Intelligent assembling path interference detection method for steel structure modular building

Abstract

The present application relates to the technical field of interference collision detection, and specifically to an intelligent assembly path interference detection method for steel structure modular buildings, comprising the following steps: obtaining building three-dimensional design model data to generate module geometric positioning data and fixed occupied areas, obtaining hoisting operation states and generating path posture sequences, generating continuous sweeping occupied bands based on adjacent spatial postures, comparing moving occupied boundaries and fixed occupied boundaries according to height layers, and outputting interference positioning data. In the present application, the hoisting operation state is spatially corresponded to the module geometric positioning data, the module moving process is converted into continuous spatial occupation within a path segment, the overlapping position attribute and the fixed object identifier are recorded by means of height layer slicing comparison, the path segment middle collision can be corresponded to the conflict object, the conflict height and the construction space position, the risk of missing detection of discrete nodes is reduced, and the directionality of the assembly path checking result to the on-site adjustment is improved.

Description

Technical Field

[0001] This invention relates to the field of interference collision detection technology, and in particular to an intelligent assembly path interference detection method for modular steel structure buildings. Background Technology

[0002] Interference and collision detection technology involves assessing the spatial occupancy relationships between components, equipment, obstacles, and workspaces during virtual assembly, engineering modeling, construction simulation, and motion path verification. It is primarily used to identify geometric overlaps, path intersections, or spatial conflicts during the movement, hoisting, splicing, installation, or operation of objects. It is widely applied in industries such as building construction, steel structure assembly, machinery manufacturing, robotics, shipbuilding, rail transportation, and digital factories. Specifically, the intelligent assembly path interference detection method for traditional modular steel structures refers to a method for detecting interference and collision relationships between the module to be assembled and installed components, surrounding modules, construction facilities, and workspaces during module assembly path planning and virtual assembly verification. This is achieved by using techniques such as 3D models, component coordinates, assembly sequence, hoisting trajectory, spatial boundaries, bounding box detection, entity intersection judgment, and mesh collision checks, as the module moves along a predetermined path.

[0003] Existing assembly path interference detection methods mostly use static 3D models or discrete path nodes as verification objects. The module hoisting process is broken down into several independent postures for overlap judgment. The continuous occupied area caused by changes in hook height and horizontal displacement in the middle of the path segment is difficult to fully express. Collision judgment is easy to stop at whether there is an intersection, the overlap height, and the overlap position. There is a lack of unified record of the relationship between conflict objects and connecting nodes. Under the joint constraints of the hoisting equipment outline and construction boundary, local risks are easily covered by the overall surrounding range, making it difficult for construction verification to locate specific adjustment parts. Summary of the Invention

[0004] To address the technical problems existing in the prior art, this invention provides an intelligent assembly path interference detection method for modular steel structure buildings. The technical solution is as follows: On the one hand, an intelligent assembly path interference detection method for modular steel structure buildings is provided, including the following steps: S1: Obtain architectural 3D design model data, and generate module geometric positioning data and a fixed occupied area with a fixed object identifier based on the architectural 3D design model data; S2: Obtain the hoisting operation status, correspond the hoisting operation status with the module geometric positioning data space, generate vertical position change and horizontal position change, and superimpose the vertical position change and the horizontal position change onto the module geometric positioning data to generate a path attitude sequence; S3: For adjacent spatial poses in the path pose sequence, connect the coordinates of the outer contour vertices corresponding to the module geometric positioning data in the adjacent spatial poses to form moving line segments, and connect the moving line segments in the order of the patch boundaries to generate a continuous sweep occupancy zone. S4: Divide the continuous sweeping occupancy zone and the fixed occupancy area according to the height layer interval, compare the planar coordinate range of the moving occupancy boundary and the fixed occupancy boundary within the same height layer, generate an overlapping path segment record with overlapping position attributes and the fixed object identifier when there is a common coverage area, and determine the interference type based on the overlapping path segment record and the connection node positioning data in the module geometric positioning data, and output the interference positioning data.

[0005] On the other hand, the process of generating the module geometric positioning data and the fixed occupied area is as follows: Obtain the identifiers of the modules to be assembled and the fixed object components from the architectural 3D design model data. Extract the vertex coordinates, lifting point positioning coordinates, installation reference coordinates, and connection node positioning data of the outer contour surface components based on the identifiers of the modules to be assembled. Establish a vertex sequence of the vertex coordinates of the outer contour surface components according to the boundary order of the surface components and associate it with the lifting point positioning coordinates, installation reference coordinates, and connection node positioning data to generate the geometric positioning data of the module. Extract the boundary coordinates of the fixed object based on the identifiers of the fixed object components and associate them with the identifiers of the fixed object to generate the fixed occupied area.

[0006] On the other hand, the process of generating the path pose sequence is as follows: The hoisting operation status corresponding to the path time identifier is collected from the hoisting controller. The hoisting operation status is matched with the hoisting point positioning data in the module geometric positioning data according to the path time identifier to generate the vertical position change. The horizontal position change is generated according to the horizontal displacement status in the hoisting operation status. The vertical position change and the horizontal position change are written into the module geometric positioning data corresponding to the path time identifier to generate path attitude data. The path attitude data is sorted according to the path time identifier to generate the path attitude sequence.

