Positioning and tracing method and system suitable for precast concrete beam in beam storage area

Abstract

The application discloses a positioning and tracing method and system suitable for prefabricated concrete beams in a beam storage area, and the method comprises the following steps: deploying a plurality of intelligent bearing pedestals, acquiring and storing the three-dimensional absolute coordinates of each intelligent bearing pedestal; when a beam lifting device lifts a current prefabricated concrete beam, reading the information of the current prefabricated concrete beam, and sending the information and the lifting event timestamp to a cloud server; when the current prefabricated concrete beam is unloaded in the beam storage area, the cloud server intercepts the time slices before and after the unloading moment, calculates the pressure increment of the real-time vertical physical pressure reported by the plurality of intelligent bearing pedestals within the time slices; if the difference between the sum of the pressure increment and the theoretical total weight of the current prefabricated concrete beam is less than a preset weight threshold, it is determined that the handshake is successful; then, vertical stacking level deduction and spatial coordinate decoupling operation are performed to realize high-precision closed-loop positioning under complex stacking conditions and improve the digital management level and subsequent operation efficiency of the beam storage area.

Description

Technical Field

[0001] This invention belongs to the field of precast component management technology for bridge engineering, and more specifically, relates to a method and system for locating and tracing precast concrete beams in the beam storage area. Background Technology

[0002] In bridge construction, precast concrete beams are typically produced centrally in large precast beam yards. After production, the finished beams are stored in designated storage areas, awaiting transport according to the erection plan. These storage areas contain large quantities of beams, densely packed, and subject to frequent hoisting, relocation, and repositioning as the beam fabrication and erection progress dynamically match. Efficient operation in this process requires managers to have real-time and accurate knowledge of each beam's identity, storage coordinates, and location status, enabling dynamic transport and full-process quality traceability. However, the complex electromagnetic environment created by the reinforced concrete foundation and numerous metal structures in the storage area, along with the highly dynamic nature of multiple cranes operating in parallel and multiple shifts, places extremely high demands on the accuracy, real-time performance, and automation of location calibration and information association. Achieving centimeter-level automatic association of one beam, one code, and one location has become a key technological requirement for overcoming the bottleneck in beam storage management and supporting digital beam erection.

[0003] Currently, the management of beam storage areas mainly relies on the following technical methods. The first is the traditional management method based on manual recording and simple visual numbering. When storing beams, operators use manual ledgers or spreadsheets to register information such as beam number, storage location, and platform number, and spray identification codes onto the beam surface. Subsequent manual visual inspection and verification are then performed. The second is a positioning technology solution based on the Global Navigation Satellite System (GNSS). Some beam yards are attempting to install GPS or GNSS positioning modules on the beams or gantry cranes, trying to obtain the real-time geographical coordinates of the beams through satellite signal calculation. The third is an Internet of Things (IoT) solution based on radio frequency identification (RFID) technology. This involves pre-embedding or affixing RFID electronic tags during the precast beam production stage, and using fixed or handheld readers to read the codes within the tags to achieve automatic identification of the beams and record their entry and exit. Some systems also integrate with a backend database for simple ledger management.

[0004] However, the aforementioned existing technologies all have substantial flaws in practical applications and cannot effectively solve the fundamental problems faced by accurate management of beam storage areas. For example, manual management relies heavily on the experience and subjective responsibility of operators, and information updates are significantly delayed. Especially under high-intensity working conditions with multiple shifts and multiple gantry cranes and beam transport vehicles operating in parallel, after the beams are frequently moved, manual recording is prone to omissions, false reports, or update delays, leading to a disconnect between the beam's identity and its actual storage location. Locating a specific target beam often requires a significant amount of manpower and time, severely restricting transportation efficiency. Secondly, while satellite positioning-based solutions can provide absolute coordinates, in the specific scenario of a beam storage area, the densely packed gantry crane rails... The presence of steel frames for beam storage platforms, large precast concrete components, and dense steel cages can cause severe multipath reflection and obstruction of satellite signals, resulting in a significant degradation in positioning accuracy to the meter level or even worse. It becomes impossible to distinguish the precise storage location of a single beam from a densely packed stack of beams, let alone meet the requirements for centimeter-level spatial calibration. Furthermore, signal blind spots are frequent, leading to poor positioning availability. In addition, RFID-based solutions only address the identity of the beam but cannot answer its current location. Its location information depends solely on the deployment area of ​​the reader that reads the tag, resulting in coarse granularity. It is impossible to know the precise coordinates of the beam within an area of ​​several meters or even tens of meters, and there is a lack of a mechanism to automatically link identity information with real geographical coordinates. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a method and system for locating and tracing precast concrete beams in a beam storage area. By constructing a closed-loop management system that deeply integrates physical perception and digital twins, it significantly overcomes the core drawbacks of traditional technologies, such as the disconnect between identity and location and insufficient positioning accuracy. It also effectively solves the problems of traditional positioning methods being unable to accurately identify vertical levels in multi-layer stacking conditions and being easily interfered with by steel structures. This achieves centimeter-level high-precision closed-loop positioning of precast beams under complex conditions, greatly improving the digital management level and subsequent transportation efficiency of the beam storage area.

