Method and device for path correction of component hoisting, computer equipment and medium

Abstract

The application belongs to the technical field of intelligent buildings, and relates to a component hoisting path correction method and device, computer equipment and a medium, comprising: generating an initial path of component hoisting according to a preset building information model, and performing hoisting operation on the component according to the initial path; obtaining environmental parameters of the hoisting operation and current state parameters of the component; when a condition for re-planning the initial path is met, determining a conflict path segment in the initial path according to the current state parameters; correcting the conflict path segment according to the building information model and the environmental parameters to obtain a corrected path segment; verifying the corrected path segment according to the environmental parameters and the current state parameters to obtain a verification result, replacing the conflict path segment with the corrected path segment when the verification result is verified, and obtaining a target path of component hoisting. The application improves the condition that the fabricated component hoisting is difficult to adapt to the dynamic working condition interference of the construction site, and reduces the probability of deviation of the hoisting path.

Description

Technical Field

[0001] This application relates to the field of intelligent building technology, and in particular to a method, apparatus, computer equipment, and medium for correcting the path of component hoisting. Background Technology

[0002] With the rapid advancement of industrialized and intelligent construction of prefabricated buildings, the on-site hoisting of prefabricated components, as a key construction process, has continuously increased the requirements for operational accuracy, safety, and construction efficiency. Intelligent hoisting control has become an important direction for the industry's development.

[0003] Currently, prefabricated component hoisting operations largely rely on Building Information Modeling (BIM) models for preliminary planning, supplemented by positioning and attitude monitoring sensors. Component transfer and placement are accomplished through a combination of pre-set hoisting procedures and manual fine-tuning, enabling basic hoisting path planning and status monitoring. However, construction sites are susceptible to variable conditions such as sudden wind speeds, dynamic obstacles, and component swaying. Existing hoisting control methods struggle to adapt to real-time dynamic disturbances. Hoisting paths can only be preset offline before operation and cannot be dynamically corrected based on real-time conditions, leading to path deviations. Path deviations directly result in insufficient component placement accuracy and reduced hoisting efficiency, and also increase the risk of spatial interference from multiple equipment operating simultaneously.

[0004] In view of the above, this application is hereby submitted. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, computer equipment and medium for correcting the hoisting path of components, so as to solve the technical problem that the hoisting of prefabricated components cannot adapt to the dynamic working conditions of the construction site, resulting in deviations in the hoisting path.

[0006] To address the aforementioned technical problems, this application provides a method for correcting the path of component hoisting, employing the following technical solution: Based on the preset building information model, an initial path for hoisting the component is generated, and the component is hoisted according to the initial path. The environmental parameters of the hoisting operation and the current status parameters of the component are obtained. The environmental parameters include on-site wind speed parameters and dynamic obstacle information. When the conditions for replanning the initial path are met, conflicting path segments are determined in the initial path according to the current state parameters. The conflicting path segments include the path start point and the path end point. Based on the building information model and the environmental parameters, the conflict path segment is corrected to obtain a corrected path segment, which includes multiple corrected path trajectory points; Based on the environmental parameters and the current state parameters, the corrected path segment is verified to obtain a verification result. When the verification result is successful, the conflicting path segment is replaced with the corrected path segment to obtain the target path for the component hoisting.

[0007] Furthermore, the verification result is either verification passed or verification failed. The verification of the corrected path segment based on the environmental parameters and the current state parameters to obtain the verification result includes: Based on the on-site wind speed parameters and the current state parameters, determine the safe zone corresponding to each of the corrected path trajectory points; Calculate the overlap range between each of the safety zones and the dynamic obstacle information, and verify whether the overlap range is less than a preset overlap threshold. If the overlap range is less than the preset overlap threshold, the verification is deemed successful. If the overlap range is greater than or equal to the preset overlap threshold, the verification is determined to fail.

[0008] Furthermore, the current state parameters include the physical parameters of the component, and determining the safe area corresponding to each of the corrected path trajectory points based on the on-site wind speed parameters and the current state parameters includes: The on-site wind speed parameters and physical parameters are calculated to obtain the safety radius compensation value corresponding to each of the corrected path trajectory points; The target safety radius is obtained by superimposing the safety radius compensation value and the preset basic safety radius, and the safety area is determined based on the target safety radius.

[0009] Furthermore, the step of correcting the conflicting path segment based on the building information model and the environmental parameters to obtain a corrected path segment includes: A gravitational field model is constructed based on the path endpoint, and a repulsive field model is constructed based on the building information model and the dynamic obstacle information. The direction of movement of the component is determined based on the gravitational field model and the repulsive field model. Based on the direction of movement, the starting point of the path is iterated to obtain multiple corrected path trajectory points of the component.

[0010] Furthermore, the current state parameter includes the current position of the component, and when the condition for replanning the initial path is met, determining conflicting path segments in the initial path based on the current state parameter includes: When the conditions for replanning the initial path are met, the current position of the component is taken as the starting point of the path in the initial path; Based on the dynamic obstacle information, determine the path endpoint in the initial path; The path between the starting point and the ending point of the path is identified as the conflicting path segment.

[0011] Furthermore, generating the initial path for hoisting the component based on the preset building information model includes: The lifting no-collision zone, tower crane parameters, component lifting position, and target installation position are extracted from the building information model. Based on the component's lifting position and the target installation position, multiple reference paths are generated; Based on the lifting no-collision zone and the tower crane parameters, multiple reference paths are filtered to obtain the initial path.

[0012] Furthermore, before determining conflicting path segments in the initial path based on the current state parameters when the conditions for replanning the initial path are met, the process further includes: Based on the initial path and the preset safety operation threshold, the environmental parameters are detected to obtain a first detection result, which is either a successful detection or a failed detection. The current status parameter is detected based on the safety operation threshold to obtain a second detection result, which is either a successful detection or a failed detection. When either the first or second detection result is a failure, it is determined that the conditions for initial path replanning are met.

