Prefabricated steel structure welding data transmission system based on digital twin, and method

Abstract

The present invention belongs to the field of steel structure building construction detection. Disclosed are a prefabricated steel structure welding data transmission system based on digital twin, and a method. The prefabricated steel structure welding data real-time transmission system based on digital twin comprises an unmanned aerial vehicle, which is used for flying to a high point of a prefabricated steel structure, wherein an RFID tag positioning identifier is provided at the top of the unmanned aerial vehicle, and is used for identifying RFID tags attached to edges of welding positions. By using an image registration and superposition module, an image, which is processed in real time, is matched and superposed with ultrasonic feedback array points having array point coordinate information; and by means of a result generation module, defective parts are marked on a matched and superposed image which has array point coordinate information, and continuous welding seam length data, height difference data between adjacent array points and a lack-of-welding length value are attached, such that a welding seam quality inspection error is avoided, and the defect situation of each welding point can be effectively uploaded to a computer for checking, thereby avoiding the quality problem of a steel structure building that is caused by an error of a welder.

Description

Prefabricated steel structure welding data transmission system and method based on digital twin Technical Field

[0001] The present invention relates to the technical field of steel structure building construction detection technology, and specifically to a prefabricated steel structure welding data transmission system and method based on digital twins. Background Art

[0002] In prefabricated steel structure buildings, in addition to bolting, welding is usually required for fixing steel components in areas where high connection stability is required to ensure reliable and stable connections between steel components.

[0003] In large prefabricated steel structures, welding processes are often performed at various locations throughout every floor. Due to the unique nature of welding, welding techniques and habits directly impact weld quality and weld leaks, often relying heavily on the welder's basic ethics. Therefore, to encourage welders to self-check welds after completion, weld points are located and numbered within the digital twin BIM model, and RFID tags are created for each number. The standard implementation procedure is: after a welding process is completed and a weld passes self-inspection, an RFID tag with the corresponding number is affixed 5 cm from the weld. This approach offers the advantage of enabling management personnel to quickly locate welds using a handheld RFID tag locator, allowing supervisors to quickly inspect the welds. Furthermore, since each welder receives a numbered RFID tag, the required weld point is already assigned before the RFID tag is assigned. This allows for easy identification of the specific individual responsible for any weld defects.

[0004] However, due to the large number of welds, both in high and low areas, this situation undoubtedly brings considerable trouble to supervisors. Among them, some high areas require supervisors to wear climbing equipment to climb up to the heights, and supervisors without experience in high-altitude construction also face safety risks. In addition, weld inspection also relies on vision and touch, which has judgment bias and may lead to misjudgment. Therefore, in order to avoid the above situation, it is necessary to set up a real-time transmission system and method for prefabricated steel structure welding data based on digital twins, which can automatically and in real time perform weld quality inspection on welds of prefabricated steel structure buildings and avoid misjudgment of weld quality, so as to meet actual needs.

[0005] Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention provides a prefabricated steel structure welding data transmission system and method based on digital twins.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a digital twin-based prefabricated steel structure welding data transmission system, comprising a drone, wherein the top of the drone is provided with a tag positioning identifier, the tag positioning identifier is used to identify RFID tags, and the RFID tags are affixed to the edges of each weld; the bottom of the drone is provided with an ultrasonic array mechanism, the ultrasonic array mechanism is used to assist in measuring defects in the weld; and the front of the drone is provided with a camera for capturing images of each weld;

[0008] In order to control the flight path of the UAV, effectively detect welding defects and transmit them wirelessly, a drive control module is provided in the UAV. The drive control module uses the RFID tag positioning information as the positioning node and establishes coordinates in the digital twin BIM model to form flight control of the UAV; the UAV is also provided with a welding defect transmission module. The welding defect transmission module is used to combine the ultrasonic array point information with the image for analysis, and remotely and automatically edit the analysis results to each positioning node.

[0009] In order to form ultrasonic array emission and ultrasonic feedback receiving array points, the present invention discloses a real-time transmission system for prefabricated steel structure welding data based on digital twins. Preferably, the ultrasonic array mechanism includes an installation box installed at the bottom of the drone, a development board is provided in the installation box, a wire pipe is provided on one side of the installation box and an installation panel is installed at one end of the wire pipe, and an ultrasonic array board for emitting an ultrasonic array and receiving a feedback array is provided on the installation panel.