[0007] On the other hand, the process of determining the path time identifier is as follows: The system obtains the controller timestamp when the hoisting controller sends the hoisting operation status and the path sampling timestamp corresponding to the building 3D design model data. The system compares the time difference between the controller timestamp and the path sampling timestamp. When the time difference does not exceed half of the path sampling time interval, the path sampling timestamp is determined as the path time identifier. When the time difference exceeds half of the path sampling time interval, the corresponding hoisting operation status is deleted and a status synchronization anomaly record is generated.

[0008] On the other hand, the process of generating the continuous sweeping occupancy zone is as follows: Read two adjacent spatial poses from the path pose sequence, establish a front-to-back correspondence between the coordinates of the same outer contour vertex in the two spatial poses, connect the previous pose coordinates and the next pose coordinates of the same outer contour vertex according to the front-to-back correspondence, generate the moving line segment, connect the moving line segments corresponding to the same outer contour patch according to the patch boundary order in the module geometric positioning data, generate patch sweep fragments, and merge the patch sweep fragments according to the outer contour patch identifier to generate the continuous sweep occupancy band.

[0009] On the other hand, the process of establishing the correspondence between the preceding and following parts is as follows: Obtain the previous pose coordinates of the outer contour vertex identifier in the previous spatial pose and the next pose coordinates in the next spatial pose. Compare the outer contour vertex identifiers corresponding to the previous pose coordinates and the next pose coordinates. When the two outer contour vertex identifiers are consistent, establish a corresponding relationship. When the two outer contour vertex identifiers are inconsistent, stop generating the patch sweeping fragment associated with the outer contour patch and generate a vertex correspondence anomaly record.

[0010] On the other hand, the specific process of generating the moving line segment is as follows: Obtain the previous and next attitude coordinates of the same outer contour vertex in the adjacent spatial attitudes, compare the coordinate offset between the previous and next attitude coordinates, when the coordinate offset is greater than the moving line segment retention threshold, connect the previous and next attitude coordinates, when the coordinate offset is not greater than the moving line segment retention threshold, mark the corresponding outer contour vertex as a stationary vertex, and generate a valid moving line segment record.

[0011] On the other hand, the process of generating the overlapping path segment records is as follows: According to the height layer interval, height layer identifiers are established for the continuous sweeping occupied zone and the fixed occupied area respectively. The moving occupied boundary and the fixed occupied boundary under the same height layer identifier are extracted. The planar coordinate range of the moving occupied boundary and the fixed occupied boundary are compared. When the planar coordinate range has the common coverage interval, the path segment identifier, the height layer identifier, the common coverage interval and the fixed object identifier are associated to generate the overlapping path segment record.

[0012] On the other hand, the process of determining the interference type is as follows: Read the center position of the common coverage area and the fixed object identifier from the overlapping path segment record, read the connection node positioning data from the module geometric positioning data, determine the node proximity distance between the center position of the common coverage area and the connection node positioning data, determine connection node proximity interference when the node proximity distance is less than or equal to the node proximity determination threshold, determine hoisting equipment outline interference when the fixed object identifier corresponds to the hoisting equipment outline, and determine module body interference when the node proximity distance is greater than the node proximity determination threshold and the fixed object identifier does not correspond to the hoisting equipment outline.

[0013] On the other hand, the comparison process of the plane coordinate range is specifically as follows: Obtain the horizontal and vertical coordinate intervals of the mobile occupancy boundary within the same height layer, and obtain the horizontal and vertical coordinate intervals of the fixed occupancy boundary within the same height layer. When two horizontal coordinate intervals overlap and two vertical coordinate intervals overlap, map the overlapping horizontal and vertical intervals to the common coverage interval. When neither the horizontal nor the vertical coordinate interval overlaps, delete the comparison record of the corresponding height layer.

[0014] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: By generating module geometric positioning data and fixed occupied areas from the 3D architectural design model data, the hoisting operation status is spatially correlated with the module geometric positioning data to form a path posture sequence. Then, the outer contour vertices between adjacent spatial postures are connected to form a continuous sweeping occupied zone, so that the actual occupancy of the moving module in the path segment is transformed from a discrete posture to a continuous area. The height layer slice comparison maps the moving occupancy boundary and the fixed occupancy boundary to the same plane coordinate range. The overlapping path segment record synchronously carries the overlapping position attributes and fixed object identification. After the interference type is associated with the connection node positioning data, the interference positioning data is output, which improves the positioning accuracy of the assembly path interference detection results for collisions in the middle of the path segment. Attached Figure Description

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

[0016] Figure 1 This is a flowchart of the main steps of the present invention; Figure 2 This is a detailed flowchart of the data processing for the architectural 3D design model of the present invention; Figure 3 This is a detailed flowchart of the hoisting operation state space corresponding to the present invention; Figure 4 This is a detailed flowchart of the continuous sweep occupancy zone generation process of the present invention; Figure 5 This is a detailed flowchart of the layer overlap judgment and interference positioning output of the present invention. Detailed Implementation

[0017] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0018] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0019] This invention provides an intelligent assembly path interference detection method for modular steel structure buildings. During the hoisting and assembly process of the modular steel structure building, the steel structure module to be assembled moves along a predetermined assembly path. Installed components, temporary supports, hoisting equipment outlines, and other fixed objects form occupancy boundaries within the assembly area. This method continuously processes the building's three-dimensional design model data and the hoisting operation status, enabling the spatial occupancy of the steel structure module to be assembled during its movement to be compared layer by layer with the spatial occupancy of the fixed objects, and outputting interference positioning data that can locate overlapping positions, overlapping objects, and interference types.