[0013] To address the aforementioned technical problems, this application also provides a path correction device for component hoisting, employing the following technical solution: A path correction device for component hoisting, comprising: The generation module is used to generate an initial path for hoisting the component based on a preset building information model, and to perform hoisting operations on the component according to the initial path; The acquisition module is used to acquire environmental parameters of the hoisting operation and current status parameters of the component. The environmental parameters include on-site wind speed parameters and dynamic obstacle information. The determination module is used to determine conflicting path segments in the initial path based on the current state parameters when the conditions for replanning the initial path are met. The conflicting path segments include a path start point and a path end point. The correction module is used to correct the conflict path segment according to the building information model and the environmental parameters to obtain a corrected path segment, which includes multiple corrected path trajectory points. The verification module is used to verify the corrected path segment according to the environmental parameters and the current status parameters, obtain the verification result, and when the verification result is that the verification is successful, replace the conflicting path segment with the corrected path segment to obtain the target path for the component hoisting.

[0014] To address the aforementioned technical problems, this application also provides a computer device that employs the following technical solution: A computer device includes a memory and a processor, the memory storing computer-readable instructions, the processor executing the computer-readable instructions to implement the steps of the path correction method for component hoisting as described above.

[0015] To address the aforementioned technical problems, this application also provides a computer-readable storage medium, employing the technical solution described below: A computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps of the path correction method for component hoisting as described above.

[0016] Compared with the prior art, this application has the following main advantages: The component hoisting path correction method disclosed in this application generates an initial hoisting path using a pre-set building information model. While performing hoisting operations according to this initial path, it continuously acquires environmental parameters and the current state parameters of the component, comprehensively sensing real-time changes at the construction site. When path replanning conditions are met, conflicting path segments in the initial path are identified based on the current state parameters of the component, promptly identifying areas where the path does not match the site conditions. After correcting the conflicting path segments using the building information model and environmental parameters, a corrected path segment is obtained, allowing the local path to conform to the real-time state of the construction site. The corrected path segment is then verified based on the environmental parameters and the current state parameters of the component. Replacing the conflicting path segments in the initial path with the verified corrected path segments forms a target path adapted to the site conditions. This effectively improves the situation where prefabricated component hoisting struggles to adapt to dynamic site conditions, reduces the probability of hoisting path deviations, and ensures the continuous and stable operation of hoisting. Attached Figure Description

[0017] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an exemplary system architecture diagram to which this application can be applied; Figure 2 This is a flowchart of one embodiment of the component hoisting path correction method according to this application; Figure 3 This is a schematic diagram of a structure of an embodiment of the component hoisting path correction device according to this application; Figure 4 This is a schematic diagram of the structure of one embodiment of the computer device according to this application. Detailed Implementation

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0022] like Figure 1As shown, the system architecture 100 may include a first terminal device 101, a second terminal device 102, a third terminal device 103, a network 104, and a server 105. The network 104 serves as a medium for providing communication links between the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server 105. The network 104 may include various connection types, such as wired or wireless communication links, or fiber optic cables, etc.

[0023] Users can use the first terminal device 101, the second terminal device 102, and the third terminal device 103 to interact with the server 105 via the network 104 to receive or send messages, etc. Various communication client applications can be installed on the first terminal device 101, the second terminal device 102, and the third terminal device 103, such as web browser applications, shopping applications, search applications, instant messaging tools, email clients, social platform software, etc.

[0024] The first terminal device 101, the second terminal device 102, and the third terminal device 103 can be various electronic devices with displays and support web browsing, including but not limited to smartphones, tablets, e-book readers, MP3 (Moving Picture Experts Group Audio Layer Ⅲ) players, MP4 (Moving Picture Experts Group Audio Layer IV) players, laptops, and desktop computers, etc.

[0025] Server 105 can be a server that provides various services, such as a backend server that supports the pages displayed on the first terminal device 101, the second terminal device 102, and the third terminal device 103.

[0026] It should be noted that the component hoisting path correction method provided in this application embodiment is generally executed by the terminal device, and correspondingly, the component hoisting path correction device is generally installed in the terminal device.

[0027] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0028] Continue to refer to Figure 2 The diagram shows a flowchart of an embodiment of the component hoisting path correction method according to this application. The component hoisting path correction method includes the following steps: Step S201: Generate an initial path for hoisting the component based on a preset building information model, and perform hoisting operations on the component according to the initial path.

[0029] In this embodiment, the component hoisting path correction method operates on electronic equipment (e.g., ...). Figure 1 The terminal device shown can send or receive data via wired or wireless connection. It should be noted that the aforementioned wireless connection methods may include, but are not limited to, 3G / 4G / 5G connections, Wi-Fi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB (ultra-wide band) connections, and other currently known or future wireless connection methods.

[0030] In this embodiment, the preset building information model is a pre-constructed and imported 3D digital model of the prefabricated building construction scene, containing model information of prefabricated components, tower cranes, construction sites, and building structures. It also carries static data such as no-collision zones for hoisting, tower crane operating parameters, component lifting positions, and target installation positions. Specifically, based on the preset building information model, static construction information such as no-collision zones for hoisting, tower crane parameters, component lifting positions, and target installation positions are extracted from the construction scene. This information is then processed using A* (A* Star) technology. A geometric path search algorithm is used to generate an initial path for component hoisting, aiming for collision-free operation and suitability for tower crane operation. Alternatively, Dijkstra's algorithm or Rapidly-exploring Random Tree (RRT) algorithm can be employed. The component is then hoisted according to this initial path. During the operation, environmental parameters and the current state parameters of the component are acquired in real time through on-site sensors.

[0031] Step S202: Obtain the environmental parameters of the hoisting operation and the current state parameters of the component. The environmental parameters include on-site wind speed parameters and dynamic obstacle information.

[0032] In this embodiment, environmental parameters are real-time working condition information of the construction site collected during the hoisting operation, mainly including on-site wind speed parameters and dynamic obstacle information. On-site wind speed parameters reflect the real-time wind force at the construction site, while dynamic obstacle information identifies temporary facilities and personnel that may change location at the construction site. Current state parameters are the real-time operating status information of the component during the hoisting process, including the component's current position, pose parameters, and physical parameters. The current position determines the component's real-time spatial coordinates, the pose parameters reflect the component's pitch, roll, yaw states, and swing angle, and the physical parameters reflect the component's weight, stress conditions, and real-time hoisting height. Specifically, environmental parameters are obtained by collecting on-site wind speed parameters through a wind speed sensor, dynamic obstacle information is acquired through radar sensor scanning, and current state parameters are obtained through positioning, attitude, and detection sensing devices.

