A measuring device and fine installation control method suitable for full-assembled subway station large prefabricated components

Abstract

The application provides a kind of measurement device and fine installation control method suitable for full assembly subway station large prefabricated component, belongs to the technical field of prefabricated component of iron station. In order to solve the problem that prefabricated component quality requirement is high in assembly subway station engineering, the task of inspection work is heavy and the error is large, which can cause unqualified quality and cannot be accurately installed, and there is no corresponding scanning device. The prefabricated component is scanned in the measuring device and the point cloud model is generated, and the deviation is compared with the BIM reference model. After the qualified prefabricated component is virtually assembled, it is compared again. The position coordinates of the qualified prefabricated component are sent to the site for actual assembly. The unqualified prefabricated component is returned to the factory for reconstruction or replacement. The quality of single prefabricated component and whole ring or whole body is guaranteed. The three-dimensional scanning speed is fast and the precision is high, which ensures the assembly accuracy of subway, verifies the correctness of pre-assembly, avoids large error and rework, and improves work efficiency.

Description

[0001] For the present application, the applicant claims priority from the prior Chinese invention patent application No. CN202111425102.4, the filing date of which is November 26, 2021. TECHNICAL FIELD

[0002] The present application relates to the technical field of prefabricated components of subway stations, in particular to a measuring device for large prefabricated components of fully assembled subway stations and a fine installation control method. BACKGROUND

[0003] The platform of a subway station is usually a reinforced concrete structure, and is usually constructed by on-site pouring. Due to the structural characteristics of the platform and the large area, the installation and removal of the mold are both difficult, resulting in low construction efficiency and long construction period. Moreover, there are problems such as large resource and energy consumption, large amount of construction waste, etc. In order to improve construction quality and efficiency and reduce environmental pollution, in recent years, assembled subway stations have been widely used. However, due to the batch production of prefabricated components and the complex shape, the components cannot be used due to processing quality problems, causing unnecessary waste in construction. At the same time, traditional manual detection methods cannot meet the requirements of today's large-scale production detection in terms of production efficiency.

[0004] With the rapid development of three-dimensional laser scanning technology and BIM technology, especially with the progress of data acquisition speed and quality, the combination of three-dimensional laser scanning technology and BIM technology is increasingly widely used in the construction process, mainly for steel structure installation detection and construction process monitoring. However, there is no mature and systematic application system for the quality inspection of prefabricated concrete structures, especially for the quality of prefabricated components of assembled subway stations. There is also no corresponding device for three-dimensional scanning of large prefabricated components. When scanning, data needs to be collected from multiple angles. Due to the large size of prefabricated components, it is difficult to transport them, and manual scanning is prone to omissions and errors. SUMMARY

[0005] The technical problem to be solved by the present application is:

[0006] In order to solve the problem that the prefabricated components of assembled subway station projects have high quality requirements, the inspection work is heavy and the error is large, which easily causes unqualified quality and cannot be accurately installed, and there is no corresponding scanning device.

[0007] The technical solution adopted by the present application to solve the above technical problems is:

[0008] The application provides a large prefabricated component measuring device suitable for full assembly subway stations, the measuring device comprises a gantry crane, gantry crane sliding rails, 3D scanner sliding rails and a plurality of 3D scanner assemblies, two gantry crane sliding rails are arranged outside the 3D scanner sliding rails, the gantry crane can slide along the gantry crane sliding rails through pulleys, at least one 3D scanner assembly is arranged on the 3D scanner sliding rails, the 3D scanner assembly can slide along the 3D scanner sliding rails, the 3D scanner assembly comprises two sliding blocks in sliding connection with the 3D scanner sliding rails, a connecting rod, a 3D scanner sliding seat, an extension rod and a 3D scanner are sequentially arranged on the sliding blocks, the connecting rod is arranged on the two sliding blocks, the 3D scanner sliding seat is in sliding connection with the connecting rod, and the extension rod is in rotatable connection with the 3D scanner.

[0009] Further, the 3D scanner sliding rails comprise two single sliding rails parallel to each other, a plurality of sleepers are uniformly arranged below the single sliding rails, the sliding blocks are provided with sliding rail grooves, the single sliding rails are arranged in the sliding rail grooves and used for sliding of the sliding blocks along the 3D scanner sliding rails, and the 3D scanner sliding seat is provided with a connecting rod groove, the connecting rod is arranged in the connecting rod groove and used for sliding of the 3D scanner sliding seat along the connecting rod.