[0020] During the assembly process described above, the outer contour of the steel structure module to be assembled does not only occupy space at the starting and ending points, but also generates continuous sweeping areas between adjacent spatial postures. If collision checks are only performed at discrete locations, the boundary crossing status during the movement process cannot be fully identified. This embodiment first obtains the geometric positioning information and fixed object occupancy information of the module to be assembled from the 3D architectural design model data, then generates a path posture sequence based on the hoisting operation status, subsequently connects the outer contour vertices between adjacent postures to form moving line segments and form continuous sweeping occupancy zones, and finally compares the planar range of the moving occupancy boundary and the fixed occupancy boundary according to the height layer, and determines the overlapping path segments and interference types using textual rules.

[0021] Please see Figure 1 and Figure 2 S1: Obtain the 3D architectural design model data, and generate module geometric positioning data and fixed occupied areas with fixed object identifiers based on the 3D architectural design model data.

[0022] The 3D architectural design model data refers to the data set used to describe the spatial positions of modular steel structure components to be assembled, installed components, temporary support components, hoisting equipment outlines, and other fixed objects. Its content includes component identifiers, outer contour boundaries, vertex coordinates, facet boundary sequence, hoisting point positioning coordinates, installation reference coordinates, and connection node positioning data. Module geometric positioning data refers to the data extracted from the 3D architectural design model data and used to describe the spatial posture changes of the modules to be assembled along the assembly path. Module geometric positioning data includes outer contour facet vertex coordinates, outer contour vertex identifiers, facet boundary sequence, hoisting point positioning coordinates, installation reference coordinates, and connection node positioning data. The fixed occupied area refers to the spatial occupancy range determined by the boundary coordinates of the fixed objects. The fixed object identifier is a unique object record used to distinguish installed components, temporary support components, hoisting equipment outlines, and other fixed objects.

[0023] In step S1, the component identification field in the 3D architectural design model data is first read, and then mapped to the component identification of the module to be assembled and the component identification of the fixed object. For components identified as modules to be assembled, the vertex coordinates of their outer contour patches are extracted, and a vertex sequence is established according to the existing patch boundary order in the 3D architectural design model data. The patch boundary order refers to the order in which vertices within the same outer contour patch are arranged continuously along the patch boundary. This order is used to maintain the consistency of the patch boundary direction when connecting moving line segments between adjacent spatial postures, avoiding incorrect connection of different patches or different vertices. For components identified as fixed objects, the coordinates of the fixed object boundary are extracted and associated with the fixed object identifier, so that each fixed occupied boundary can be traced back to the corresponding fixed object.

[0024] S11: Obtain the identifiers of the modules to be assembled and the fixed objects from the 3D architectural design model data, and extract the vertex coordinates, lifting point positioning coordinates, installation reference coordinates, and connection node positioning data of the outer contour patch based on the identifiers of the modules to be assembled.

[0025] Among them, the lifting point positioning coordinates refer to the spatial coordinates corresponding to the lifting and traction position of the module to be assembled. These coordinates are used in subsequent steps to spatially correlate the lifting operation status with the module's geometric positioning data. The installation reference coordinates refer to the coordinate records used to align the module to be assembled with the building reference at its final installation position. These coordinates are used to determine the reference relationship between the module to be assembled and the building's 3D design model. The connection node positioning data refers to the positional data of the connection between the module to be assembled and adjacent steel structure modules, connectors, or installation nodes. This data includes the connection node identifier, the node's spatial position, and the relationship between the node and its corresponding surface or component. It is used to subsequently determine whether overlapping path segments are close to the connection nodes.

[0026] During the extraction process, the outer contour patches of the module to be assembled are first located using the component identifier of the module to be assembled. Then, the vertex coordinates and vertex identifiers corresponding to each outer contour patch are read. If the same vertex is referenced by multiple outer contour patches, the same outer contour vertex identifier is retained, and its appearance position is recorded in different patch boundary sequences. Subsequently, the lifting point positioning coordinates and installation reference coordinates are read and associated with the same component identifier of the module to be assembled, so that the subsequent lifting operation status can be written into the same module geometric positioning data. After extraction, the connection node positioning data is correlated with the outer contour patches and installation reference coordinates, so that the interference position can be further determined as interference between adjacent connection nodes or interference between the main body of the module.

[0027] S12: Establish a vertex sequence according to the vertex coordinates of the outer contour patch in the order of the patch boundary, and associate it with the lifting point positioning coordinates, installation reference coordinates and connection node positioning data to generate module geometric positioning data.

[0028] When generating module geometric positioning data, an association is established between the patch identifier, vertex sequence, vertex identifier, vertex coordinates, and patch boundary order for each outer contour patch. The vertex sequence ensures that the same patch is read in the same boundary order under different spatial postures. The lifting point positioning coordinates accommodate vertical and horizontal position changes during lifting operations. The installation reference coordinates define the reference position of the module to be assembled in the architectural 3D design model. The connection node positioning data is used to determine the proximity relationship between overlapping positions and connection nodes in subsequent interference type judgment. If an outer contour patch lacks vertex identifiers or the patch boundary order cannot form a continuous closed boundary, the corresponding patch is marked as having a geometric boundary anomaly, and the patch is stopped from entering the continuous sweep occupancy zone generation process. Patches that have completed verification continue to the subsequent steps.

[0029] S13: Extract the boundary coordinates of the fixed object based on the fixed object component identifier and associate it with the fixed object identifier to generate a fixed occupied area.