[0010] In order to use the layout position of the RFID tag positioning information as the positioning node, generate a planned route on the digital twin BIM model, and allow the drone to fly and stay according to the planned route, the present invention provides a real-time transmission system for prefabricated steel structure welding data based on digital twins. Preferably, the drive control module includes a model storage module for storing the digital twin BIM model, and the model storage module is unidirectionally connected to the path planning module. The path planning module uses the digital twin BIM model as the planning layout for path planning. The path planning module is unidirectionally connected to the automatic control and drive module. The automatic control and drive module is used to automatically execute the path planning plan and control the flight of the drone.

[0011] In order to avoid the loss of the remaining flight path of the UAV after it is grounded, the present invention provides a real-time transmission system for prefabricated steel structure welding data based on digital twins. Preferably, the automatic control and drive module is bidirectionally connected to the remaining path selection module, wherein the remaining path selection module is used to store the remaining path of the UAV after it is grounded, and to allow the automatic control and drive module to drive and control the remaining path planning of the UAV in a selected manner.

[0012] In order to effectively transmit welding defect data to a computer in real time, the present invention provides a real-time transmission system for welding data of assembled steel structures based on digital twins. Preferably, the welding defect transmission module includes an image and array point information cache module, which is used to receive and store array feedback information uploaded by the ultrasonic array mechanism and image information uploaded by the camera. The image and array point information cache module are respectively connected to an array point coordinate establishment module and an image processing module for unidirectional transmission. The image processing module is used to process the clarity of the image, and the array point coordinate establishment module is used to establish the coordinates of the ultrasonic feedback array points. The processing module and the array point coordinate establishment module are both connected to the array point information and image quasi-weighting module, which is used to match and overlap the ultrasonic feedback array points with the image. The array point information and image quasi-weighting module is unidirectionally connected to the defect analysis module, which performs welding defect analysis by matching the overlapping image layers. The defect analysis module is unidirectionally connected to the result generation module, which is used to mark the defective parts and generate a defect array point map. The result generation module is unidirectionally connected to the wireless editing module, which is used to wirelessly and remotely edit the welding defect results to each positioning node.

[0013] In order to perform defect analysis on the image layer, the defect analysis module performs defect analysis on the image layer in the following specific manner:

[0014] Based on the determined image layer and the relevant data of the ultrasonic feedback vibration point, a virtual model of the weld is generated;

[0015] Construct a set of parallel surfaces parallel to the base surface of the virtual model body, where the base surface is the flat surface inside the virtual model body;

[0016] Identify several mapping points from the parallel plane, map the corresponding mapping points vertically on the surface of the virtual model, and obtain the vertical distance between the mapping point and the corresponding point of the virtual model, and calibrate the generated groups of vertical distances as J i , where i represents different mapping points;

[0017] The confirmed groups of vertical distances J i Perform variance processing, determine the variance value Fc, confirm the corresponding variance value Fc, and identify whether the variance value Fc meets the following conditions: Fc ≥ Y1, where Y1 is a preset value. If so, it means that the variance value Fc is too large and subsequent analysis is performed. If not, it means that the variance value Fc meets the standard and no processing is performed, indicating that the welding of this weld is qualified.

[0018] From the generated sets of vertical distances J i Determine the same distance zone and different distance zone within the vertical distance J iThe same area is marked as the same distance area, and the different distance areas are locked according to the corresponding same distance areas confirmed on the surface of the virtual model body, and the determined different distance areas are marked as welding line areas;

[0019] If there is only one set of calibrated welding line area: confirm the center point of the welding line area and construct a set of center lines passing through the center point. The center line is parallel to the welding direction. The welding direction is determined by the operator according to the diagram layer. Then construct several perpendicular lines perpendicular to and passing through the center line. The perpendicular lines conflict with the two sides of the welding line area. The perpendicular lines inside the welding line area are calibrated as the vertical lines to be checked. The length values ​​CDk of several vertical lines to be checked are obtained, where k represents different vertical lines to be checked. Then the maximum value CDk is determined from the several length values ​​CDk. max and the minimum CDk min , identify whether its length value satisfies (CDk max -CDk min )≥Y2, where Y2 is a preset value, and its specific value is determined by the operator based on experience. If it meets the requirement, it means that the internal width of the welding line area is greatly different, and the defective part is directly marked and displayed. If it does not meet the requirement, it means that the welding line area is correct and no marking is required;