[0033] Step S203: When the conditions for replanning the initial path are met, a conflicting path segment is determined in the initial path according to the current state parameters. The conflicting path segment includes the path start point and the path end point.

[0034] In this embodiment, the conflict path segment is a local path section in the initial hoisting path that no longer meets the safe passage requirements due to the intrusion of dynamic obstacles, environmental parameters, or component state parameters exceeding the safe operation threshold. This segment is defined by a predetermined path start and end point and is the target segment requiring path correction. During the hoisting operation, the on-site environmental parameters and the current state parameters of the component are verified according to the preset safe operation threshold. When the environmental parameters or current state parameters exceed the safe operation threshold, it is determined that the conditions for replanning the initial path are met. The preset safe operation threshold is a pre-configured safety critical parameter for hoisting operations, used to determine whether the on-site conditions and component state exceed the safe operation range. It is the basis for triggering path replanning and includes the maximum allowable wind speed for hoisting operations, the maximum allowable swing angle of the component, the maximum allowable deviation range for component positioning, and the kinematic limits of tower crane operation. After the path replanning conditions are met, the conflict path segment is located in the initial path based on the current state parameters of the component. The current position of the component is used as the starting point of the conflict path segment, and the end point of the conflict path segment is determined in the initial path based on dynamic obstacle information. The path between the starting point and the end point is defined as the conflict path segment.

[0035] Step S204: Based on the building information model and the environmental parameters, the conflict path segment is corrected to obtain a corrected path segment, which includes multiple corrected path trajectory points.

[0036] In this embodiment, the conflict path segment can be corrected by the artificial potential field method. Based on the target position of the end point of the conflict path segment and the distribution of surrounding obstacles, the corresponding potential field constraint conditions are constructed. The safe movement direction of the component is determined by the attraction generated by the target position and the repulsion generated by the obstacle area. Continuous path trajectory points are generated step by step according to this direction. Multiple trajectory points are combined to form a complete corrected path segment, so that the corrected path segment can avoid on-site obstacles and adapt to the actual state of the current construction space.

[0037] In addition, local safety spaces can be determined by combining building information modeling with environmental parameters. Within this local safety space, geometric interpolation calculations are performed between the start and end points of conflict path segments to generate smooth local trajectories that avoid obstacles. Continuous points on the trajectory are extracted according to the spacing to form corrected path segments containing multiple corrected path trajectory points.

[0038] Step S205: Based on the environmental parameters and the current state parameters, the corrected path segment is verified, the corrected path segment that passes the verification is determined as a qualified path segment, and the conflicting path segment is replaced with the qualified path segment to obtain the target path for the component hoisting.

[0039] In this embodiment, the generated corrected path segment is verified by combining the environmental parameters of the hoisting operation with the current state parameters of the component. Specifically, the trajectory points in the corrected path segment are first preliminarily screened according to preset screening conditions, namely wind load constraints, sway constraints, kinematic constraints, and stress constraints. Then, the safe passage range corresponding to the trajectory point is determined by combining the on-site wind speed parameters and the current state parameters of the component. The screened trajectory points are then verified one by one based on the safe passage range and the distribution of dynamic obstacles. If the verification passes, the corrected path segment is determined as a qualified path segment, and the conflicting path segments in the original initial path are replaced with this qualified path segment. If the verification fails, the process returns to the point where conflicting path segments are identified in the initial path based on the current state parameters, the corrected path segment is regenerated, and the verification step is executed again until the verification passes. Finally, align the starting position of the qualified path segment with the starting point of the conflicting path segment, and align the ending position of the qualified path segment with the ending point of the conflicting path segment. Directly replace the conflicting path segment in the initial path with the qualified path segment, and then smooth the connection position to make the qualified path segment seamlessly connected with the original road segment of the initial path, and finally combine to form a complete target path for component hoisting.

[0040] This application generates an initial hoisting path for prefabricated components using a pre-defined building information model (BIM). While hoisting operations proceed along this initial path, it continuously acquires environmental parameters and the current state parameters of the components, comprehensively monitoring real-time changes at the construction site. When path replanning conditions are met, conflicting path segments in the initial path are identified based on the current state parameters of the components, promptly identifying areas where the path does not match the site conditions. After correcting these conflicting path segments using the BIM and environmental parameters, corrected path segments are obtained, allowing local paths to align with the real-time state of the construction site. These corrected path segments are then validated based on environmental and component state parameters. Replacing the conflicting path segments in the initial path with the validated corrected path segments creates a target path adapted to the site conditions. This effectively improves the situation where prefabricated component hoisting struggles to adapt to dynamic site conditions, reduces the probability of hoisting path deviations, and ensures continuous and stable hoisting operations.

[0041] In some optional implementations of this embodiment, the verification result is either verification passed or verification failed. The steps described above for verifying the corrected path segment based on the environmental parameters and the current state parameters to obtain the verification result include: Based on the on-site wind speed parameters and the current state parameters, determine the safe zone corresponding to each of the corrected path trajectory points; Calculate the overlap range between each of the safety zones and the dynamic obstacle information, and verify whether the overlap range is less than a preset overlap threshold. If the overlap range is less than the preset overlap threshold, the verification is deemed successful. If the overlap range is greater than or equal to the preset overlap threshold, the verification is determined to fail.