[0030] The fixed object boundary coordinates are read according to their spatial boundaries in the architectural 3D design model data and a fixed correspondence is established with the fixed object identifier. For installed components, the fixed object boundary coordinates are derived from their occupied outer contour; for temporary support components, the fixed object boundary coordinates are derived from their support boundary within the assembly area; for the outer contour of hoisting equipment, the fixed object boundary coordinates are derived from the outer contour boundary included in the comparison within the assembly path detection range. After the fixed occupied area is generated, a fixed object identifier, boundary coordinates, height layer belonging status, and subsequent comparison and call relationship are formed, enabling step S4 to obtain the fixed occupied boundary within the same height layer.

[0031] In this embodiment, by extracting the geometric boundaries of the module components to be assembled and the fixed object components in the 3D architectural design model data, the movable outer contour of the module to be assembled and the immovable occupied range of the fixed object are made to correspond under the same spatial reference, thereby providing a data basis with the same source for subsequent path posture superposition, sweep occupancy generation and overlapping position judgment.

[0032] Please see Figure 1 and Figure 3 S2: Obtain the hoisting operation status, match the hoisting operation status with the module geometric positioning data space, generate vertical position change and horizontal position change, and superimpose the vertical position change and horizontal position change onto the module geometric positioning data to generate a path attitude sequence.

[0033] The hoisting operation status refers to the status data used to describe the movement status of the module to be assembled during the hoisting process. This includes the vertical hoisting status corresponding to the path time marker, the horizontal displacement status, and the controller time marker. The vertical position change refers to the height position of the module to be assembled relative to the spatial reference of the 3D architectural design model at the current path time. The horizontal position change refers to the record of the horizontal position change of the module to be assembled relative to the installation reference coordinates or the previous valid spatial posture at the current path time. The path posture sequence refers to the set of spatial postures of the modules to be assembled, ordered according to the path time markers. Each path posture data item includes the coordinates of the outer contour vertex in the current posture, the corresponding path time marker, the vertical position change, and the horizontal position change.

[0034] S21: Collect the hoisting operation status corresponding to the path time identifier from the hoisting controller, match the hoisting operation status with the hoisting point positioning data in the module geometric positioning data according to the path time identifier, and generate the vertical position change.

[0035] Path time markers are time stamps used to establish a correspondence between hoisting operation status and path sampling positions. The process of determining path time markers involves reading the controller time stamp carried when the hoisting controller sends the hoisting operation status, and reading the path sampling time stamp corresponding to the 3D building design model data, comparing the time difference between the two. When the time difference between the controller time stamp and a certain path sampling time stamp does not exceed half of the path sampling time interval, the path sampling time stamp is determined as the path time marker, and the corresponding hoisting operation status is included in subsequent attitude generation. When the time difference exceeds half of the path sampling time interval, the corresponding hoisting operation status is deleted, and a status synchronization anomaly record is generated. The status synchronization anomaly record includes the source marker of the deleted hoisting operation status, the reason for the anomaly, and a description of the status that did not participate in subsequent attitude generation. It is used to prevent hoisting operation states with time misalignment from entering the continuous sweep occupancy zone generation process.

[0036] When generating vertical position changes, the hoisting operation status corresponding to the path time marker is matched with the hoisting point positioning coordinates in the module geometric positioning data. If duplicate hoisting operation statuses exist under the same path time marker, the status record that satisfies the aforementioned time difference rule corresponding to the path sampling time marker is retained, and other duplicate statuses are marked as duplicate status records and excluded. If a path sampling time marker does not have a corresponding hoisting operation status, the vertical position change of the previous valid spatial attitude is used to form a temporary attitude maintenance record, and the vertical position change is generated according to the hoisting operation status after subsequent acquisition of continuous valid states. Through this process, the path attitude sequence maintains the continuity of attitude order even when states are missing, and abnormal states do not change the verified module geometric positioning data.

[0037] S22: Generate the horizontal position change based on the horizontal displacement state quantity during hoisting operation, write the vertical position change and horizontal position change into the module geometric positioning data corresponding to the path time identifier, and generate path attitude data.

[0038] The horizontal displacement state quantity refers to the field describing the horizontal movement state of the module to be assembled during the hoisting operation. After entering this step, it is first correlated with the installation reference coordinates, and then written into the module's geometric positioning data along with the vertical position change quantity under the same path time marker. The writing process is performed item by item according to the path time marker, so that the original coordinates of each outer contour vertex are superimposed with the vertical and horizontal position change quantities corresponding to the current path time, forming the outer contour vertex attitude coordinates under that path time. The path attitude data includes the path time marker, outer contour vertex marker, attitude coordinates, hoisting point positioning correspondence, and state source record.

[0039] S23: Sort the path attitude data by path time identifier and generate a path attitude sequence.

[0040] The order of path time markers is used as the sole criterion for sorting. If there are state synchronization anomaly records between adjacent path attitude data, the valid path attitude data before and after the anomaly is retained, and the anomaly path segment is marked as a path segment to be reviewed during the subsequent continuous sweep occupancy zone generation. If there are cases where the outer contour vertex markers are missing, the same vertex marker corresponds to different attitude coordinates repeatedly, or the attitude coordinates cannot be matched with the patch boundary order in the path attitude data, then the path attitude data will not be included in the continuous sweep occupancy zone generation process, and an attitude data anomaly record will be generated. After the path attitude sequence is generated, it is read by step S3 according to the adjacent spatial attitudes.