[0020] If there are multiple groups of bond wire areas to be calibrated: confirm the area parameters of each group of different bond wire areas and calibrate them as MJ t , where t represents different wire bonding areas, and directly determines several different area parameters MJ t The mean of , and marked as JJ, will satisfy (MJ t -JJ)<Y3, the welding line area is marked as a defective part; if it is not satisfied, no mark is made, where Y3 is a preset value;

[0021] In order to efficiently use the above-mentioned real-time transmission system for welding data of assembled steel structures based on digital twins, the present invention provides a method for using the real-time transmission system for welding data of assembled steel structures based on digital twins, comprising the following steps:

[0022] S1: Set the drone’s take-off point and store the digital twin BIM model in the control module;

[0023] S2: Run the drone;

[0024] S3: Check whether the drone returns due to battery problems. If so, recharge the drone and continue the process.

[0025] The present invention provides a digital twin-based prefabricated steel structure welding data transmission system and method. Compared with the existing technology, it has the following advantages:

[0026] Through the drive control module, the drone can perform flight missions with the RFID tag positioning information as the positioning node, and can ensure that the welding area can be effectively captured by the ultrasonic array mechanism and camera; in addition, through the welding defect transmission module, the image pseudo-weight module is used to match and overlap the real-time processed image with the ultrasonic feedback array point with array point coordinate information, and the result generation module is used to mark the defective parts on the matched and overlapped images with array point coordinate information, and attach the continuous length data of the weld, the height difference data of adjacent array points and the length value of the missing weld, so as to avoid errors in weld quality inspection, and can effectively upload the defect conditions of each welding point to the computer for viewing, so as to avoid quality problems of steel structure buildings caused by errors of welding workers.

[0027] The present invention provides a method for a real-time transmission system of welding data of assembled steel structures based on digital twins. The method is simple to operate and can continue to perform weld inspection work that has not been performed after charging.

[0028] When performing defect analysis on the image layer, first establish the corresponding parallel plane, then confirm the distance. Based on the confirmed corresponding distance, lock the welding line area, and based on the specific number of welding line areas, use different defect analysis methods to mark the defect locations, so as to ensure the comprehensiveness of the defect analysis process and the accuracy of the defect analysis, so as to achieve better defect analysis results. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1 is a schematic structural diagram of a preferred embodiment of a real-time transmission system for welding data of assembled steel structures based on digital twins provided by the present invention;

[0030] FIG2 is a schematic diagram of the connection of the ultrasound array board shown in FIG1 ;

[0031] FIG3 is a schematic diagram of a drive control module according to the present invention;

[0032] FIG4 is a schematic diagram of a welding defect transmission module according to the present invention;

[0033] Numbers in the figure: 1-UAV; 2-RFID tag positioning identifier; 3-ultrasonic array mechanism; 301-installation box; 302-development board; 303-wire tube; 304-installation panel; 305-ultrasonic array board; 4-camera. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] Please refer to Figures 1, 2, 3 and 4, wherein Figure 1 is a structural diagram of a preferred embodiment of a digital twin-based assembled steel structure welding data transmission system provided by the present invention;

[0036] FIG2 is a schematic diagram of the connection of the ultrasonic array board shown in FIG1 ; FIG3 is a schematic diagram of the drive control module of the present invention; and FIG4 is a schematic diagram of the welding defect transmission module of the present invention.

[0037] Example 1

[0038] A real-time data transmission system for welding of prefabricated steel structures based on digital twins includes a drone 1 for flying to a high point of the prefabricated steel structure. The drone 1 is equipped with an RFID tag location identifier 2 on top for identifying RFID tags attached to the edges of each weld. The drone 1 is equipped with an ultrasonic array mechanism 3 on the bottom for assisting in the measurement of weld defects. The drone 1 is also equipped with a camera 4 on the front for capturing images of each weld.