[0006] To achieve the above objectives, the present invention provides a method for locating and tracing precast concrete beams in a beam storage area, comprising the following steps: S1: Deploy multiple intelligent bearing platforms in a matrix distribution within the precast concrete beam storage area, and acquire and store the three-dimensional geographic absolute coordinates of each intelligent bearing platform; S2: When the beam lifting equipment lifts the current precast concrete beam, the radio frequency identification device is used to read the identification information, theoretical total weight and theoretical height parameters of the current precast concrete beam, and the above information and the lifting event timestamp are sent to the cloud server. S3: When the current precast concrete beam is unloaded into the beam storage area, the cloud server captures a time slice before and after the unloading moment and calculates the pressure increment of the real-time vertical physical pressure reported by multiple intelligent bearing pedestals within the time slice; if the difference between the sum of the pressure increments and the theoretical total weight of the current precast concrete beam is less than a preset weight threshold, then the handshake is determined to be successful. S4: After the handshake is determined to be successful, the vertical stacking hierarchy is decoupled from the spatial coordinates. The vertical height is locked by the pressure increment, and the three-dimensional coordinates are directly mapped by combining the attitude information of the end-effector at the moment of placement, so as to achieve high-precision closed-loop positioning under complex stacking conditions.

[0007] Further, step S1 includes: S11: Based on the storage process requirements and hoisting accuracy requirements of precast concrete beams, the storage area of ​​precast concrete beams is divided into a two-dimensional physical grid to determine the theoretical installation points of each intelligent bearing platform. S12: Anchor the intelligent support platform at each theoretical installation point, wherein the intelligent support platform is embedded with a pressure sensor and a wireless communication unit and is given a unique hardware identifier. S13: Use a total station to measure the three-dimensional spatial coordinates of the compression geometric center point of each intelligent bearing platform to obtain the original coordinate data; S14: Logically associate the hardware identifier with the corresponding three-dimensional absolute coordinates and store them in the static topology database of the cloud server.

[0008] Further, step S2 includes: S21: The tension is monitored in real time by the tension sensor on the winch of the beam lifting equipment. When the real-time feedback tension value of the tension sensor is not less than the lifting trigger threshold, the beam lifting equipment is determined to enter the effective lifting operation state and the data reporting unit is activated. S22: Automatically obtain the globally unique code of the current precast concrete beam surface through the radio frequency identification reader installed on the lifting device, and automatically retrieve the theoretical total weight and theoretical height parameters of the current precast concrete beam from the database based on the globally unique code. S23: Encapsulate the current precast concrete beam's identification information, theoretical total weight, theoretical height parameters, and lifting event timestamp into a dynamic initial data packet and upload it to the cloud server.

[0009] Further, step S3 includes: S31: The real-time vertical physical pressure reported by all intelligent bearing platforms in the precast concrete beam storage area is monitored in real time through the cloud server. When a positive jump is detected in the real-time vertical physical pressure of some intelligent bearing platforms within a very short time window, and the locking pin disconnection status signal sent by the beam lifting device is received at the same time, a time slice containing the steady state before the jump and the steady state after the jump is extracted with the jump moment as the center. S32: Calculate the total pressure increment caused by the unloading of the current precast concrete beam by extracting the pressure data of all or affected smart bearing platforms in the physical area within the time slice; S33: Compare the absolute value of the difference between the total pressure increment and the extracted theoretical total weight to determine whether the difference is within the preset weight threshold range; if the difference is within the preset weight threshold range, the stacking time-space handshake is determined to be successful, and a handshake success log containing a confirmation timestamp is generated; if the difference exceeds the preset weight threshold range, the current placement is determined to be an abnormal event or a non-current precast concrete beam placement, and an alarm is triggered.

[0010] Furthermore, the total pressure increment is calculated as follows: ; In the formula, This refers to the total pressure increment caused by unloading the precast concrete beam into the precast concrete beam storage area. The total number of all or affected smart carrier platforms in the physical region within the time slice; For the first The real-time vertical physical pressure reported by an intelligent bearing platform at the end of the captured time slice; For the first The real-time vertical physical pressure reported by the intelligent support platform at the front end of the captured time slice.

[0011] Further, step S4 includes: S41: Retrieve the existing beam storage information of the physical area where the pressure increment occurs. If there are already stored bottom-level precast concrete beams in the area, determine that the current precast concrete beams are in a vertical stacking state, and deduce the number of stacking layers and the vertical absolute elevation. S42: At the instant the mechanical locking pin is disconnected, the absolute centroid horizontal coordinate and horizontal yaw angle of the current precast concrete beam are directly mapped downwards and calculated by the positioning and attitude sensors integrated on the end of the beam lifting equipment. S43: The calculated absolute centroid horizontal coordinates, absolute horizontal yaw angle, and absolute vertical elevation are permanently bound to the current identification information of the precast concrete beam; by mapping this spatial pose to a three-dimensional visualization model and generating a unique full-process traceability log on the cloud server, dynamic closed-loop management of each precast concrete beam from warehousing, stacking to delivery is completed.