[0041] In this embodiment, by mapping the hoisting operation status to the hoisting point positioning coordinates according to the path time identifier, and writing the vertical and horizontal position changes into the module geometric positioning data, the geometric boundary of the module to be assembled can be transformed from the static design position into the spatial posture that changes along the assembly path, so that subsequent interference detection can cover the actual occupancy status during the movement process.

[0042] Please see Figure 1 and Figure 4 S3: For adjacent spatial poses in the path pose sequence, connect the coordinates of the outer contour vertices corresponding to the module geometric positioning data in the adjacent spatial poses to form moving line segments, and connect the moving line segments in the order of the patch boundaries to generate a continuous sweep occupancy zone.

[0043] Among them, adjacent spatial attitudes refer to two path attitude data items that are ordered adjacently according to the path time identifier in the path attitude sequence. The moving line segment refers to the boundary of the moving trajectory formed between the previous attitude coordinates of the same outer contour vertex in the previous spatial attitude and the subsequent attitude coordinates in the subsequent spatial attitude. The continuous sweep occupancy zone refers to the set of continuous spatial occupancy boundaries formed when the outer contour patch of the module to be assembled moves between adjacent spatial attitudes. It is used to represent the spatial area that the module to be assembled may occupy within the moving path segment.

[0044] S31: Read two adjacent spatial poses from the path pose sequence, and establish a correspondence between the coordinates of the same outer contour vertices in the two spatial poses.

[0045] The process of establishing the correspondence between points is as follows: The coordinates of the outer contour vertex identifier in the previous spatial pose are read, and the coordinates of the same outer contour vertex identifier in the subsequent spatial pose are read. If the outer contour vertex identifiers corresponding to the two coordinates are the same, a correspondence is established, and this correspondence is passed to the moving line segment generation process. If the two outer contour vertex identifiers are inconsistent, it indicates that the vertex matching relationship in adjacent spatial poses cannot maintain the same geometric object. Generation of the facet sweep fragment associated with this outer contour facet is stopped, and a vertex correspondence anomaly record is generated. The vertex correspondence anomaly record includes the anomaly vertex identifier, the associated outer contour facet identifier, the path segment identifier where the anomaly occurred, and a status description indicating that no facet sweep fragment was generated. This is used for subsequent investigation of the geometric boundary source.

[0046] S32: Connect the previous and next orientation coordinates of the same outer contour vertex according to the correspondence between the previous and next orientations to generate a moving line segment.

[0047] The process of generating moving segments involves obtaining the previous and next attitude coordinates of the same outer contour vertex in adjacent spatial attitudes, and comparing the coordinate offset between the two coordinates with the moving segment retention threshold. The moving segment retention threshold is derived from the pre-calibrated results of path sampling accuracy, outer contour vertex positioning accuracy, and allowable jitter range in the hoisting state. In this method, it serves as a configuration field for determining whether an outer contour vertex forms a valid moving boundary. If the coordinate offset is greater than the moving segment retention threshold, the previous and next attitude coordinates are connected to generate a valid moving segment record. If the coordinate offset is not greater than the moving segment retention threshold, the corresponding outer contour vertex is marked as a stationary vertex, and the stationary vertex state is written into the valid moving segment record, enabling subsequent patch sweep segments to recognize that the vertex does not form a valid moving boundary within the current path segment. The moving segment retention threshold is determined as a configuration field before entering this step; its meaning, source, and calling location are all associated with the valid moving segment record and do not independently change the original geometric boundary of the outer contour patch of the module to be assembled.

[0048] S33: Connect the moving line segments corresponding to the same outer contour surface according to the surface boundary order in the module geometric positioning data to generate surface sweep fragments, and merge the surface sweep fragments according to the outer contour surface identifier to generate a continuous sweep occupancy zone.

[0049] When generating a patch sweep fragment, the vertex sequence of the patch in the previous and next spatial poses is first read according to the outer contour patch identifier. Then, the movement segments corresponding to each vertex are obtained sequentially according to the patch boundary order. For vertices that form valid movement segment records, their movement segments are used as part of the boundary of the patch sweep fragment. For vertices marked as stationary vertices, their pose coordinates are used as local boundary preservation points for the patch sweep fragment to participate in boundary connection. If the movement segments and stationary vertex states in the same outer contour patch can form a continuous boundary according to the patch boundary order, a patch sweep fragment is generated. If the boundary cannot be continuous, a patch sweep anomaly record is generated, and the patch is prevented from entering the continuous sweep occupancy zone in the current path segment. Subsequently, the patch sweep fragments in each path segment are merged according to the outer contour patch identifier to obtain the continuous sweep occupancy zone.

[0050] In this embodiment, by maintaining a consistent correspondence between the outer contour vertex identifiers and connecting the moving line segments between adjacent spatial poses in the order of the patch boundaries, the sweeping occupation of the module to be assembled during the movement process is not simplified into a single discrete pose, so that the crossing, collision or adjacent overlap states that occur within the path segment can be received by the subsequent height layer comparison process.

[0051] Please see Figure 1 and Figure 5 S4: Divide the continuous sweeping occupancy zone and fixed occupancy area according to the height layer interval, compare the planar coordinate range of the moving occupancy boundary and the fixed occupancy boundary within the same height layer, generate overlapping path segment records with overlapping position attributes and fixed object identifiers when there are common coverage areas, and determine the interference type based on the overlapping path segment records and the connection node positioning data in the module geometric positioning data, and output the interference positioning data.