[0042] In this embodiment, each corrected path trajectory point is used as the center to match its respective defined safety zone. A unified three-dimensional operational space coordinate system is constructed, and the spherical safety zone corresponding to each trajectory point is aligned with the spatial model of the dynamic obstacle. Based on the shape and real-time spatial position of the dynamic obstacle, a three-dimensional enclosed domain of the obstacle is constructed, representing the actual spatial range occupied by the obstacle. Then, the spatial boundary parameters of the safety zone and the spatial vertex coordinates of the obstacle enclosed domain are extracted respectively. Through three-dimensional spatial geometric intersection operations, the common intersection area between the safety zone and the obstacle enclosed domain is solved. The spatial volume value of this intersection area is statistically analyzed to quantify the overlap range between the safety zone and the dynamic obstacle. This overlap range is compared with a preset overlap threshold to determine whether it meets the verification requirements. The preset overlap threshold can be between 0.05 cubic meters and 0.2 cubic meters. If the overlap range is less than the preset overlap threshold, it indicates that there is no collision interference risk, and the corrected path segment is deemed to have passed the verification; if the overlap range is greater than or equal to the preset overlap threshold, it indicates that there is a safety risk, and the verification is deemed to have failed.

[0043] This application defines the safe zone of trajectory points by combining wind speed parameters and component state parameters, quantifies the overlap between the safe zone and obstacles through three-dimensional spatial calculations, and completes the verification based on preset thresholds. It can intuitively judge the risk of path interference, identify safety hazards in a timely manner, provide a clear basis for the correction of hoisting path, and adapt to dynamic obstacle changes on site.

[0044] In some optional implementations of this embodiment, the current state parameter includes the physical parameters of the component, and the step of determining the safe area corresponding to each of the filtered corrected path trajectory points based on the on-site wind speed parameter and the current state parameter includes: The on-site wind speed parameters and physical parameters are calculated to obtain the safety radius compensation value corresponding to each of the corrected path trajectory points; The target safety radius is obtained by superimposing the safety radius compensation value and the preset basic safety radius, and the safety area is determined based on the target safety radius.

[0045] In this embodiment, when calculating the on-site wind speed parameters and the physical parameters of the component, the preset wind load coefficient, weight coefficient, and height coefficient are first retrieved. The weight coefficient reflects the influence of the component's weight on the safety radius and is determined based on the component's material, weight, and hoisting inertia test data. The height coefficient reflects the influence of the hoisting height on the safety radius and is obtained according to the safety requirements for high-altitude operations and the tower crane's operating characteristics. The physical parameters refer to the component's weight and hoisting height. Substituting these parameters into the following formula yields the safety radius compensation value: Safety radius compensation value = Wind load coefficient × On-site wind speed parameter + Weight coefficient × Component weight + Height coefficient × Hoisting height. For example, with a preset wind load coefficient of 0.02, a weight coefficient of 0.001, and a height coefficient of 0.0005, substituting the on-site real-time wind speed of 5 m / s, the component weight of 1000 kg, and the hoisting height of 20 m into the formula, the calculated safety radius compensation value is 0.02 × 5 + 0.001 × 1000 + 0.0005 × 20 = 1.11 m. Finally, the calculated safety radius compensation value is numerically superimposed with the preset basic safety radius to obtain the target safety radius corresponding to each corrected path trajectory point. Then, with the three-dimensional spatial coordinates of each trajectory point as the center and the target safety radius as the demarcation radius, a spherical safety area is formed in the hoisting operation space. This area is the safety area corresponding to the current trajectory point. The preset basic safety radius is a basic safety avoidance benchmark distance pre-set before the hoisting operation, and can be set to 0.5m as the standard setting value.

[0046] This application calculates the safety radius compensation value by combining the on-site wind speed and the physical parameters of the components, and then defines the safety zone by superimposing the foundation safety radius. This can adapt to different wind speeds and hoisting conditions, allowing the safety zone to be dynamically adjusted according to the on-site working conditions, thereby expanding the safety protection range and reducing the possibility of collisions between components and surrounding objects.

[0047] In some optional implementations of this embodiment, the step of correcting the conflicting path segment based on the building information model and the environmental parameters to obtain the corrected path segment includes: A gravitational field model is constructed based on the path endpoint, and a repulsive field model is constructed based on the building information model and the dynamic obstacle information. The direction of movement of the component is determined based on the gravitational field model and the repulsive field model. Based on the direction of movement, the starting point of the path is iterated to obtain multiple corrected path trajectory points of the component.

[0048] In this embodiment, a gravitational field model is constructed using the path endpoint as the gravitational source. The gravitational field generates a gravitational vector pointing towards the endpoint as the distance between the component and the endpoint changes, continuously guiding the component towards the target installation position. A repulsive field model is constructed based on static no-collision zones such as building structures and fixed facilities in the Building Information Model (BIM), combined with real-time collected dynamic obstacle position and contour information. The repulsive field uses obstacles and building structures as repulsive sources, generating a repulsive vector away from the obstacle area, preventing the component from approaching the danger zone. The gravitational and repulsive vectors are superimposed to calculate the current safe movement direction of the component, and the direction of the resultant vector is used to determine the current safe movement direction of the component. Using the path starting point as the initial iteration position, the coordinates of the next position are calculated along the movement direction according to a preset trajectory step size, generating the first initial corrected path trajectory point. This trajectory point is then used as the new iteration starting point, and the steps of gravity and repulsion calculation, vector superposition, direction determination, and coordinate derivation are repeated iteratively to generate subsequent points until the path endpoint is approached, ultimately obtaining multiple consecutive and ordered initial corrected path trajectory points. The preset trajectory step size can be between 0.2m and 0.5m.