[0010] Further, the measuring device is arranged in a factory building, and the interior walls, roof and ground of the factory building are all pure color backgrounds.

[0011] Further, the 3D scanner is a Trimble X7 high-precision intelligent 3D scanner.

[0012] The application provides a fine installation control method suitable for full assembly subway stations, which comprises the following steps:

[0013] S1, a three-dimensional laser scanning point cloud model is established: seven to-be-measured prefabricated components A, B1, B2, C1, C2, D and E in each ring of the main prefabricated assembly section of the station are respectively placed into the measuring device in any one of claims 1-4 to perform 3D laser scanning, laser scanning data of the to-be-measured prefabricated components are acquired, point cloud registration is performed to a reference coordinate system, a signal target on a pre-scanned station control point is used to register the scanning data coordinate system of each station to a reference coordinate system to obtain a point cloud model;

[0014] S2, single to be tested prefabricated component quality inspection: a BIM reference model is established according to design construction drawings, three-dimensional coordinates of each point in the BIM reference model are obtained in the form of point cloud data or triangular net data, the three-dimensional coordinates are referenced to the reference coordinate system in step S1, the point cloud model and the BIM reference model in the same reference coordinate system are uploaded to three-dimensional data detection software, the point cloud model is subjected to coordinate conversion and alignment with the BIM reference model, the size and position of the surface, edge and each structure unit extracted from the scanning data are detected according to the inspection requirement, if the inspection is qualified, the next step operation is performed, if the inspection is unqualified, the unqualified to be tested prefabricated component is returned to the factory for reprocessing or replacement;

[0015] S3, virtual pre-assembly and quality inspection: after the single to be tested component quality inspection is qualified, virtual pre-assembly is performed, the point cloud data of each to be tested prefabricated component is assembled, aligned and the position coordinates after completion are obtained, the assembled and aligned prefabricated component or the whole prefabricated component is compared with the BIM reference model to generate a color spectrum comparison cloud diagram and automatically generate accurate assembly deviation values, if the assembly error meets the specification requirements, the next operation is performed, if the assembly error cannot meet the specification requirements, the unqualified to be tested prefabricated component is returned to the factory for reprocessing or replacement;

[0016] S4, the prefabricated component qualified in step S3 is transported to the construction site, the position coordinates obtained after the virtual pre-assembly are sent to the prefabricated component gantry crane, and the prefabricated component gantry crane assembles the corresponding prefabricated component according to the position coordinates.

[0017] Further, in step S1, the measuring distance between the 3D scanner and the to be tested prefabricated component is less than or equal to 5m.

[0018] Further, in step S1, the point cloud model of the to be tested prefabricated component is established after the point cloud data is registered, denoised, segmented and curved reconstructed by the Trimble Perspective software.

[0019] Further, in step S2, the least square method is used to calculate the three-dimensional coordinate transformation matrix of the corresponding matching points of the point cloud model and the BIM reference model, and the method is as follows:

[0020] The point set P in the point cloud model is obtained r ={p r1 ,p r2 ,p r3 ,p r4 ,p r5 ,K,p rn}, and the point set P in the BIM reference model is obtained r ={p r1 ,p r2 ,p r3 ,pr4 ,p r5 ,K,p rn There is a three-dimensional coordinate transformation relationship between the two: T×P r =P c Based on the principle of least squares, the transformation relationship T is calculated using three-dimensional residuals:

[0021]

[0022] In the formula: A represents the number of points less than or equal to n, and i takes the values ​​1, ..., n.

[0023] Furthermore, the 3D data detection software in step S2 is Geomagic Control software.

[0024] Furthermore, in step S3, the bottom surface of block A is selected as the reference plane, and each component is transformed and aligned according to the coordinates of the reference plane, and then assembled in the order of block A, block B1, block B2, block C1, block C2, block D, and block E.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] This invention discloses a measuring device for large prefabricated components in fully assembled subway stations. It includes a gantry crane, a 3D scanner rail, and a 3D scanner assembly. The prefabricated component to be measured is lifted by the gantry crane, which can adjust the height of the component. The 3D scanner can move laterally and longitudinally on the 3D scanner rail and connecting rod. A telescopic rod allows the 3D scanner to move up and down and rotate, enabling multi-angle and omnidirectional data acquisition of the component. This avoids incomplete data due to omissions in manual operation. Adjusting the distance between the 3D scanner and the prefabricated component reduces scanning errors, ensuring high-quality assembly during actual assembly, effectively improving work efficiency, and preventing a significant increase in costs.