[0012] Furthermore, the current method for calculating the number of stacked layers and the absolute vertical elevation of precast concrete beams is as follows: ; ; In the formula, This represents the current vertical stacking layer number of the precast concrete beams; The known number of stacked layers of the bottom precast concrete beam that supports the current precast concrete beam; This represents the absolute vertical elevation of the bottom surface of the current precast concrete beam in absolute space. The known absolute vertical elevation of the bottom surface of the precast concrete beam at the bottom level; This refers to the theoretical height parameter of the bottom precast concrete beam; This refers to the standard thickness of the interlayer support pad.

[0013] Furthermore, the calculation methods for the absolute centroid horizontal coordinates and horizontal yaw angle are as follows; ; ; ; In the formula, , The horizontal coordinates of the absolute centroid of the current precast concrete beam; This refers to the absolute horizontal yaw angle of the current precast concrete beam within the beam storage area; , The absolute horizontal coordinate of the end-effector at the instant the mechanical locking pin disengages; The vertical distance from the geometric center of the end-effector positioning module to the centroid plane of the current precast concrete beam; , These are the approximate values ​​of the absolute pitch angle and roll angle of the end spreader at the instant the mechanical locking pin disengages; The horizontal yaw angle of the end spreader at the instant the mechanical locking pin disengages; , The mechanical installation eccentricity between the center of the lifting device's gripping and the theoretical center of mass of the beam; This refers to the mechanical locking angle deviation between the longitudinal axis of the lifting device and the theoretical longitudinal axis of the precast concrete beam.

[0014] A second aspect of the present invention provides a positioning and tracing system for precast concrete beams in a beam storage area, employing the positioning and tracing method described above, comprising: Physical space gridding module: used to deploy multiple intelligent bearing platforms in a matrix distribution within the precast concrete beam storage area, and to acquire and store the three-dimensional geographic absolute coordinates of each intelligent bearing platform; Dynamic identity initialization module: When the beam lifting equipment lifts the current precast concrete beam, it uses radio frequency identification equipment to read the identity information, theoretical total weight and theoretical height parameters of the current precast concrete beam, and sends the above information and the lifting event timestamp to the cloud server; Stacked Spacetime Handshake Verification Module: When the current precast concrete beam is unloaded into the beam storage area, the cloud server captures a time slice before and after the unloading moment, calculates the pressure increment of the real-time vertical physical pressure reported by multiple intelligent bearing pedestals within the time slice; if the difference between the sum of the pressure increments and the theoretical total weight of the current precast concrete beam is less than a preset weight threshold, the handshake is determined to be successful. Vertical topology deduction and pose inverse solution module: After a successful handshake, it performs vertical stacking hierarchy deduction and spatial coordinate decoupling calculation; it locks the vertical height by pressure increment and directly maps the three-dimensional coordinates by combining the attitude information of the end-effector at the moment of placement, so as to achieve high-precision closed-loop positioning under complex stacking conditions.

[0015] A third aspect of the present invention provides a computer-readable storage medium comprising a stored computer program, wherein the computer program, when executed by a processor, controls the device containing the storage medium to perform the location and tracing method as described above.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. The positioning and tracing method of the present invention, by constructing a closed-loop management system that deeply integrates physical perception and digital twin, significantly overcomes the core drawbacks of traditional technologies, such as the disconnect between identity and location and insufficient positioning accuracy. It also effectively solves the problems of traditional positioning methods being unable to accurately identify vertical levels and being easily interfered with by steel structures in multi-layer stacking conditions. It achieves high-precision closed-loop positioning of precast beams at the centimeter level in complex working conditions, greatly improving the digital management level of the beam storage area and the efficiency of subsequent transportation.

[0017] 2. The positioning and tracing method of the present invention, by deploying a matrix-type intelligent bearing platform and pre-fixing its three-dimensional geographic absolute coordinates, elevates the simple physical bearing ground to a low-level tactile neural network with continuous force and position topology perception capabilities. This establishes a local high-precision coordinate reference base that is completely independent of external global navigation satellite systems, immune to flexible hoisting deformation errors, and never disconnects. This provides a hard anchor point that never fails for the subsequent inverse solution of the absolute centroid horizontal coordinates of the precast concrete beam based on the static balance matrix and spatiotemporal handshake protocol, ensuring the absolute stability and traceability closed loop of the digital twin mapping throughout the entire life cycle of the precast concrete beam.

