal wire diameter, shape memory alloy elements are installed on the outer wall of the pre-embedded conduit, and a MEMS attitude sensor is pre-embedded. During concrete pouring and vibration, the six-degree-of-freedom pose data of the conduit is collected in real time by a MEMS attitude sensor and compared with the preset target pose, which includes the center coordinates and the direction of the pipe axis. When the pose deviation exceeds the preset allowable range, the shape memory alloy element is energized and heated to cause phase change contraction and apply a reverse restoring force to the conduit. The pre-embedding control of the conduit channel is performed according to the target pose.

2. The intelligent pre-embedded control method for the wiring channel of precast concrete components according to claim 1, characterized in that, Before pouring concrete, the following also applies: A flexible capacitive sensor array is used to scan the area where the pre-embedded conduit is located, and the capacitance value is measured to retrieve the dielectric constant distribution image. Based on the dielectric constant distribution image, the flattening deformation or micro-cracks of the conduit are identified. If damage is detected, the location of the damage is marked and a replacement alarm is triggered.

3. The intelligent pre-embedded control method for the wiring channel of precast concrete components according to claim 2, characterized in that, Also includes: An acoustic transducer is installed at one end of the conduit to intermittently emit acoustic pulses during the concrete pouring process and receive reflected or transmitted waves. Based on the time-of-flight difference and amplitude attenuation of the waveform, it is possible to determine in real time whether cement slurry has seeped into the pipe and the location of the blockage. Based on the identified location of the blockage, when the degree of blockage exceeds a threshold, high-pressure flushing is initiated or an alarm is triggered.

4. The intelligent pre-embedded control method for the wiring channel of precast concrete components according to claim 3, characterized in that, Based on the identified blockage location, when the blockage level exceeds a threshold, high-pressure flushing or an alarm is triggered, including: Based on the location of the blockage, it is identified whether the threading path is configured with a redundant path, and whether there is an alternative physical path within the constrained perforation path range inside the precast component; wherein, the redundant path is a pre-planned backup threading channel; the alternative physical path is an alternative threading route dynamically generated by a path search algorithm under the premise of meeting the requirements of avoiding steel reinforcement constraints and bending radius. Based on the identification results of the redundant paths and alternative physical paths, and the degree of blockage, a response relationship matching of high-pressure flushing and alarm triggering is performed, and high-pressure flushing or alarm triggering is performed based on the matching results.

5. The intelligent pre-embedded control method for the wiring channel of precast concrete components according to claim 4, characterized in that, Also includes: The monitoring data, alarm information, compensation intervention parameters, and redundant wiring paths are used to establish a traceability database throughout the entire life cycle of concrete pouring. Based on the traceability database, a traceability identification module is constructed. The traceability identification module includes an RFID chip embedded in the prefabricated component. The RFID chip is used to store at least part of the data in the traceability database and to be identified by a reading device to obtain the threading channel information of the corresponding prefabricated component. Based on the source database analysis of the constraint threading position, visible positioning marks are set at the corresponding threading channel exit on the surface of the precast component. The visible positioning marks are thermochromic heat shrink labels or magnetic fingerprint coding layers, which can be directly visually observed by on-site construction personnel or quickly located by handheld detectors.

6. The intelligent pre-embedded control method for the wiring channel of precast concrete components according to claim 1, characterized in that, Aligning the wiring paths for various types of prefabricated components, including: Extract the center coordinates and axial direction vector of the threading path to be connected in adjacent precast components at the component interface; Based on the center coordinates and axis direction vector, the wiring paths of various types of pre-components are aligned; Specifically, the spatial position deviation and angular deviation between adjacent interfaces are calculated. When the spatial position deviation or the angular deviation exceeds a preset allowable range, the path inside at least one component is automatically adjusted to perform deviation compensation and alignment. If the deviation compensation alignment fails to meet the target requirements, the deviation pre-component is marked as a design conflict and an alarm is output.

7. The intelligent pre-embedded control method for the wiring channel of precast concrete components according to claim 6, characterized in that, Automatically adjust the path within at least one component to compensate for deviations and align it, including: The minimum energy path deformation algorithm is adopted to prioritize moving the bend position while keeping the start and end coordinates unchanged.

8. The intelligent pre-embedded control method for the wiring channel of precast concrete components according to claim 6, characterized in that, Search for the optimal wire gauge for threading, including: Obtain the list of prefabricated components to be threaded, including cable type, single diameter, quantity, and minimum allowable bending radius; Based on the parameters in the prefabricated component list, calculate the minimum candidate inner diameter that satisfies the requirement that the total cross-sectional area occupancy of the cable does not exceed a preset threshold. Verify whether the bending radius corresponding to the minimum candidate inner diameter meets the minimum allowable bending radius of the cable. If it does not meet the requirement, increase the inner diameter until the bending radius is acceptable. At the same time, it is checked whether the increased inner diameter conflicts with the space available for pipe placement in the prefabricated component's constrained perforation passage. If there is no conflict, the current inner diameter is determined as the optimal wire diameter.

9. The intelligent pre-embedded control method for the wiring channel of precast concrete components according to claim 1, characterized in that, Pre-embedded control of the threading channel according to the target orientation includes: The six-degree-of-freedom pose data includes translational and rotational components. The difference between the six-degree-of-freedom pose data and the target pose is calculated in a unified coordinate system to obtain the translational deviation vector and the rotational deviation vector. Based on the norms of the translation deviation vector and the rotation deviation vector, the deviation level is determined according to a preset multi-level deviation threshold. Based on the deviation level determination result, the shape memory alloy element is heated by electricity, and the temperature of the shape memory alloy element and the internal temperature of the concrete are detected in real time. The temperature of the shape memory alloy element is raised to above its phase transformation temperature to generate shrinkage strain, wherein the shrinkage direction of the shape memory alloy element is opposite to the direction of the translation deviation vector. By controlling the power and duration of the electric heating, and adjusting the magnitude and duration of the reverse restoring force, the position of the conduit is gradually pulled back to the target position, thereby controlling the pre-embedding of the conduit channel.

10. An intelligent pre-embedded control system for wiring channels in precast concrete components, characterized in that, The system is used to implement the intelligent pre-embedded control method for conduit channels in precast concrete components according to any one of claims 1 to 9, the system comprising: The constrained perforation path establishment module is used to decompose concrete workpieces according to building design drawings and establish constrained perforation paths for precast components. The constrained perforation paths include the geometric path of the wire channel inside each precast component, the constraint conditions for avoiding reinforcing bars, and the matching relationship of the channel interface. The optimal wire diameter search module is used to analyze the center coordinates and redundant path of the threading path based on the constraint perforation path of the prefabricated component, and to align the threading paths of various types of prefabricated components according to the analyzed path parameters and the constraint perforation path of the prefabricated component, and search for the optimal wire diameter. A shape memory alloy element setting module is used to set shape memory alloy elements on the outer wall of the pre-embedded conduit according to the optimal wire diameter, and to pre-embed MEMS attitude sensors. The pre-embedded control module is used to collect the six-degree-of-freedom pose data of the conduit in real time through MEMS attitude sensors during concrete pouring and vibration, and compare it with the preset target pose, which includes the center coordinates and the direction of the pipe axis. When the pose deviation exceeds the preset allowable range, the shape memory alloy element is energized and heated to cause phase change contraction and apply a reverse restoring force to the conduit, thereby controlling the pre-embedding of the conduit channel according to the target pose.

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