[0027] This invention provides a refined installation control method for large prefabricated components in fully prefabricated subway stations. The method involves scanning the prefabricated component to be tested to obtain point cloud data and form a point cloud model. A BIM reference model established based on the design and construction drawings is compared with the point cloud model. If the deviation of the prefabricated component is too large, it is returned to the factory for remanufacturing. If the deviation is within a reasonable range, pre-assembly is performed. The assembled prefabricated component is compared with the BIM reference model in a complete loop or as a whole. If the deviation of the complete loop or as a whole exceeds a reasonable range, it is returned to the factory for remanufacturing again. If the deviation is reasonable, the position coordinates of each assembled prefabricated component are sent to the prefabricated component gantry crane on site for on-site assembly.

[0028] Compared with the traditional measurement and inspection method, the three-dimensional laser scanning technology for prefabricated component processing quality inspection has the advantages of fast speed, high precision, automatic information collection, unified storage, intelligent detection result analysis and calculation, can significantly reduce the measurement time, and the work efficiency is obviously improved;

[0029] The BIM technology and the three-dimensional laser scanning technology are applied to the prefabricated component quality inspection process of the assembled subway station, so that the processing detection, virtual pre-assembly and simulation correction integration are realized, technical support is provided for actual construction management, construction quality is effectively guaranteed, unnecessary waste is reduced, construction efficiency is improved, and subway assembly precision is guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a three-dimensional structure schematic view of a measuring device suitable for full assembled subway station large prefabricated component;

[0031] Figure 2 It is a principle diagram of a fine installation control method suitable for full assembled subway station large prefabricated component;

[0032] Figure 3 It is a BIM reference model diagram of the application;

[0033] Figure 4 It is a single-ring prefabricated component block diagram of the application;

[0034] Figure 5 It is an A block point cloud model diagram of the application;

[0035] Figure 6 It is a B block point cloud model diagram of the application;

[0036] Figure 7 It is a C block point cloud model diagram of the application;

[0037] Figure 8 It is a D block point cloud model diagram of the application;

[0038] Figure 9 It is an E block point cloud model diagram of the application;

[0039] Figure 10 It is a virtual pre-assembly comparison cloud diagram of the application;

[0040] Figure 11 It is an A block difference chromatogram of the application.

[0041] REFERENCE SIGNS:

[0042] 1-gantry crane, 2-gantry crane slide rail, 3-pulley, 4-sleeper, 5-single slide rail, 6-slide block, 7-connecting rod, 8-3D scanner slide, 9-telescopic rod, 10-3D scanner. DETAILED DESCRIPTION

[0043] In the description of the present application, it should be noted that the terms such as "upper", "lower", "front", "rear", "left", "right" and the like in the embodiments indicate the position relationship based on the position relationship of the drawings for the purpose of simplifying the description, and do not mean that the elements and devices referred to must be operated according to the specific position and limited operation and method, structure in the description. Such positional terms do not constitute a limitation on the present application.

[0044] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0045] Specific implementation scheme one: in combination with Figure 1 As shown in the drawings, the present application provides a large prefabricated component measuring device suitable for full assembly subway station, the measuring device includes gantry crane 1, gantry crane slide rail 2, 3D scanner slide rail and several 3D scanner assemblies, the outer side of the 3D scanner slide rail is provided with two gantry crane slide rails 2, the gantry crane 1 can slide along the gantry crane slide rail 2 through the pulley 3, at least one 3D scanner assembly is arranged on the 3D scanner slide rail, the 3D scanner assembly can slide along the 3D scanner slide rail, the 3D scanner assembly includes two sliding blocks 6 in sliding connection with the 3D scanner slide rail, a connecting rod 7, a 3D scanner slide 8, an extension rod 9 and a 3D scanner 10 are sequentially arranged on the sliding block 6, the connecting rod 7 is erected on the two sliding blocks 6, the 3D scanner slide 8 is in sliding connection with the connecting rod 7, one end of the 3D scanner slide 8 is connected with the extension rod 9, and the other end of the extension rod 9 is rotatably connected with the 3D scanner 10.