[0018] 3. The positioning and tracing method of the present invention automatically and rigidly binds the current precast concrete beam's identification information, theoretical total weight, theoretical height parameters, and lifting event timestamp at the instant when the beam lifting equipment effectively lifts the current precast concrete beam. This provides a precise time comparison window and weight verification benchmark for the subsequent stacking spatiotemporal handshake verification performed by the cloud server, and lays an indispensable physical attribute prior data foundation for vertical topology deduction, thoroughly consolidating the data source of the full-process traceability closed loop.

[0019] 4. The positioning and tracing method of the present invention, through mechanical incremental differential calculation within an extremely short time window, aligns the action sequence of the lifting equipment with the force feedback of the ground intelligent bearing platform in a closed loop, ensuring that each placement record has undergone dual logical judgment of physical weight and identity prior data; thereby, through this spatiotemporal handshake verification, it automatically filters the interference of environmental noise and unrelated hoisting events, providing verified and highly confident underlying data input for subsequent high-precision vertical topology deduction and pose inverse solution, ultimately ensuring the logical self-consistency of the entire tracing chain in the spatiotemporal dimension.

[0020] 5. The positioning and tracing method of the present invention locks the number of vertical stacking layers and the absolute vertical elevation in real time through the pressure jump of the ground intelligent bearing platform. At the same time, it uses the positioning and attitude sensors integrated into the end of the lifting equipment to capture the transient rigid body posture at the moment of placement. Through spatial coordinate system transformation, the reference of the lifting equipment is directly mapped to the stacking point, thereby completely avoiding the nonlinear interference of the mechanical transmission of the bottom layer and ensuring the absolute accuracy of the spatial posture of each precast concrete beam and the traceability closed loop under the extreme working conditions of confined space and multi-layer stacking. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating the steps of the location and traceability method according to an embodiment of the present invention; Figure 2 This is a structural schematic diagram of a beam lifting device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the positioning and tracing system according to an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Example 1 Please refer to Figure 1 and Figure 2 This invention provides a method for locating and tracing precast concrete beams in a beam storage area, comprising the following steps: S1: Deploy multiple intelligent bearing platforms in a matrix distribution within the precast concrete beam storage area, and acquire and store the three-dimensional geographic absolute coordinates of each intelligent bearing platform; S2: When the beam lifting equipment lifts the current precast concrete beam, the radio frequency identification device is used to read the identification information, theoretical total weight and theoretical height parameters of the current precast concrete beam, and the above information and the lifting event timestamp are sent to the cloud server. S3: When the current precast concrete beam is unloaded into the beam storage area, the cloud server captures a time slice before and after the unloading moment and calculates the pressure increment of the real-time vertical physical pressure reported by multiple intelligent bearing pedestals within the time slice; if the difference between the sum of the pressure increments and the theoretical total weight of the current precast concrete beam is less than a preset weight threshold, then the handshake is determined to be successful. S4: After the handshake is determined to be successful, the vertical stacking hierarchy is decoupled from the spatial coordinates. The vertical height is locked by the pressure increment, and the three-dimensional coordinates are directly mapped by combining the attitude information of the end-effector at the moment of placement, so as to achieve high-precision closed-loop positioning under complex stacking conditions.

[0024] Specifically, existing technologies for spatial positioning of precast concrete beams generally employ a top-down indirect positioning logic that tracks the lifting equipment and supplements it with flexible steel wire rope dynamic compensation. This method is highly susceptible to non-line-of-sight failures and severe drift of satellite navigation signals due to electromagnetic multipath effects when dealing with dense gantry crane steel structures and multiple stacks of precast concrete beams in the precast beam storage area. Furthermore, traditional positioning schemes often suffer from blind descent effects, failing to detect foundation settlement and elastic compression of pad blocks under long-term heavy pressure. This leads to a technical predicament of transient open-loop and state loss after the lifting equipment is unloaded and removed from the site, making it impossible to guarantee the absolute spatial position accuracy and data continuity of the precast concrete beams during long-term storage. Therefore, this embodiment reconstructs the spatial perception infrastructure of the precast concrete beam storage area through step S1. Wherein: Step S1 includes: S11: Based on the storage process requirements and hoisting accuracy requirements of precast concrete beams, the storage area of ​​precast concrete beams is divided into a two-dimensional physical grid to determine the theoretical installation points of each intelligent bearing platform. S12: Anchor the intelligent support platform at each theoretical installation point, wherein the intelligent support platform is embedded with a pressure sensor and a wireless communication unit and is given a unique hardware identifier. S13: Use a total station to measure the three-dimensional spatial coordinates of the compression geometric center point of each intelligent bearing platform to obtain the original coordinate data; S14: Logically associate the hardware identifier with the corresponding three-dimensional absolute coordinates and store them in the static topology database of the cloud server.

[0025] In an optional embodiment, when performing coordinate calibration of the intelligent support platform, the coordinates are uniformly mapped in the following manner: ; In the formula, For the first The final three-dimensional absolute coordinates of an intelligent support platform stored in the static topology database of the cloud server; This is the coordinate transformation matrix from the pre-calibrated local coordinate system to the overall absolute coordinate system of the project; The first one obtained through on-site measurement The original three-dimensional coordinates of an intelligent support platform in the local station coordinate system of a total station.