[0039] Among them, a drive control module is provided in the drone 1, which uses the RFID tag positioning information as the positioning node and establishes coordinates in the digital twin BIM model to form flight control of the drone 1. A welding defect transmission module is also provided in the drone 1, which combines the ultrasonic array point information with the image for analysis and remotely and automatically edits the analysis results to each positioning node.

[0040] The RFID tag location identifier 2 is used to detect the RFID tags at all welding locations and generate location information.

[0041] In the specific implementation process, as shown in Figures 1 and 2, the ultrasonic array mechanism 3 includes a mounting box 301 fixed to the bottom of the drone 1 with bolts, a development board 302 fixed with screws is contained in the mounting box 301, a wire tube 303 is embedded on the right side of the mounting box 301, and a mounting panel 304 is fixed with screws at the right end of the wire tube 303, and an ultrasonic array board 305 for emitting an ultrasonic array and receiving a feedback array is embedded on the mounting panel 304.

[0042] More specifically, the model of the development board 302 is NVIDIA Nano NXTX2 AGX, and the development board 302 comes with a power module to power it. The ultrasonic probe on the ultrasonic array board 305 is connected in series to the signal receiving end of the development board 302 through a transmission line. The development board can centrally record the feedback ultrasonic array point information of the probe in each ultrasonic array board, and the wire tube is used to penetrate the transmission line.

[0043] Example 2

[0044] Referring to Figure 3, the drive and control module includes a storage module for storing the digital twin BIM model. The model storage module is unidirectionally connected to a path planning module that performs path planning based on the digital twin BIM model as the planning layout. The path planning module is unidirectionally connected to an automatic control and drive module that automatically executes the path planning plan and can control the flight of the drone 1. The circle in the figure can be understood as the digital twin BIM model calibrated by external personnel.

[0045] The RFID tag location identifier 2 detects the RFID tags at all welds and generates location information, which is stored in the digital twin BIM model to form a location node, effectively preventing the drone 1 from executing unnecessary flight routes. When the drone 1 reaches a weld, it extends its flight according to the weld extension in the digital twin BIM model to ensure that the weld area can be effectively captured by the ultrasonic array mechanism 3 and camera 4.

[0046] 1 , 2 , 3 and 4 , the automatic control and drive module is bidirectionally connected to the remaining path selection module; the remaining path selection module is used to store the remaining path of the drone 1 after it stops mid-flight, and to allow the automatic control and drive module to drive and control the remaining path planning of the drone 1 in a selected manner.

[0047] If the drone 1 automatically returns to the take-off point due to low battery, after charging is completed, it is connected to the automatic control and drive module through the computer to determine whether to execute the remaining path in the selected manner.

[0048] Example 3

[0049] As shown in Figures 1, 2, 3 and 4, the welding defect transmission module includes an image and array point information cache module, which is used to receive and store the array feedback information uploaded by the ultrasonic array mechanism 3 and the image information uploaded by the camera 4. The image and array point information cache modules are respectively connected to the array point coordinate establishment module and the image processing module in a unidirectional transmission manner. The image processing module is used to process the clarity of the image, and the array point coordinate establishment module is used to establish the coordinates of the ultrasonic feedback array points. The image processing module and the array point coordinate establishment module are both connected to the array point information and image quasi-weighting module. The array point information and image quasi-weighting module is used to match and overlap the ultrasonic feedback array points with the image. The array point information and image quasi-weighting module is unidirectionally connected to the defect analysis module. The defect analysis module performs welding defect analysis by matching the overlapping image layers. The defect analysis module is unidirectionally connected to the result generation module. The result generation module is used to mark the defect area and generate a defect array point map. The result generation module is unidirectionally connected to the wireless editing module. The wireless editing module is used to wirelessly and remotely edit the welding defect results to each positioning node.