[0052] Among them, the height layer interval refers to a configuration field used to compare the continuous sweep occupancy zone and the fixed occupancy area vertically, which is derived from the layering rules of the inter-layer benchmark, module outer contour vertical boundary, and fixed object vertical boundary in the architectural 3D design model data. The moving occupancy boundary refers to the planar boundary formed by the continuous sweep occupancy zone within a certain height layer. The fixed occupancy boundary refers to the planar boundary formed by the fixed occupancy area within the same height layer. The common coverage area refers to the planar overlapping area formed when the moving occupancy boundary and the fixed occupancy boundary overlap in both the horizontal and vertical coordinate intervals. The overlapping path segment record refers to the data used to record the path segment identifier, height layer identifier, common coverage area, overlapping position attributes, and fixed object identifier. The interference positioning data refers to the output result formed by associating the overlapping path segment record, interference type, and corresponding spatial position.

[0053] S41: Establish height layer identifiers for continuous sweeping occupied zones and fixed occupied areas according to height layer intervals, and extract the mobile occupied boundaries and fixed occupied boundaries under the same height layer identifier.

[0054] Height layer identifiers are established separately for continuous sweep occupancy zones and fixed occupancy areas at the same height layer interval. For continuous sweep occupancy zones, the boundary portions intersecting or covering with the area sweep segments within each height layer are read, forming moving occupancy boundaries. For fixed occupancy areas, the boundary portions within the same height layer are read, forming fixed occupancy boundaries. If a height layer only has moving occupancy boundaries and no fixed occupancy boundaries, no overlapping path segment records are generated for that height layer. If a height layer only has fixed occupancy boundaries and no moving occupancy boundaries, that height layer is not included in the planar coordinate range comparison. If a height layer identifier cannot correspond to a valid boundary of a continuous sweep occupancy zone or a fixed occupancy area, a height layer partitioning anomaly record is generated, and that height layer is excluded from subsequent common coverage area generation.

[0055] S42: Compare the planar coordinate ranges of the mobile occupancy boundary and the fixed occupancy boundary. When there is a common coverage area in the planar coordinate range, associate the path segment identifier, height layer identifier, common coverage area and fixed object identifier to generate an overlapping path segment record.

[0056] The comparison process for planar coordinate ranges involves obtaining the horizontal and vertical coordinate intervals of the moving occupancy boundary within the same height layer, and also obtaining the horizontal and vertical coordinate intervals of the fixed occupancy boundary within the same height layer. When two horizontal coordinate intervals overlap and two vertical coordinate intervals overlap, the overlapping horizontal and vertical intervals are mapped together as a common coverage interval. This common coverage interval is then associated with the path segment identifier, height layer identifier, and fixed object identifier to generate an overlapping path segment record. When neither the horizontal nor vertical coordinate intervals overlap, the comparison record for the corresponding height layer is deleted, and no overlapping path segment record is generated. If the same path segment forms a common coverage interval with multiple fixed objects within the same height layer, overlapping path segment records with corresponding fixed object identifiers are generated separately, enabling subsequent interference types to be distinguished by fixed object.

[0057] The center position of the common coverage area refers to the central record within the planar area used to represent the overlapping position. It is determined by the boundary relationship between the horizontally and vertically overlapping areas and written into the overlapping position attribute. The overlapping position attribute also includes the path segment identifier, height layer identifier, corresponding moving occupancy boundary source, and corresponding fixed occupancy boundary source. Using this recording method, subsequent interference type determination does not require rereading the entire continuous swept occupancy zone; instead, it directly reads the overlapping position attribute and fixed object identifier already formed in the overlapping path segment record.

[0058] S43: Read the center position of the common coverage interval and the fixed object identifier in the overlapping path segment record, read the connection node positioning data in the module geometric positioning data, determine the node proximity distance between the center position of the common coverage interval and the connection node positioning data, and determine the interference type based on the node proximity distance and the fixed object identifier.

[0059] Node proximity distance refers to the spatial proximity relationship record between the center location of the shared coverage area and the location data of the connecting node. The node proximity determination threshold is derived from preset determination rules based on the outer contour range of the connecting node, installation tolerance, and the boundary of the node connection area. It is written into the method execution process as a configurable field before the interference type is determined. If the node proximity distance is less than or equal to the node proximity determination threshold, it is determined to be a connecting node proximity interference, and the center location of the shared coverage area, the corresponding connecting node location data, and the fixed object identifier are written into the interference location data. If the fixed object identifier corresponds to the outer contour of the hoisting equipment, it is determined to be a hoisting equipment contour interference, and the corresponding fixed object identifier is written into the interference location data as the source of interference. If the node proximity distance is greater than the node proximity determination threshold, and the fixed object identifier does not correspond to the outer contour of the hoisting equipment, it is determined to be a module body interference, and the path segment identifier, height layer identifier, and shared coverage area in the overlapping path segment record are written into the interference location data.

[0060] When determining the interference type, the judgment of interference between adjacent connecting nodes prioritizes reading the node proximity distance between the center position of the shared coverage area and the connecting node positioning data. The judgment of interference between the hoisting equipment outline and the object type of the fixed object identifier is read. When the records of the same overlapping path segment simultaneously satisfy both the adjacent connecting node relationship and the object relationship of the hoisting equipment outline, both sources—fixed object identifier and connecting node positioning data—are retained. The interference positioning data is then marked to indicate that it involves both the adjacent node and the hoisting equipment outline, so that the subsequent assembly path adjustment process can distinguish between node area avoidance and outline area avoidance. For records that do not satisfy the node proximity relationship and whose fixed object identifier does not correspond to the hoisting equipment outline, the main module interference is output.