[0026] It should be noted that, in this embodiment, the... To obtain the results during the initial construction phase of the precast concrete beam storage area, static global navigation satellite system observations were conducted using known on-site control points, followed by joint adjustment calculations.

[0027] Specifically, existing technologies generally face technical defects in the initialization stage of precast concrete beam transportation, including a disconnect between the physical entity and its digital twin identity, delayed information collection, and fragmented multi-source data. Traditional management models heavily rely on manual barcode scanning or post-event data entry, resulting in the system's inability to accurately identify the unique identifier of the precast concrete beam at the instant of lifting, and a lack of automatic extraction and binding of key physical prior data such as theoretical total weight and theoretical height parameters. This information lag and data dispersion directly sever the data source for time-series tracking, causing subsequent spatial positioning verification and vertical stacking hierarchy deduction to fall into a black box state due to the lack of accurate comparison benchmarks, which cannot meet the high-precision traceability requirements of high-frequency concurrent lifting scenarios in large beam storage areas. Therefore, this embodiment seamlessly integrates RFID technology and beam lifting equipment load monitoring mechanisms in step S2 to construct an automated data bridge from physical space to digital space, completing the dynamic identity and business time-series initialization for the full life-cycle traceability of precast concrete beams. Among them: Step S2 includes: S21: The tension is monitored in real time by the tension sensor on the winch of the beam lifting equipment. When the real-time feedback tension value of the tension sensor is not less than the lifting trigger threshold, the beam lifting equipment is determined to enter the effective lifting operation state and the data reporting unit is activated. S22: Automatically obtain the globally unique code of the current precast concrete beam surface through the radio frequency identification reader installed on the lifting device, and automatically retrieve the theoretical total weight and theoretical height parameters of the current precast concrete beam from the database based on the globally unique code. S23: Encapsulate the current precast concrete beam's identification information, theoretical total weight, theoretical height parameters, and lifting event timestamp into a dynamic initial data packet and upload it to the cloud server.

[0028] Specifically, existing technologies generally face a technical bottleneck in the placement phase of precast concrete beams due to the disconnect between physical placement events and digital identity verification. Because the hoisting site environment is complex and often involves multiple lifting machines operating concurrently, relying solely on mobile positioning trajectories or static RFID scanning cannot establish a strong coupling verification logic between identity and location at the moment of placement. This makes it difficult for the system to determine whether the load jump perceived on the ground is indeed generated by the current target component. This open-loop recording mode, lacking a feedback mechanism, is prone to mismatches between identity information and physical coordinates in the event of accidental placement, misalignment, or environmental load interference. This leads to data deviations in the full-process traceability system due to the lack of real-time logical verification, severely impacting the robustness of digital management under harsh working conditions. Therefore, this embodiment constructs a joint verification mechanism based on time slices and pressure increments in step S3, establishing a deterministic timing and physical characteristic handshake protocol for the physical placement process of precast concrete beams. Wherein: Step S3 includes: S31: The real-time vertical physical pressure reported by all intelligent bearing platforms in the precast concrete beam storage area is monitored in real time through the cloud server. When a positive jump is detected in the real-time vertical physical pressure of some intelligent bearing platforms within a very short time window, and the locking pin disconnection status signal sent by the beam lifting device is received at the same time, a time slice containing the steady state before the jump and the steady state after the jump is extracted with the jump moment as the center. S32: Calculate the total pressure increment caused by the unloading of the current precast concrete beam by extracting the pressure data of all or affected smart bearing platforms in the physical area within the time slice; In an optional embodiment, the total pressure increment is calculated as follows: ; In the formula, This refers to the total pressure increment caused by unloading the precast concrete beam into the precast concrete beam storage area. The total number of all or affected smart carrier platforms in the physical region within the time slice; For the first The real-time vertical physical pressure reported by an intelligent bearing platform at the end of the captured time slice; For the first The real-time vertical physical pressure reported by the intelligent support platform at the front end of the captured time slice.

[0029] S33: Compare the absolute value of the difference between the total pressure increment and the extracted theoretical total weight to determine whether the difference is within the preset weight threshold range; if the difference is within the preset weight threshold range, the stacking time-space handshake is determined to be successful, and a handshake success log containing a confirmation timestamp is generated; if the difference exceeds the preset weight threshold range, the current placement is determined to be an abnormal event or a non-current precast concrete beam placement, and an alarm is triggered.