[0046] The gantry crane 1 can adjust the height of the measured component, the 3D scanner 10 can move horizontally and vertically on the 3D scanner slide rail and the connecting rod 7, the 3D scanner 10 can move up and down and rotate through the extension rod 9, the multi-angle and omnidirectional data acquisition of the measured component is realized, the problem that the data is incomplete due to the omission of the collection of a part when manually operated is avoided, the scanning error can be reduced by adjusting the distance between the 3D scanner and the prefabricated component, the high-quality assembly effect is ensured during actual assembly, the work efficiency is effectively improved, and the phenomenon of substantial increase in cost is avoided.

[0047] Specific implementation scheme two: in combination with Figure 1As shown, the 3D scanner slide rail comprises two mutually parallel single slides 5, a plurality of sleepers 4 are uniformly arranged below the single slides 5, the slide block 6 is provided with a slide rail groove, the single slide 5 is built in the slide rail groove, and the slide block 6 is used for sliding along the 3D scanner slide rail; the 3D scanner slide base 8 is provided with a connecting rod groove, the connecting rod 7 is built in the connecting rod groove, and the 3D scanner slide base 8 is used for sliding along the connecting rod 7. The other combinations and connection relationships of the embodiment are the same as those of the specific embodiment one.

[0048] Specific embodiment three: combination Figure 1 As shown, the measuring device is arranged in the factory building, and the inner walls, roof and ground of the factory building are pure color backgrounds, which are used for avoiding interference points outside the scanned object and error points caused by uneven reflection characteristics of the object itself, so as to affect the point cloud data processing quality. The other combinations and connection relationships of the embodiment are the same as those of the specific embodiment two.

[0049] Specific embodiment four: combination Figure 1 As shown, the 3D scanner is a Trimble X7 high-precision intelligent 3D scanner, the Trimble X7 high-precision intelligent 3D scanner performs three-dimensional laser scanning in a storage area, the device can realize automatic intelligent scanning, does not need to manually set parameters, automatically measures and does not need to stop, and the comprehensive integration with Trimble Perspective software specially designed for internal control and complete registration can fully register, refine, control and export data to various existing data formats. The other combinations and connection relationships of the embodiment are the same as those of the specific embodiment three.

[0050] Specific embodiment five: combination Figures 2 to 11 As shown, the present application provides a fine installation control method suitable for full assembly subway station large prefabricated components, which comprises the following steps:

[0051] S1, a three-dimensional laser scanning point cloud model is established: seven to-be-measured prefabricated components A block, B1 block, B2 block, C1 block, C2 block, D block and E block in each ring of the station main body prefabricated assembly section are respectively placed into the measuring device for 3D laser scanning, laser scanning data of the to-be-measured prefabricated components are obtained, and point cloud registration is performed to a reference coordinate system; the signal target on the pre-scanned station control point is used to register the scanning data coordinate system of each station to a reference coordinate system to obtain a point cloud model;

[0052] S2, single to be tested prefabricated component quality inspection: a BIM reference model is established according to design construction drawings, three-dimensional coordinates of each point in the BIM reference model are obtained in the form of point cloud data or triangular mesh data, the point cloud model in the same reference coordinate system is uploaded to the three-dimensional data detection software together with the BIM reference model, the point cloud model is converted in coordinates and aligned with the BIM reference model, the size and position of the surface, edge and each structure unit extracted from the scanning data are detected according to the inspection requirements, if the inspection is qualified, the next step operation is performed, if the inspection is unqualified, the unqualified to be tested prefabricated component is returned to the factory for reprocessing or replacement;

[0053] S3, virtual pre-assembly and quality inspection: after the single to be tested component quality inspection is qualified, virtual pre-assembly is performed, the point cloud data of each to be tested prefabricated component is assembled, aligned and the position coordinates after completion are obtained, the assembled and aligned prefabricated component or the whole prefabricated component is compared with the BIM reference model to generate a color spectrum comparison cloud diagram and automatically generate accurate assembly deviation values, if the assembly error meets the specification requirements, the next operation is performed, if the assembly error cannot meet the specification requirements, the unqualified to be tested prefabricated component is returned to the factory for reprocessing or replacement;

[0054] S4, the prefabricated component qualified in step S3 is transported to the construction site, the position coordinates obtained after virtual pre-assembly are sent to the prefabricated component gantry crane, and the prefabricated component gantry crane assembles the corresponding prefabricated component according to the position coordinates.