[0050] Specifically, after the array feedback information uploaded by the ultrasonic array mechanism 3 and the image information uploaded by the camera 4 enter the image and array point information cache module in real time, they are processed separately. The array point coordinate establishment module establishes array point coordinates based on the ultrasonic feedback array points, with the goal of generating the corresponding real-time uploaded image layer. The image processing module is responsible for image clarity processing, which uses binarization and Gaussian filtering to reduce noise and enhance clarity in the real-time uploaded images. Next, the image quasi-reweighting module is used to match and overlap the real-time processed image with the ultrasonic feedback array points with array point coordinate information. This is done so that when the defect analysis module calculates the welding concave-convex value through the array point coordinate information, it can analyze whether the weld is continuous, whether the weld height meets the standard, and whether there is a missing weld in combination with the image situation, and can calculate the weld continuous length data, the height difference data of adjacent array points, and the missing weld length value. The result generation module is used to mark the defective part on the matched and overlapped image with array point coordinate information, and attach the weld continuous length data, the height difference data of adjacent array points, and the missing weld length value. Finally, the wireless editing module is used to highlight the defect data behind the RFID tag positioning node generated in the computer for easy viewing by the supervisor.

[0051] Specifically, the defect analysis module performs defect analysis on the image layer in the following manner:

[0052] Based on the determined image layer and the relevant data of the ultrasonic feedback vibration point, a virtual model of the weld is generated;

[0053] Construct a set of parallel surfaces parallel to the base surface of the virtual model body, where the base surface is the flat surface inside the virtual model body;

[0054] Identify several mapping points from the parallel plane, map the corresponding mapping points vertically on the surface of the virtual model, and obtain the vertical distance between the mapping point and the corresponding point of the virtual model, and calibrate the generated groups of vertical distances as J i , where i represents different mapping points. Specifically, a plane can be decomposed into several equally divided points. The points divided equally within the unit area are prepared in advance by the operator based on experience;

[0055] The confirmed groups of vertical distances J i Perform variance processing to determine the variance value Fc, where the specific method of obtaining the variance value is: where i = 1, 2, ..., n, first determine the mean of several groups of vertical distances and mark them as Jz, and use Confirm the corresponding variance value Fc and identify whether the variance value Fc satisfies: Fc ≥ Y1, where Y1 is a preset value, and its specific value is determined by the operator based on experience. If it satisfies, it means that the variance value Fc is too large and subsequent analysis is performed. If it does not meet the requirement, it means that the variance value Fc meets the standard and no treatment is performed, indicating that the welding of this weld is qualified.

[0056] From the generated sets of vertical distances J i Determine the same distance zone and different distance zone within the vertical distance J i The same area is marked as the same distance area, and the different distance areas are locked according to the corresponding same distance areas confirmed on the surface of the virtual model body, and the determined different distance areas are marked as welding line areas;

[0057] If there is only one set of calibrated welding line area: confirm the center point of the welding line area and construct a set of center lines passing through the center point. The center line is parallel to the welding direction. The welding direction is determined by the operator according to the diagram layer. Then construct several perpendicular lines perpendicular to and passing through the center line. The perpendicular lines conflict with the two sides of the welding line area. The perpendicular lines inside the welding line area are calibrated as the vertical lines to be checked. The length values ​​CDk of several vertical lines to be checked are obtained, where k represents different vertical lines to be checked. Then the maximum value CDk is determined from the several length values ​​CDk. max and the minimum CDk min , identify whether its length value satisfies: (CDk max -CDk min )≥Y2, where Y2 is a preset value, and its specific value is determined by the operator based on experience. If it meets the requirement, it means that the internal width of the welding line area is greatly different, and the defective part is directly marked and displayed. If it does not meet the requirement, it means that the welding line area is correct and no marking is required;

[0058] If there are multiple groups of bond wire areas to be calibrated: confirm the area parameters of each group of different bond wire areas and calibrate them as MJ t , where t represents different wire bonding areas, and directly determines several different area parameters MJ t The mean of , and marked as JJ, will satisfy (MJ t -JJ)<Y3 is marked as a defective part, where Y3 is a preset value, and its specific value is determined by the operator based on experience. If it is not satisfied, no marking is performed.

[0059] It should be noted that in order to facilitate remote viewing of the flight status of the drone 1 and the inspection status of the welding points, wireless mapping modules are set on the drive control module and the welding defect transmission module to generate the flight data of the drone 1 and the inspection data of each positioning node to the computer in real time, so as to facilitate temporary mediation and change of the control method.

[0060] In order to efficiently use the above-mentioned real-time transmission system for welding data of assembled steel structures based on digital twins, the present invention provides a method for using the real-time transmission system for welding data of assembled steel structures based on digital twins.