[0030] Specifically, existing technologies face profound challenges in handling the vertical stacking of precast concrete beams, including the ambiguity of the underlying mechanical characteristics and the black-box nature of spatial pose information. When multiple layers of components are physically stacked, the static equivalence principle limits the ability to resolve the horizontal yaw angle of the upper precast concrete beams solely based on the pressure increment of the ground-based intelligent bearing platform. Furthermore, the nonlinear deflection deformation of the lower precast concrete beams under compression severely contaminates the vertical physical pressure distribution data. This results in engineering drift in the traditional pure static inverse model when resolving the absolute centroid horizontal coordinates, which cannot be overcome by repair algorithms, making it difficult to maintain centimeter-level spatial positioning accuracy in complex stacking environments. Therefore, this embodiment implements a multi-source heterogeneous data decoupling strategy in step S4 to construct a precise pose mapping system covering all dimensions of three-dimensional space. Among them: Step S4 includes: S41: Retrieve the existing beam storage information of the physical area where the pressure increment occurs. If there are already stored bottom-level precast concrete beams in the area, determine that the current precast concrete beams are in a vertical stacking state, and deduce the number of stacking layers and the vertical absolute elevation. In an optional embodiment, the calculation method for the number of stacked layers and the absolute vertical elevation of the current precast concrete beams is as follows: ; ; In the formula, This represents the current vertical stacking layer number of the precast concrete beams; The known number of stacked layers of the bottom precast concrete beam that supports the current precast concrete beam; This represents the absolute vertical elevation of the bottom surface of the current precast concrete beam in absolute space. The known absolute vertical elevation of the bottom surface of the precast concrete beam at the bottom level; This refers to the theoretical height parameter of the bottom precast concrete beam; This refers to the standard thickness of the interlayer support pad.

[0031] S42: At the instant the mechanical locking pin is disconnected, the absolute centroid horizontal coordinate and horizontal yaw angle of the current precast concrete beam are directly mapped downwards and calculated by the positioning and attitude sensors integrated on the end of the beam lifting equipment. In an optional embodiment, the absolute centroid horizontal coordinates and horizontal yaw angle are calculated as follows; ; ; ; In the formula, , The horizontal coordinates of the absolute centroid of the current precast concrete beam; This refers to the absolute horizontal yaw angle of the current precast concrete beam within the beam storage area; , The absolute horizontal coordinate of the end-effector at the instant the mechanical locking pin disengages; The vertical distance from the geometric center of the end-effector positioning module to the centroid plane of the current precast concrete beam; , These are the approximate values ​​of the absolute pitch angle and roll angle of the end spreader at the instant the mechanical locking pin disengages; The horizontal yaw angle of the end spreader at the instant the mechanical locking pin disengages; , The mechanical installation eccentricity between the center of the lifting device's gripping and the theoretical center of mass of the beam; This refers to the mechanical locking angle deviation between the longitudinal axis of the lifting device and the theoretical longitudinal axis of the precast concrete beam.

[0032] It is understandable that during use, the aforementioned , and All of these can be measured and output in real time by a high-precision inertial measurement unit (IMU) mounted on the end-effector; , The positioning module on the end effector can collect and report data in real time at a specific timestamp. It should be noted that in this embodiment, the positioning module is a common positioning device in the prior art, such as a high-precision inertial measurement unit (IMU) and a top / side-view binocular industrial camera. Specifically: when the lifting device is at the top of the gantry crane, the GNSS signal of the gantry crane can be used to perform initial high-precision alignment of the IMU. When the lifting device descends into the precast concrete beam stacking area, causing GNSS loss, the camera captures the texture features of the precast concrete beams or the ground on both sides. The relative displacement velocity is calculated using optical flow, and the velocity measured visually is fused with the three-axis acceleration of the IMU using Kalman filtering (VIO algorithm). This allows for the continuous calculation of the cumulative relative displacement of the end effector from the initial moment to the current moment. Furthermore, because the descent process typically lasts only tens of seconds, the error in this short-term autonomous calculation can be controlled within the centimeter level, perfectly calculating the absolute coordinates at the moment of beam drop. In other embodiments, other types of positioning devices can also be used; specific limitations are not specified here.

[0033] S43: The calculated absolute centroid horizontal coordinates, absolute horizontal yaw angle, and absolute vertical elevation are permanently bound to the current identification information of the precast concrete beam; by mapping this spatial pose to a three-dimensional visualization model and generating a unique full-process traceability log on the cloud server, dynamic closed-loop management of each precast concrete beam from warehousing, stacking to delivery is completed.

[0034] Example 2 Please refer to Figure 3 This invention provides a positioning and tracking system for precast concrete beams in a beam storage area, comprising: Physical space gridding module: used to deploy multiple intelligent bearing platforms in a matrix distribution within the precast concrete beam storage area, and to acquire and store the three-dimensional geographic absolute coordinates of each intelligent bearing platform; Dynamic identity initialization module: When the beam lifting equipment lifts the current precast concrete beam, it uses radio frequency identification equipment to read the identity information, theoretical total weight and theoretical height parameters of the current precast concrete beam, and sends the above information and the lifting event timestamp to the cloud server; Stacked Spacetime Handshake Verification Module: When the current precast concrete beam is unloaded into the beam storage area, the cloud server captures a time slice before and after the unloading moment, calculates the pressure increment of the real-time vertical physical pressure reported by multiple intelligent bearing pedestals within the time slice; if the difference between the sum of the pressure increments and the theoretical total weight of the current precast concrete beam is less than a preset weight threshold, the handshake is determined to be successful. Vertical topology deduction and pose inverse solution module: After a successful handshake, it performs vertical stacking hierarchy deduction and spatial coordinate decoupling calculation; it locks the vertical height by pressure increment and directly maps the three-dimensional coordinates by combining the attitude information of the end-effector at the moment of placement, so as to achieve high-precision closed-loop positioning under complex stacking conditions.