[0049] Based on preset screening criteria, multiple initial corrected path trajectory points are filtered to obtain multiple corrected path trajectory points. The preset screening criteria include four types of physical constraints: wind load constraints, sway constraints, kinematic constraints, and stress constraints. Each corrected path trajectory point is verified according to these four constraints. Specifically, for wind load constraints, the allowable operating speed of each trajectory point is calculated as: path operating speed = base speed × (1 - wind load coefficient × real-time wind speed), and trajectory points whose actual operating speed exceeds the calculated value are eliminated. For sway constraints, the turning radius of the trajectory points is verified as: path turning radius ≥ minimum turning radius + sway coefficient × real-time sway angle, and trajectory points whose turning radius does not meet the requirement are eliminated. For kinematic constraints, the operating speeds of the tower crane's slewing, luffing, and lifting are verified, and trajectory points exceeding the equipment's rated operating values ​​are eliminated. For stress constraints, the real-time stress state of the components is detected, and trajectory points corresponding to lifting and rapid translation are eliminated when the stress exceeds a preset threshold. Valid points that simultaneously meet the above four types of constraints are retained from the multiple initial corrected path trajectory points, ultimately yielding the corrected path trajectory points. Among them, the wind load coefficient is a pre-calibrated dimensionless coefficient used to reflect the degree of attenuation of wind speed on hoisting speed. It is obtained by comprehensively calibrating based on the safety specifications for hoisting in building construction, tower crane wind load test data, and component wind resistance characteristics. The reference speed is the standard operating speed set in the initial hoisting path planning stage. It is determined in advance based on BIM model parameters, tower crane foundation performance, component weight, and conventional hoisting conditions. The sway coefficient is also a pre-calibrated dimensionless coefficient used to reflect the degree of influence of component sway angle on turning radius. It is obtained by calibrating based on component hoisting point layout, inertial characteristics, on-site hoisting test data, and construction safety requirements. The preset stress threshold is the maximum stress value that the component can withstand during hoisting. It is preset based on the mechanical properties of component material, structural design specifications, component dimensions, and hoisting stress calculation results.

[0050] This application determines the safe movement direction of the component by superimposing the gravitational field and the repulsive field. After iteratively generating trajectory points, the effective points are then screened by constraint parameters, so that the corrected path fits the actual hoisting conditions, meets the requirements of equipment operation and component safety, can smoothly avoid dangerous areas, and adapt to dynamic changes in on-site operations.

[0051] In some optional implementations of this embodiment, the current state parameter includes the current position of the component, and the step of determining the conflicting path segment in the initial path based on the current state parameter when the condition for replanning the initial path is met includes: When the conditions for replanning the initial path are met, the current position of the component is taken as the starting point of the path in the initial path; Based on the dynamic obstacle information, determine the path endpoint in the initial path; The path between the starting point and the ending point of the path is identified as the conflicting path segment.

[0052] In this embodiment, when the conditions for initial path replanning are met, the current three-dimensional coordinate position of the component within the hoisting space is collected in real time, i.e., the current position, and this current position is directly set as the starting point of the path to be corrected. Then, combined with the real-time distribution range of dynamic obstacles and the boundary positions of those intruding into the initial path, the first safe location point free from the influence of dynamic obstacles is found and determined on the initial path, and this safe location point is taken as the path endpoint. Finally, the initial path segment between the aforementioned starting point and the path endpoint is determined as the conflict path segment.

[0053] This application quickly identifies the path segments that need correction when path replanning is triggered. It delineates local conflict segments with the real-time location of the component as the starting point and the safety point as the ending point, and only processes the local path without changing the original overall route. This reduces the scope of path adjustment, improves the efficiency of hoisting path correction, and better adapts to real-time changes at the construction site.

[0054] In some optional implementations of this embodiment, the step of generating the initial path for hoisting the component based on a preset building information model includes: The lifting no-collision zone, tower crane parameters, component lifting position, and target installation position are extracted from the building information model. Based on the component's lifting position and the target installation position, multiple reference paths are generated; Based on the lifting no-collision zone and the tower crane parameters, multiple reference paths are filtered to obtain the initial path.

[0055] In this embodiment, the no-collision zone refers to the dangerous area where components must absolutely not enter during the hoisting process, including the three-dimensional spatial range of existing building structures, fixed facilities, temporary protective zones, and construction access roads. Tower crane parameters refer to the inherent operating and performance parameters of the tower crane, including slewing radius, luffing stroke, maximum lifting height, rated lifting capacity, and operating speed limits. Component lifting position refers to the initial placement point of the component before hoisting begins, expressed as three-dimensional spatial coordinates. Target installation position refers to the final designed installation point of the component, including three-dimensional coordinates, elevation, and installation orientation.

[0056] Specifically, the component lifting position extracted from the Building Information Model (BIM) is used as the starting node for path planning, and the target installation position is used as the ending node. The A* geometric path search algorithm is employed to generate the initial path. First, the lifting operation space is divided into uniform 3D grid nodes. The algorithm's open and closed lists are initialized, and the starting node is added to the open list. The total cost function is the sum of the actual travel cost and the estimated straight-line cost from the current node to the destination. Nodes with the lowest total cost are prioritized for traversal. Compliant nodes are added to the list, and their parent node relationships are recorded. The path is iteratively expanded until the destination node is reached, and the parent node is backtracked to generate the first compliant path. By adjusting the algorithm's search step size, cost weight, and detour strategy, the path search operation is repeatedly executed to generate multiple spatial paths with different routes, ultimately resulting in multiple baseline paths. Alternatively, a fast-expanding random tree algorithm can be used for 3D spatial path search. Based on the overall lifting operation space, random spatial sampling is performed within the defined operation boundaries. Random sampling points are continuously generated and path branches are extended according to a fixed expansion step size, iteratively expanding the tree-like path. The path search calculation is performed independently and repeatedly. Each calculation connects the lifting position and the target installation position, generating a complete feasible route. Through multiple iterations, multiple feasible routes with different directions, detour methods, and operating postures are generated in batches, thus obtaining multiple candidate baseline routes.

[0057] Next, the lifting no-collision zones and tower crane parameters extracted from the Building Information Model (BIM) were used to conduct a double screening of all baseline paths. First, combining the 3D spatial coordinates and boundary contours of the lifting no-collision zones, each baseline path was checked node by node to determine if any node on the path fell into the no-collision zone. If any node on the path intruded into the no-collision zone, the entire baseline path was immediately removed, leaving only paths that did not enter the no-collision zone. Then, the extracted tower crane parameters, including the tower crane's slewing radius, luffing distance, maximum lifting height, and rated operating speed, were used to verify whether the parameters of the retained paths met the tower crane's operating limits. Special attention was paid to checking whether the tower crane's slewing angle, luffing distance, and lifting height corresponding to each node on the path were within the equipment's rated range, removing paths that exceeded the parameter limits. After these two rounds of screening, all baseline paths that met the collision avoidance requirements and tower crane operating conditions were retained. Finally, by comparing the overall travel distance, smoothness of the route, and actual operational difficulty of each of the remaining baseline paths, the best single route with the optimal comprehensive conditions, reasonable travel route, and ease of stable tower crane operation is selected. This optimal baseline path is determined as the initial path corresponding to the component hoisting, which is the final required initial path.