[0061] When outputting interferometric positioning data, at least the path segment identifier, height layer identifier, overlapping position attribute, fixed object identifier, interferometry type, and geometric positioning data source of the associated module should be included. If the overlapping path segment record originates from a path segment affected by height layer partitioning anomalies, vertex correspondence anomalies, state synchronization anomalies, or patch sweeping anomalies, the corresponding anomaly state should be retained in the interferometric positioning data so that the geometric or state source of the path segment can be identified when subsequently reading the interferometric positioning data. For path segments that do not form a common coverage area, interferometric positioning data should not be output; only the state record of the completed comparison should be retained.

[0062] In this embodiment, by dividing the continuous sweeping occupancy zone and the fixed occupancy area into the same height layer for planar coordinate range comparison, the three-dimensional path interference detection is transformed into a comparison of the same layer boundary with height layer constraints, avoiding the misjudgment of boundaries in different height spaces as overlapping; by using the common coverage area together with the fixed object identifier and the connection node positioning data for interference type determination, the output results can distinguish between interference near the connection node, interference of the hoisting equipment outline, and interference of the module body, thereby providing a clear positioning basis for assembly path adjustment and on-site interference investigation.

[0063] In one embodiment, the state synchronization anomaly record, vertex correspondence anomaly record, patch sweep anomaly record, and height layer division anomaly record are all used only as state references affecting the corresponding path segments participating in subsequent processing. The state synchronization anomaly record is used to prevent hoisting operation states with mismatched times from being written into the path attitude sequence; the vertex correspondence anomaly record is used to prevent patches with inconsistent outer contour vertex identifiers from entering the patch sweep segment generation; the patch sweep anomaly record is used to prevent patch sweep segments with discontinuous boundaries from entering the continuous sweep occupancy zone; and the height layer division anomaly record is used to prevent comparison records that cannot establish same-layer boundaries from entering the overlapping path segment record generation. All of the above anomaly records carry the source of the corresponding path segment, patch, or height layer, so that the remaining valid data after anomaly processing can still continue to form interferometric positioning data in the order of S1 to S4.

[0064] In one embodiment, the moving segment retention threshold, node proximity determination threshold, and height layer interval are all pre-defined configuration fields that are entered into the corresponding steps. In S302, the moving segment retention threshold is used to determine whether the outer contour vertices form valid moving segments. In S403, the node proximity determination threshold is used to determine whether the center position of the shared coverage area belongs to the adjacent range of the connecting node. In S401, the height layer interval is used to establish the same-layer comparison caliber for continuously swept occupancy zones and fixed occupancy areas. The sources of these configuration fields correspond to the path sampling accuracy, the connecting node installation boundary, and the building inter-layer reference, respectively. Their output purposes are respectively directed to valid moving segment recording, interference type determination, and height layer identifier generation, without changing the original geometric boundaries in the building's 3D design model data.

[0065] In one embodiment, the first valid attitude of the path attitude sequence is formed by the installation reference coordinates in the module geometric positioning data and the first valid hoisting operation state. When the first hoisting operation state is deleted due to a state synchronization anomaly, the path attitude sequence does not start with the abnormal state, but waits for the next hoisting operation state that meets the path time identification rule to become the first valid attitude. When the adjacent spatial attitudes are insufficient to form a moving line segment, a continuous sweep occupancy zone is not generated, and the path segment not formed state is output. After the adjacent valid spatial attitudes are complete, the moving line segment and the patch sweep segment are generated according to the processing order of S3. Through this starting rule, the path attitude sequence will not generate an unsourced moving boundary due to the lack of an initial state.

[0066] In this embodiment, by sequentially performing model data extraction, path posture generation, continuous sweep occupancy zone generation, and layered overlap judgment through steps S1 to S4, a continuous data flow relationship is formed between the 3D design boundary, hoisting path state, moving sweep boundary, fixed occupancy boundary, and interference positioning data of the steel structure module to be assembled. Each output is generated from the valid data of the previous step and is called by the subsequent processing step, thereby enabling the intelligent assembly path interference detection process of the modular steel structure building to be completed within the boundary of the same 3D building design model.

[0067] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for detecting interference along the assembly path of modular steel structure buildings, characterized in that, The method includes: Obtain architectural 3D design model data, and generate module geometric positioning data and fixed occupied areas with fixed object identifiers based on the architectural 3D design model data; The hoisting operation status is obtained, and the hoisting operation status is correlated with the module geometric positioning data space to generate vertical position change and horizontal position change. The vertical position change and the horizontal position change are superimposed on the module geometric positioning data to generate a path attitude sequence. For adjacent spatial poses in the path pose sequence, the coordinates of the outer contour vertices corresponding to the module geometric positioning data in the adjacent spatial poses are connected to form moving line segments, and the moving line segments are connected in the order of the patch boundaries to generate a continuous sweep occupancy zone. The continuous sweeping occupancy zone and the fixed occupancy area are divided according to the height layer interval. The planar coordinate range of the moving occupancy boundary and the fixed occupancy boundary within the same height layer is compared. When there is a common coverage area, an overlapping path segment record with overlapping position attributes and the fixed object identifier is generated. The interference type is determined based on the overlapping path segment record and the connection node positioning data in the module geometric positioning data, and the interference positioning data is output. The process of generating the continuous sweeping occupied zone is as follows: Read two adjacent spatial poses from the path pose sequence, establish a front-to-back correspondence between the coordinates of the same outer contour vertex in the two spatial poses, connect the previous pose coordinates and the next pose coordinates of the same outer contour vertex according to the front-to-back correspondence, generate the moving line segment, connect the moving line segments corresponding to the same outer contour patch according to the patch boundary order in the module geometric positioning data, generate patch sweeping fragments, and merge the patch sweeping fragments according to the outer contour patch identifier to generate the continuous sweeping occupancy band; The process of establishing the correspondence between the preceding and following parts is as follows: Obtain the previous pose coordinates of the outer contour vertex identifier in the previous spatial pose and the next pose coordinates in the next spatial pose. Compare the outer contour vertex identifiers corresponding to the previous pose coordinates and the next pose coordinates. When the two outer contour vertex identifiers are consistent, establish a corresponding relationship. When the two outer contour vertex identifiers are inconsistent, stop generating the patch sweeping fragment associated with the outer contour patch and generate a vertex correspondence anomaly record.