[0035] It should be noted that the positioning and tracing system provided in this embodiment can be a computer program (including program code) running on a computer device. For example, the positioning and tracing system is an application program that can be used to execute the corresponding steps in the methods provided in the embodiments of the present invention.

[0036] In some feasible implementations, the positioning and tracing system provided in this embodiment can be implemented using a combination of hardware and software. As an example, the positioning and tracing system of this embodiment can be a processor in the form of a hardware decoding processor, which is programmed to execute the positioning and tracing method provided in this embodiment. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0037] In some feasible implementations, the positioning and tracing system provided in this embodiment can be implemented in software, which can be software in the form of programs and plug-ins, and includes a series of modules to implement the positioning and tracing method provided in this embodiment of the invention.

[0038] Example 3 This invention also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the various steps in the location and tracing method described above. For details, please refer to the implementation methods provided for each of the above steps, which will not be repeated here.

[0039] 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.

[0040] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0042] In this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it; those skilled in the art will readily understand that the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for locating and tracing precast concrete beams in a beam storage area, characterized in that, Includes the following steps: S1: Deploy multiple intelligent bearing platforms in a matrix distribution within the precast concrete beam storage area, and acquire and store the three-dimensional geographic absolute coordinates of each intelligent bearing platform; S2: When the beam lifting equipment lifts the current precast concrete beam, the radio frequency identification device is used to read the identification information, theoretical total weight and theoretical height parameters of the current precast concrete beam, and the above information and the lifting event timestamp are sent to the cloud server. S3: When the current precast concrete beam is unloaded into the beam storage area, the cloud server captures a time slice before and after the unloading moment and calculates the pressure increment of the real-time vertical physical pressure reported by multiple intelligent bearing pedestals within the time slice; if the difference between the sum of the pressure increments and the theoretical total weight of the current precast concrete beam is less than a preset weight threshold, then the handshake is determined to be successful. S4: After the handshake is determined to be successful, the vertical stacking hierarchy is decoupled from the spatial coordinates. The vertical height is locked by the pressure increment, and the three-dimensional coordinates are directly mapped by combining the attitude information of the end-effector at the moment of placement, so as to achieve high-precision closed-loop positioning under complex stacking conditions.

2. The positioning and tracing method according to claim 1, characterized in that, Step S1 includes: S11: Based on the storage process requirements and hoisting accuracy requirements of precast concrete beams, the storage area of ​​precast concrete beams is divided into a two-dimensional physical grid to determine the theoretical installation points of each intelligent bearing platform. S12: Anchor the intelligent support platform at each theoretical installation point, wherein the intelligent support platform is embedded with a pressure sensor and a wireless communication unit and is given a unique hardware identifier. S13: Use a total station to measure the three-dimensional spatial coordinates of the compression geometric center point of each intelligent bearing platform to obtain the original coordinate data; S14: Logically associate the hardware identifier with the corresponding three-dimensional absolute coordinates and store them in the static topology database of the cloud server.

3. The positioning and tracing method according to claim 2, characterized in that, Step S2 includes: S21: The tension is monitored in real time by the tension sensor on the winch of the beam lifting equipment. When the real-time feedback tension value of the tension sensor is not less than the lifting trigger threshold, the beam lifting equipment is determined to enter the effective lifting operation state and the data reporting unit is activated. S22: Automatically obtain the globally unique code of the current precast concrete beam surface through the radio frequency identification reader installed on the lifting device, and automatically retrieve the theoretical total weight and theoretical height parameters of the current precast concrete beam from the database based on the globally unique code. S23: Encapsulate the current precast concrete beam's identification information, theoretical total weight, theoretical height parameters, and lifting event timestamp into a dynamic initial data packet and upload it to the cloud server.

4. The positioning and tracing method according to claim 3, characterized in that, Step S3 includes: S31: The real-time vertical physical pressure reported by all intelligent bearing platforms in the precast concrete beam storage area is monitored in real time through the cloud server. When a positive jump is detected in the real-time vertical physical pressure of some intelligent bearing platforms within a very short time window, and the locking pin disconnection status signal sent by the beam lifting device is received at the same time, a time slice containing the steady state before the jump and the steady state after the jump is extracted with the jump moment as the center. S32: Calculate the total pressure increment caused by the unloading of the current precast concrete beam by extracting the pressure data of all or affected smart bearing platforms in the physical area within the time slice; S33: Compare the absolute value of the difference between the total pressure increment and the extracted theoretical total weight to determine whether the difference is within the preset weight threshold range; if the difference is within the preset weight threshold range, the stacking time-space handshake is determined to be successful, and a handshake success log containing a confirmation timestamp is generated; if the difference exceeds the preset weight threshold range, the current placement is determined to be an abnormal event or a non-current precast concrete beam placement, and an alarm is triggered.