[0058] This application generates multiple baseline paths by extracting relevant lifting operation parameters through building information modeling. After dual screening of lifting no-collision zone and tower crane parameters, the initial path is selected based on the best one, so that the path meets the spatial safety requirements and equipment operating conditions, and the route is stable, which can better adapt to the actual lifting operation.

[0059] In some optional implementations of this embodiment, before the step of determining conflicting path segments in the initial path based on the current state parameters when the conditions for replanning the initial path are met, the method further includes: Based on the initial path and the preset safety operation threshold, the environmental parameters are detected to obtain a first detection result, which is either a successful detection or a failed detection. The current status parameter is detected based on the safety operation threshold to obtain a second detection result, which is either a successful detection or a failed detection. When either the first or second detection result is a failure, it is determined that the conditions for initial path replanning are met.

[0060] In this embodiment, the preset safe operation thresholds include at least the on-site wind speed safety threshold, the tower crane kinematic limit threshold, the maximum allowable swing angle threshold of the component, and the allowable positioning deviation threshold. First, environmental parameters, including on-site wind speed and dynamic obstacles, are monitored in real time based on the initial path and the preset safe operation thresholds to determine whether any encroachment occurs within the initial path planning area. Real-time on-site wind speed is collected and compared with the preset wind speed safety threshold. Simultaneously, the spatial distribution of temporary obstacles is checked for spatial overlap or encroachment with the initial path planning area. If the real-time wind speed is less than the wind speed safety threshold and the temporary obstacles do not encroach on the initial path planning area, both detection items meet the safety requirements, and the first detection result is a pass. If the real-time wind speed is greater than or equal to the wind speed safety threshold, or the temporary obstacles encroach on the initial path planning area, and either requirement is not met, the first detection result is a fail. Then, based on the safe operation threshold, the current state parameters are monitored in real time. These current state parameters include attitude parameters and the current position, namely the component swing angle, positioning deviation, and tower crane operating attitude. If all parameters are within the threshold, the second detection result is considered a pass; that is, the component swing angle is less than the maximum allowable swing angle threshold, the positioning deviation is less than the allowable positioning deviation threshold, etc. Otherwise, the detection fails. However, if any of the above detections fail, it indicates that the conditions for initial path replanning are met.

[0061] This application performs dual detection of environmental and state parameters before path replanning, quickly determines the working conditions based on preset thresholds, promptly identifies abnormal situations such as excessive wind speed, obstruction intrusion, component swaying and deviation, and quickly triggers path replanning, ensuring that the hoisting operation is always under safe working conditions and reducing construction risks.

[0062] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) refers to the theories, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0063] Foundational technologies for artificial intelligence generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies mainly encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0064] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions. These computer-readable instructions can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0065] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0066] Further reference Figure 3 As a response to the above Figure 2 The implementation of the method shown in this application provides an embodiment of a path correction device for component hoisting, which is similar to...Figure 2 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0067] like Figure 3 As shown, the component hoisting path correction device 300 described in this embodiment includes: a generation module 301, an acquisition module 302, a determination module 303, a correction module 304, and a verification module 305. Wherein: The generation module 301 is used to generate an initial path for hoisting the component based on a preset building information model, and to perform hoisting operations on the component based on the initial path; The acquisition module 302 is used to acquire the environmental parameters of the hoisting operation and the current status parameters of the component. The environmental parameters include on-site wind speed parameters and dynamic obstacle information. The determining module 303 is used to determine conflicting path segments in the initial path according to the current state parameters when the conditions for replanning the initial path are met. The conflicting path segments include a path start point and a path end point. The correction module 304 is used to correct the conflict path segment according to the building information model and the environmental parameters to obtain a corrected path segment, wherein the corrected path segment includes multiple corrected path trajectory points; The verification module 305 is used to verify the corrected path segment according to the environmental parameters and the current status parameters, obtain the verification result, and when the verification result is that the verification is passed, replace the conflicting path segment with the corrected path segment to obtain the target path for the component hoisting.

[0068] The component hoisting path correction device provided in this application can generate an initial hoisting path based on a preset building information model. While carrying out hoisting operations according to the initial path, it continuously acquires environmental parameters and the current state parameters of the component, comprehensively sensing real-time changes at the construction site. When the path replanning conditions are met, conflicting path segments in the initial path are identified based on the current state parameters of the component, promptly identifying areas where the path does not match the site conditions. After correcting the conflicting path segments by combining the building information model and environmental parameters, a corrected path segment is obtained, allowing the local path to conform to the real-time state of the construction site. The corrected path segment is then verified based on the environmental parameters and the current state parameters of the component. After replacing the conflicting path segments in the initial path with the verified corrected path segments, a target path adapted to the site conditions is formed. This effectively improves the situation where the hoisting of prefabricated components is difficult to adapt to dynamic interference at the construction site, reduces the probability of hoisting path deviations, and ensures the continuous and stable conduct of hoisting operations.

[0069] In some optional implementations of this embodiment, the verification module 305 is further configured to: Based on the on-site wind speed parameters and the current state parameters, determine the safe zone corresponding to each of the corrected path trajectory points; Calculate the overlap range between each of the safety zones and the dynamic obstacle information, and verify whether the overlap range is less than a preset overlap threshold. If the overlap range is less than the preset overlap threshold, the verification is deemed successful. If the overlap range is greater than or equal to the preset overlap threshold, the verification is determined to fail.