[0055] Specific implementation scheme six: in step S1, the measurement distance of the 3D scanner and the to be tested prefabricated component is less than or equal to 5m, the plane and elevation accuracy of the Trimble X7 scanner can reach 1mm at a measurement distance of 80m, and the closer the distance, the higher the accuracy, the measurement distance in this scanning process does not exceed 5m, and the measurement accuracy error can be controlled within 0.01mm, and the scanning result can be directly used for component quality inspection. The other combinations and connection relationships of this embodiment are the same as those of specific implementation scheme five.

[0056] Specific implementation scheme seven: in step S1, the point cloud model of the to be tested prefabricated component is established after the point cloud data is registered, denoised, segmented and curved by the Trimble Perspective software, that is, the target center is matched by the rigid body transformation matrix, the target external direction parameter is estimated according to the registration accuracy, and the rigid body transformation matrix satisfies the formula:

[0057]

[0058] In the formula, j represents the jth registration of the point cloud, M is the number of registrations, R j is the jth rotation transformation, T j is the jth translation transformation, and Pj+1k P jk The k-th point is registered for the j-th point cloud in other coordinate systems. The point cloud consists of N points in total.

[0059] The scanned data is processed. During the scanning process, interference points outside the scanned object and error points caused by the uneven reflectivity of the object itself will be generated, which will affect the quality of point cloud data processing. The reflection intensity value is used to perform gross error elimination, point cloud data stitching, overall point cloud data denoising and data reduction, and only the point cloud data that needs to be inspected and virtual assembly components are retained.

[0060] Some prefabricated components have irregular shapes. For holes, protrusions, or grooves in the point cloud model, surfaces are generated by projecting points onto a reference plane based on guide curves generated within the point cloud processing software. The point cloud models of the prefabricated components A, B, C, D, and E to be tested are as follows: Figures 5 to 9 As shown. The other combinations and connections in this implementation scheme are the same as in specific implementation scheme six.

[0061] Specific implementation plan eight: In step S2, the coordinates of the corresponding matching points in the point cloud model and the BIM reference model are calculated using the least squares method to calculate the 3D coordinate transformation matrix, as follows:

[0062] The point set P is obtained from the point cloud model. r ={p r1 ,p r2 ,p r3 ,p r4 ,p r5 ,K,p rn}, obtain the point set P in the BIM reference model r ={p r1 ,p r2 ,p r3 ,p r4 ,p r5 ,K,p rn There is a three-dimensional coordinate transformation relationship between the two: T× P r = P c Based on the principle of least squares, the transformation relationship T is calculated using three-dimensional residuals:

[0063]

[0064] In the formula: A represents the number of points less than or equal to n, and i takes values ​​from 1 to n. Other combinations and connections in this implementation scheme are the same as in specific implementation scheme seven.

[0065] Specific Implementation Plan Nine: Combining Figure 11The three-dimensional data detection software in step S2 is Geomagic Control software, the point cloud model and the BIM model are imported into the Geomagic Control software, and the models are uniformly registered to the same coordinate system, the position deviation of the surface, edge and each structural unit of the model is calculated, the corresponding deviation comparison data is obtained, and finally the difference chromatogram is formed in the analysis report, and the deviation position and value are directly viewed, wherein Figure 11 is the difference chromatogram of block A. The other combinations and connection relationships of the embodiment are the same as those of embodiment eight.

[0066] The subway station has many assembly gaps, the prefabricated components have special shapes and large scales, the component production quality and assembly quality control standards are extremely strict, and specific quality control standards are shown in Table 1:

[0067] Table 1

[0068]

[0069] Even if the machining precision of the monomer component meets the design requirements, the precision of the prefabricated component and the assembly error will inevitably cause cumulative errors in the assembly process, affecting the overall construction quality. Through virtual pre-assembly of the three-dimensional laser scanning point cloud model, the construction process is simulated, the assembly error is tested, and it is ensured that the error of the prefabricated component of the fabricated subway station in the machining production and assembly process is within the allowable range, effectively controlling the construction quality.