[0061] The following steps are involved:

[0062] Step S1: Set the take-off point of the drone 1 and store the digital twin BIM model in the drive control module;

[0063] The take-off point of UAV 1 needs to be set according to a fixed area on the digital twin BIM model corresponding to the actual steel structure building position on site. It can be the top of a steel column. When the digital twin BIM model is stored in the drive control module through a computer, the digital twin BIM model area corresponding to the actual placement point on site is set as the preset take-off point of the drive control module.

[0064] Step S2: running UAV 1;

[0065] Step S3: Check whether the drone 1 returns due to battery problems. If so, it will continue to execute after charging. After connecting to the automatic control and drive module through the computer, it is determined in a selected manner whether to execute the remaining path of the previous time.

[0066] The working principle of the real-time transmission system for welding data of assembled steel structures based on digital twins provided by the present invention is as follows:

[0067] Drive control module: The RFID tag positioning identifier 2 detects the RFID tags of all welding points to generate positioning information, which is stored in the digital twin BIM model to form a positioning node, thereby effectively preventing the drone 1 from executing redundant flight routes. After flying to the welding point, the drone 1 extends its flight according to the weld extension of the digital twin BIM model to ensure that the welding area can be effectively captured by the ultrasonic array mechanism 3 and the camera 4.

[0068] Welding defect transmission module: When the array feedback information uploaded by the ultrasonic array mechanism 3 and the image information uploaded by the camera 4 enter the image and array point information cache module in real time, the array point coordinate establishment module will form the array point coordinates of the ultrasonic feedback array points, and the image processing module is used to process the clarity of the image. Then, the image pseudo-weighting module is used to match and overlap the real-time processed image with the ultrasonic feedback array points with array point coordinate information. The result generation module is used to mark the defective parts on the matched and overlapped images with array point coordinate information, and attach the continuous length data of the weld, the height difference data of adjacent array points and the length value of the missing weld. Finally, the wireless editing module will highlight the above-mentioned defect data behind the RFID tag positioning node generated in the computer for the convenience of the supervisor to view.

[0069] The method for using the system is easy to operate and can continue to perform weld inspection work that has not been performed after charging.

[0070] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0071] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. The assembled steel structure welding data transmission system based on digital twin is characterized by: The invention comprises a drone (1), wherein the top of the drone (1) is provided with an RFID tag positioning identifier (2), the RFID tag positioning identifier (2) is used to identify RFID tags, the RFID tags are attached to the edges of each weld, the bottom of the drone (1) is provided with an ultrasonic array mechanism (3), the ultrasonic array mechanism (3) is used to assist in measuring defects in the weld, and the front of the drone (1) is provided with a camera (4) for photographing images of each weld; The drone (1) is provided with a drive control module, which uses RFID tag positioning information as a positioning node and establishes coordinates in a digital twin BIM model to form a flight control for the drone (1); the drone (1) is also provided with a welding defect transmission module, which is used to combine ultrasonic array point information with images for analysis, and remotely and automatically edit the analysis results to each positioning node.

2. The assembled steel structure welding data transmission system based on digital twin according to claim 1 is characterized in that: The ultrasonic array mechanism (3) comprises an installation box (301) installed at the bottom of the drone (1), a development board (302) being arranged in the installation box (301), a wire tube (303) being arranged on one side of the installation box (301), and an installation panel (304) being installed at one end of the wire tube (303), and an ultrasonic array board (305) being arranged on the installation panel (304) for emitting an ultrasonic array and receiving a feedback array.

3. The assembled steel structure welding data transmission system based on digital twin according to claim 1 is characterized in that: The drive control module includes a model storage module for storing a digital twin BIM model, the model storage module is unidirectionally connected to a path planning module, the path planning module performs path planning using the digital twin BIM model as a planning layout, the path planning module is unidirectionally connected to an automatic control drive module, the automatic control drive module is used to automatically execute the path planning scheme and control the flight of the unmanned aerial vehicle (1).

4. The assembled steel structure welding data transmission system based on digital twin according to claim 3 is characterized in that: The automatic control and drive module is bidirectionally connected to the remaining path selection module, and the remaining path selection module is used to store the remaining path of the drone (1) after the drone (1) stops midway, and to allow the automatic control and drive module to drive and control the remaining path planning of the drone (1) in a selected manner.