5. The positioning and tracing method according to claim 4, characterized in that, The total pressure increment is calculated as follows: ； In the formula, This refers to the total pressure increment caused by unloading the precast concrete beam into the precast concrete beam storage area. The total number of all or affected smart carrier platforms in the physical region within the time slice; For the first The real-time vertical physical pressure reported by an intelligent bearing platform at the end of the captured time slice; For the first The real-time vertical physical pressure reported by the intelligent support platform at the front end of the captured time slice.

6. The positioning and tracing method according to claim 4, characterized in that, Step S4 includes: S41: Retrieve the existing beam storage information of the physical area where the pressure increment occurs. If there are already stored bottom-level precast concrete beams in the area, determine that the current precast concrete beams are in a vertical stacking state, and deduce the number of stacking layers and the vertical absolute elevation. S42: At the instant the mechanical locking pin is disconnected, the absolute centroid horizontal coordinate and horizontal yaw angle of the current precast concrete beam are directly mapped downwards and calculated by the positioning and attitude sensors integrated on the end of the beam lifting equipment. S43: The calculated absolute centroid horizontal coordinates, absolute horizontal yaw angle, and absolute vertical elevation are permanently bound to the current identification information of the precast concrete beam; by mapping this spatial pose to a three-dimensional visualization model and generating a unique full-process traceability log on the cloud server, dynamic closed-loop management of each precast concrete beam from warehousing, stacking to delivery is completed.

7. The positioning and tracing method according to claim 6, characterized in that, The current method for calculating the number of stacking layers and the absolute vertical elevation of precast concrete beams is as follows: ； ； In the formula, This represents the current vertical stacking layer number of the precast concrete beams; The known number of stacked layers of the bottom precast concrete beam that supports the current precast concrete beam; This represents the absolute vertical elevation of the bottom surface of the current precast concrete beam in absolute space. The known absolute vertical elevation of the bottom surface of the precast concrete beam at the bottom level; This refers to the theoretical height parameter of the bottom precast concrete beam; This refers to the standard thickness of the interlayer support pad.

8. The positioning and tracing method according to claim 6, characterized in that, The calculation methods for the horizontal coordinates of the absolute center of mass and the horizontal yaw angle are as follows: ； ； ； In the formula, , The horizontal coordinates of the absolute centroid of the current precast concrete beam; This refers to the absolute horizontal yaw angle of the current precast concrete beam within the beam storage area; , The absolute horizontal coordinate of the end-effector at the instant the mechanical locking pin disengages; The vertical distance from the geometric center of the end-effector positioning module to the centroid plane of the current precast concrete beam; , These are the approximate values ​​of the absolute pitch angle and roll angle of the end spreader at the instant the mechanical locking pin disengages; The horizontal yaw angle of the end spreader at the instant the mechanical locking pin disengages; , The mechanical installation eccentricity between the center of the lifting device's gripping and the theoretical center of mass of the beam; This refers to the mechanical locking angle deviation between the longitudinal axis of the lifting device and the theoretical longitudinal axis of the precast concrete beam.

9. A positioning and tracing system for precast concrete beams in a beam storage area, employing the positioning and tracing method as described in any one of claims 1-8, characterized in that, include: Physical space gridding module: used to deploy multiple intelligent bearing platforms in a matrix distribution within the precast concrete beam storage area, and to acquire and store the three-dimensional geographic absolute coordinates of each intelligent bearing platform; Dynamic identity initialization module: When the beam lifting equipment lifts the current precast concrete beam, it uses radio frequency identification equipment to read the identity information, theoretical total weight and theoretical height parameters of the current precast concrete beam, and sends the above information and the lifting event timestamp to the cloud server; Stacked Spacetime Handshake Verification Module: When the current precast concrete beam is unloaded into the beam storage area, the cloud server captures a time slice before and after the unloading moment, calculates the pressure increment of the real-time vertical physical pressure reported by multiple intelligent bearing pedestals within the time slice; if the difference between the sum of the pressure increments and the theoretical total weight of the current precast concrete beam is less than a preset weight threshold, the handshake is determined to be successful. Vertical topology deduction and pose inverse solution module: After a successful handshake, it performs vertical stacking hierarchy deduction and spatial coordinate decoupling calculation; it locks the vertical height by pressure increment and directly maps the three-dimensional coordinates by combining the attitude information of the end-effector at the moment of placement, so as to achieve high-precision closed-loop positioning under complex stacking conditions.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program that, when executed by a processor, controls the device containing the storage medium to perform the location and tracing method as described in any one of claims 1-8.

Images