[0070] The component hoisting path correction device provided in this application delineates the safe area of ​​the trajectory point by combining wind speed parameters and component state parameters, quantifies the overlap range between the safe area and obstacles through three-dimensional spatial calculation, and completes the verification based on a preset threshold. It can intuitively judge the risk of path interference, identify safety hazards in a timely manner, provide a clear judgment basis for hoisting path correction, and adapt to dynamic obstacle changes on site.

[0071] In some optional implementations of this embodiment, the verification module 305 is further configured to: The on-site wind speed parameters and physical parameters are calculated to obtain the safety radius compensation value corresponding to each of the corrected path trajectory points; The target safety radius is obtained by superimposing the safety radius compensation value and the preset basic safety radius, and the safety area is determined based on the target safety radius.

[0072] The component hoisting path correction device provided in this application calculates the safety radius compensation value based on the on-site wind speed and the physical parameters of the component, and delineates the safety zone after superimposing the foundation safety radius. It can adapt to different wind speeds and hoisting conditions, allowing the safety zone to be dynamically adjusted according to the on-site working conditions, expanding the safety protection range, and reducing the possibility of collision between the component and surrounding objects.

[0073] In some optional implementations of this embodiment, the correction module 304 is further configured to: A gravitational field model is constructed based on the path endpoint, and a repulsive field model is constructed based on the building information model and the dynamic obstacle information. The direction of movement of the component is determined based on the gravitational field model and the repulsive field model. Based on the direction of movement, the starting point of the path is iterated to obtain multiple corrected path trajectory points of the component.

[0074] The component hoisting path correction device provided in this application determines the safe movement direction of the component by superimposing the gravitational field and the repulsive field. After iteratively generating trajectory points, the effective points are then screened by constraint parameters, so that the correction path conforms to the actual hoisting conditions, meets the requirements of equipment operation and component safety, can smoothly avoid dangerous areas, and adapt to dynamic changes in on-site operations.

[0075] In some optional implementations of this embodiment, the determining module 303 is further configured to: When the conditions for replanning the initial path are met, the current position of the component is taken as the starting point of the path in the initial path; Based on the dynamic obstacle information, determine the path endpoint in the initial path; The path between the starting point and the ending point of the path is identified as the conflicting path segment.

[0076] The component hoisting path correction device provided in this application quickly locks the path segment that needs to be corrected when path replanning is triggered. It delineates the local conflict segment with the real-time position of the component as the starting point and the safety point as the ending point, and only processes the local path without changing the original overall route, thereby reducing the scope of path adjustment, improving the efficiency of hoisting path correction, and better adapting to real-time changes at the construction site.

[0077] In some optional implementations of this embodiment, the generation module 301 is further configured to: The lifting no-collision zone, tower crane parameters, component lifting position, and target installation position are extracted from the building information model. Based on the component's lifting position and the target installation position, multiple reference paths are generated; Based on the lifting no-collision zone and the tower crane parameters, multiple reference paths are filtered to obtain the initial path.

[0078] The component hoisting path correction device provided in this application generates multiple reference paths after extracting relevant hoisting operation parameters through building information modeling. Then, after dual screening of hoisting no-collision zone and tower crane parameters, the initial path is selected to ensure that the path meets spatial safety requirements and equipment operating conditions, and the route is stable, which can better adapt to the actual hoisting operation.

[0079] In some optional implementations of this embodiment, the determining module 303 is further configured to: Based on the initial path and the preset safety operation threshold, the environmental parameters are detected to obtain a first detection result, which is either a successful detection or a failed detection. The current status parameter is detected based on the safety operation threshold to obtain a second detection result, which is either a successful detection or a failed detection. When either the first or second detection result is a failure, it is determined that the conditions for initial path replanning are met.

[0080] The component hoisting path correction device provided in this application completes dual detection of environmental and state parameters before path replanning, quickly determines the working conditions based on preset thresholds, promptly identifies abnormal situations such as excessive wind speed, obstruction intrusion, component swaying and deviation, and quickly triggers path replanning, so that the hoisting operation is always under safe working conditions and reduces construction risks.

[0081] To address the aforementioned technical problems, embodiments of this application also provide a computer device. Please refer to [link / reference needed] for details. Figure 4 , Figure 4 This is a basic structural block diagram of the computer device in this embodiment.

[0082] The computer device 4 includes a memory 41, a processor 42, and a network interface 43 that are interconnected via a system bus. It should be noted that only the computer device 4 with components 41, 42, and 43 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0083] The computer device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer device can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control.

[0084] The memory 41 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 41 may be an internal storage unit of the computer device 4, such as the hard disk or memory of the computer device 4. In other embodiments, the memory 41 may also be an external storage device of the computer device 4, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 4. Of course, the memory 41 may also include both the internal storage unit and its external storage device of the computer device 4. In this embodiment, the memory 41 is typically used to store the operating system and various application software installed on the computer device 4, such as computer-readable instructions for a path correction method for component hoisting. In addition, the memory 41 can also be used to temporarily store various types of data that have been output or will be output.

[0085] In some embodiments, the processor 42 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 42 is typically used to control the overall operation of the computer device 4. In this embodiment, the processor 42 is used to execute computer-readable instructions stored in the memory 41 or to process data, such as executing computer-readable instructions for the path correction method for component hoisting.

[0086] The network interface 43 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 4 and other electronic devices.

[0087] The computer equipment provided in this application can generate an initial path for component hoisting based on a preset building information model. While carrying out hoisting operations according to the initial path, it continuously acquires environmental parameters and the current state parameters of the components, comprehensively sensing real-time changes at the construction site. When path replanning conditions are met, conflicting path segments in the initial path are identified based on the current state parameters of the components, promptly identifying areas where the path does not match the site conditions. After correcting the conflicting path segments using the building information model and environmental parameters, a corrected path segment is obtained, allowing the local path to conform to the real-time state of the construction site. The corrected path segment is then verified based on the environmental parameters and the current state parameters of the components. Replacing the conflicting path segments in the initial path with the verified corrected path segments forms a target path adapted to the site conditions. This effectively improves the situation where prefabricated component hoisting is difficult to adapt to dynamic interference at the construction site, reduces the probability of hoisting path deviations, and ensures the continuous and stable conduct of hoisting operations.