5. The assembled steel structure welding data transmission system based on digital twin according to claim 1 is characterized in that: The welding defect transmission module includes an image and array point information cache module, the image and array point information cache module is used to receive and store array feedback information uploaded by the ultrasonic array mechanism (3) and the image uploaded by the camera (4), the image and array point information cache module are respectively connected to an array point coordinate establishment module and an image processing module in a unidirectional transmission manner, the image processing module is used to perform clarity processing on the image, the array point coordinate establishment module establishes coordinates according to the array feedback information, the image processing module and the array point coordinate establishment module are both connected to an array point information and image pseudo-weighting module in a unidirectional transmission manner, the array point information and image pseudo-weighting module is used to match and overlap the array feedback information with the image, the array point information and image pseudo-weighting module is unidirectionally connected to a defect analysis module, the defect analysis module performs welding defect analysis by matching and overlapping image layers, the defect analysis module is unidirectionally connected to a result generation module, the result generation module is used to mark the defect location and generate a defect array point map, the result generation module is unidirectionally connected to a wireless editing module, the wireless editing module is used to wirelessly and remotely edit the welding defect results to each positioning node.

6. The assembled steel structure welding data transmission system based on digital twin according to claim 5 is characterized in that: The specific method of the defect analysis module to perform defect analysis on the image layer is as follows: Based on the determined image layer and the relevant data of the ultrasonic feedback vibration point, a virtual model of the weld is generated; Construct a set of parallel surfaces parallel to the base surface of the virtual model body, where the base surface is the flat surface inside the virtual model body; Identify several mapping points from the parallel plane, map the corresponding mapping points vertically on the surface of the virtual model, and obtain the vertical distance between the mapping point and the corresponding point of the virtual model, and calibrate the generated groups of vertical distances as J i , where i represents different mapping points; The confirmed groups of vertical distances J i Perform variance processing to determine the variance value Fc and identify whether the variance value Fc satisfies: Fc ≥ Y1, where Y1 is a preset value. If so, it means that the variance value Fc is too large and subsequent analysis is performed. If not, it means that the variance value Fc meets the standard and no processing is performed, indicating that the welding of this weld is qualified. From the generated sets of vertical distances J i Determine the same distance zone and different distance zone within the vertical distance J i The same area is marked as the same distance area, and the different distance areas are locked according to the corresponding same distance areas confirmed on the surface of the virtual model body, and the determined different distance areas are marked as welding line areas; If there is only one set of calibrated welding line area: confirm the center point of the welding line area and construct a set of center lines passing through the center point. The center line is parallel to the welding direction. The welding direction is determined by the operator according to the diagram layer. Then construct several vertical lines perpendicular to and passing through the center line. The vertical lines conflict with the two sides of the welding line area. The vertical lines inside the welding line area are calibrated as the vertical lines to be checked. The length values ​​CDk of several vertical lines to be checked are obtained, where k represents different vertical lines to be checked. Then the maximum value CDk is determined from the several length values ​​CDk. max and the minimum CDk min , identify whether its length value satisfies: (CDk max -CDk min )≥Y2, where Y2 is a preset value, and its specific value is determined by the operator based on experience. If it meets the requirement, it means that the internal width of the welding line area is greatly different, and the defective part is directly marked and displayed. If it does not meet the requirement, it means that the welding line area is correct and no marking is required; If there are multiple groups of bond wire areas to be calibrated: confirm the area parameters of each group of different bond wire areas and calibrate them as MJ t , where t represents different wire bonding areas, and directly determines several different area parameters MJ t The mean of , and marked as JJ, will satisfy (MJ t -JJ)<Y3 is marked as a defective part; if it is not satisfied, no marking is performed, where Y3 is a preset value.

7. A method for transmitting data of assembled steel structure welding based on digital twin, the method being implemented based on the system for transmitting data of assembled steel structure welding based on digital twin according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1: Set the take-off point of the drone (1) and store the digital twin BIM model in the drive control module; S2: Run the drone (1); S3: Check whether the drone (1) returns due to battery problems. If so, recharge the drone and continue the process.

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