2. The intelligent assembly path interference detection method for modular steel structure buildings according to claim 1, characterized in that, The specific process for generating the module geometric positioning data and the fixed occupied area is as follows: Obtain the identifiers of the modules to be assembled and the fixed object components from the architectural 3D design model data. Extract the vertex coordinates, lifting point positioning coordinates, installation reference coordinates, and connection node positioning data of the outer contour surface components based on the identifiers of the modules to be assembled. Establish a vertex sequence of the vertex coordinates of the outer contour surface components according to the boundary order of the surface components and associate it with the lifting point positioning coordinates, installation reference coordinates, and connection node positioning data to generate the geometric positioning data of the module. Extract the boundary coordinates of the fixed object based on the identifiers of the fixed object components and associate them with the identifiers of the fixed object to generate the fixed occupied area.

3. The intelligent assembly path interference detection method for modular steel structure buildings according to claim 1, characterized in that, The specific process for generating the path pose sequence is as follows: The hoisting operation status corresponding to the path time identifier is collected from the hoisting controller. The hoisting operation status is matched with the hoisting point positioning data in the module geometric positioning data according to the path time identifier to generate the vertical position change. The horizontal position change is generated according to the horizontal displacement status in the hoisting operation status. The vertical position change and the horizontal position change are written into the module geometric positioning data corresponding to the path time identifier to generate path attitude data. The path attitude data is sorted according to the path time identifier to generate the path attitude sequence.

4. The intelligent assembly path interference detection method for modular steel structure buildings according to claim 3, characterized in that, The process of determining the path time identifier is as follows: The system obtains the controller timestamp when the hoisting controller sends the hoisting operation status and the path sampling timestamp corresponding to the building 3D design model data. The system compares the time difference between the controller timestamp and the path sampling timestamp. When the time difference does not exceed half of the path sampling time interval, the path sampling timestamp is determined as the path time identifier. When the time difference exceeds half of the path sampling time interval, the corresponding hoisting operation status is deleted and a status synchronization anomaly record is generated.

5. The intelligent assembly path interference detection method for modular steel structure buildings according to claim 1, characterized in that, The specific process for generating the moving line segment is as follows: Obtain the previous and next attitude coordinates of the same outer contour vertex in the adjacent spatial attitudes, compare the coordinate offset between the previous and next attitude coordinates, when the coordinate offset is greater than the moving line segment retention threshold, connect the previous and next attitude coordinates, when the coordinate offset is not greater than the moving line segment retention threshold, mark the corresponding outer contour vertex as a stationary vertex, and generate a valid moving line segment record.

6. The intelligent assembly path interference detection method for modular steel structure buildings according to claim 1, characterized in that, The process of generating the overlapping path segment records is as follows: According to the height layer interval, height layer identifiers are established for the continuous sweeping occupied zone and the fixed occupied area respectively. The moving occupied boundary and the fixed occupied boundary under the same height layer identifier are extracted. The planar coordinate range of the moving occupied boundary and the fixed occupied boundary are compared. When the planar coordinate range has the common coverage interval, the path segment identifier, the height layer identifier, the common coverage interval and the fixed object identifier are associated to generate the overlapping path segment record.

7. The intelligent assembly path interference detection method for modular steel structure buildings according to claim 6, characterized in that, The process for determining the type of interference is as follows: Read the center position of the common coverage area and the fixed object identifier from the overlapping path segment record, read the connection node positioning data from the module geometric positioning data, determine the node proximity distance between the center position of the common coverage area and the connection node positioning data, determine connection node proximity interference when the node proximity distance is less than or equal to the node proximity determination threshold, determine hoisting equipment outline interference when the fixed object identifier corresponds to the hoisting equipment outline, and determine module body interference when the node proximity distance is greater than the node proximity determination threshold and the fixed object identifier does not correspond to the hoisting equipment outline.

8. The intelligent assembly path interference detection method for modular steel structure buildings according to claim 7, characterized in that, The comparison process for the range of plane coordinates is as follows: Obtain the horizontal and vertical coordinate intervals of the mobile occupancy boundary within the same height layer, and obtain the horizontal and vertical coordinate intervals of the fixed occupancy boundary within the same height layer. When two horizontal coordinate intervals overlap and two vertical coordinate intervals overlap, map the overlapping horizontal and vertical intervals to the common coverage interval. When neither the horizontal nor the vertical coordinate interval overlaps, delete the comparison record of the corresponding height layer.

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