[0088] This application also provides another embodiment, namely, a computer-readable storage medium storing computer-readable instructions that can be executed by at least one processor to cause the at least one processor to perform the steps of the above-described component hoisting path correction method.

[0089] The computer-readable storage medium provided in this application can generate an initial path for component hoisting based on a preset building information model. While carrying out hoisting operations according to the initial path, it continuously acquires environmental parameters and the current state parameters of the components, comprehensively sensing real-time changes at the construction site. When path replanning conditions are met, conflicting path segments in the initial path are determined based on the current state parameters of the components, promptly identifying areas where the path does not match the site conditions. After correcting the conflicting path segments using the building information model and environmental parameters, a corrected path segment is obtained, allowing the local path to conform to the real-time state of the construction site. The corrected path segment is then verified based on the environmental parameters and the current state parameters of the components. Replacing the conflicting path segments in the initial path with the verified corrected path segments forms a target path adapted to the site conditions. This effectively improves the situation where prefabricated component hoisting is difficult to adapt to dynamic interference at the construction site, reduces the probability of hoisting path deviations, and ensures the continuous and stable conduct of hoisting operations.

[0090] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0091] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A method for correcting the path of component hoisting, characterized in that, Includes the following steps: Based on the preset building information model, an initial path for hoisting the component is generated, and the component is hoisted according to the initial path. The environmental parameters of the hoisting operation and the current status parameters of the component are obtained. The environmental parameters include on-site wind speed parameters and dynamic obstacle information. When the conditions for replanning the initial path are met, conflicting path segments are determined in the initial path according to the current state parameters. The conflicting path segments include the path start point and the path end point. Based on the building information model and the environmental parameters, the conflict path segment is corrected to obtain a corrected path segment, which includes multiple corrected path trajectory points; Based on the environmental parameters and the current state parameters, the corrected path segment is verified to obtain a verification result. When the verification result is successful, the conflicting path segment is replaced with the corrected path segment to obtain the target path for the component hoisting.

2. The method for correcting the hoisting path of components according to claim 1, characterized in that, The verification result is either verification passed or verification failed. The verification of the corrected path segment based on the environmental parameters and the current state parameters to obtain the verification result includes: Based on the on-site wind speed parameters and the current state parameters, determine the safe zone corresponding to each of the corrected path trajectory points; Calculate the overlap range between each of the safety zones and the dynamic obstacle information, and verify whether the overlap range is less than a preset overlap threshold. If the overlap range is less than the preset overlap threshold, the verification is deemed successful. If the overlap range is greater than or equal to the preset overlap threshold, the verification is determined to fail.

3. The method for correcting the path of component hoisting according to claim 2, characterized in that, The current state parameters include the physical parameters of the component. Determining the safe zone corresponding to each of the corrected path trajectory points based on the on-site wind speed parameters and the current state parameters includes: The on-site wind speed parameters and physical parameters are calculated to obtain the safety radius compensation value corresponding to each of the corrected path trajectory points; The target safety radius is obtained by superimposing the safety radius compensation value and the preset basic safety radius, and the safety area is determined based on the target safety radius.

4. The method for correcting the path of component hoisting according to claim 1, characterized in that, The step of correcting the conflicting path segment based on the building information model and the environmental parameters to obtain the corrected path segment includes: A gravitational field model is constructed based on the path endpoint, and a repulsive field model is constructed based on the building information model and the dynamic obstacle information. The direction of movement of the component is determined based on the gravitational field model and the repulsive field model. Based on the direction of movement, the starting point of the path is iterated to obtain multiple corrected path trajectory points of the component.

5. The method for correcting the path of component hoisting according to claim 1, characterized in that, The current state parameters include the current position of the component. When the conditions for replanning the initial path are met, determining conflicting path segments in the initial path based on the current state parameters includes: When the conditions for replanning the initial path are met, the current position of the component is taken as the starting point of the path in the initial path; Based on the dynamic obstacle information, determine the path endpoint in the initial path; The path between the starting point and the ending point of the path is identified as the conflicting path segment.

6. The method for correcting the hoisting path of components according to claim 1, characterized in that, The step of generating the initial path for hoisting the component based on the preset building information model includes: The lifting no-collision zone, tower crane parameters, component lifting position, and target installation position are extracted from the building information model. Based on the component's lifting position and the target installation position, multiple reference paths are generated; Based on the lifting no-collision zone and the tower crane parameters, multiple reference paths are filtered to obtain the initial path.

7. The method for correcting the path of component hoisting according to any one of claims 1 to 6, characterized in that, Before determining conflicting path segments in the initial path based on the current state parameters when the conditions for replanning the initial path are met, the method further includes: Based on the initial path and the preset safety operation threshold, the environmental parameters are detected to obtain a first detection result, which is either a successful detection or a failed detection. The current status parameter is detected based on the safety operation threshold to obtain a second detection result, which is either a successful detection or a failed detection. When either the first or second detection result is a failure, it is determined that the conditions for initial path replanning are met.

8. A path correction device for component hoisting, characterized in that, include: The generation module is used to generate an initial path for hoisting the component based on a preset building information model, and to perform hoisting operations on the component according to the initial path; The acquisition module is used to acquire environmental parameters of the hoisting operation and current status parameters of the component. The environmental parameters include on-site wind speed parameters and dynamic obstacle information. The determination module is used to determine conflicting path segments in the initial path based on the current state parameters when the conditions for replanning the initial path are met. The conflicting path segments include a path start point and a path end point. The correction module is used to correct the conflict path segment according to the building information model and the environmental parameters to obtain a corrected path segment, which includes multiple corrected path trajectory points. The verification module is used to verify the corrected path segment according to the environmental parameters and the current status parameters, obtain the verification result, and when the verification result is that the verification is successful, replace the conflicting path segment with the corrected path segment to obtain the target path for the component hoisting.

9. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores computer-readable instructions, and the processor executes the computer-readable instructions to implement the steps of the path correction method for component hoisting as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-readable instructions, which, when executed by a processor, implement the steps of the path correction method for component hoisting as described in any one of claims 1 to 7.

Images