[0070] Embodiment ten: in combination with Figure 10 As shown in step S3, the bottom surface of block A is selected as the reference plane, each component is converted and aligned according to the reference plane coordinates, and is sequentially spliced in the order of block A, block B1, block B2, block C1, block C2, block D and block E. The prefabricated component after splicing is compared with the high-precision BIM model, a chromatographic comparison cloud diagram is generated by Geomagic Control software, and accurate assembly deviation values are automatically generated. The other combinations and connection relationships of the embodiment are the same as those of embodiment nine.

[0071] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. The person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present disclosure.

[0072] The present application was created with reference to the following documents: Guo Zhengxing, Geng Jianming, Xu Zheng, Pan Qing, Liu Yi, Xu Junlin, Xing Qiong. Planning and experimental research of superimposed prefabricated assembly subway station structure system [J]. Construction technology, 2021, 50 (04): 1-5; Wang Yudan. Research on surface defect detection technology based on machine vision [D]. Chinese academy of sciences (Xi'an Institute of optical precise machinery of Chinese academy of sciences), 2018; Han Daguang, Qin Guocheng, Zhou Yin, Wang Dongfang, Yang Yupeng. Application of BIM and three-dimensional laser scanning in foundation pit monitoring [J]. Journal of Chongqing Jiaotong University (natural science edition), 2019, 38 (06): 72-76+102; Qin Yawei, Shi Wenjie, Xiao Mingzhao. Bridge steel member engineering quality control based on BIM+three-dimensional laser scanning technology [J]. Journal of civil engineering and management, 2019, 36 (04): 119-125; Sun Shubin, Qizhang Sheng, Shao Fanzheng, Li Kai, Sai. Application of BIM combined with three-dimensional laser scanning technology in construction quality control of large exhibition steel structure [A]. “Construction technology”magazine, Asia Pacific construction technology information research institute co., LTD. 2019 national building construction technology exchange conference proceedings [C]. “Construction technology”magazine, Asia Pacific construction technology information research institute co., LTD: construction technology editorial department, 2019: 4; Guo Shubin. Research on fine installation management of large-span swivel cable-stayed bridge steel ball hinge based on BIM+three-dimensional laser scanning technology [J]. Journal of engineering management, 2020, 34 (05): 143-147; Wu Xianguo, Deng Tingting, Huang Jinlong, Wang Hongtao, Wang Kunyu, Chen Hongyu, Li Tiejun. Bridge steel member three-dimensional laser scanning scheme optimization based on LSSVM-NSGA-II [J]. Journal of civil engineering and management, 2021, 38 (03): 1-7; Yang Fan, Wu Tao, Liao Ruojin, Jiang Jinyang, Chen Tao, Gao Bing. Application and implementation method of digital twin in electric power equipment field [J]. High voltage technology, 2021, 47 (05): 1505-1521; Hong Qiaoliang, Liu Zhen, Wang Fench, Chen Jing, Cui Neng. Construction technology of special-shaped curved surface unit curtain wall [J]. Construction technology, 2021, 50 (02): 117-120; Yu Zhangrong, Wang Youkun, Pan Junhua, Lin Chusen. Application of Trimble X7 three-dimensional laser scanner in building engineering completion measurement [J]. Surveying and mapping bulletin, 2021 (04): 160-163; Li Shulian. Application research of grey system theory in road traffic accident analysis [D]. Shenzhen University, 2019; Shen Jingyao. Research on system dynamics model of Sino-Russian air passenger market demand prediction [D]. Nanjing University of Aeronautics and Astronautics, 2020.

Claims

1. A method for precise installation control of large prefabricated components applicable to fully prefabricated subway stations, characterized in that, Includes the following steps: S1. Establish a three-dimensional laser scanning point cloud model: Place the seven prefabricated components to be measured in each ring of the main prefabricated assembly section of the station, namely blocks A, B1, B2, C1, C2, D, and E, into the measuring device for 3D laser scanning. Obtain the laser scanning data of the prefabricated components to be measured and register the point cloud to a reference coordinate system. Using the signal targets on the pre-scanned station control points, register the coordinate system of the scanning data of each station to a reference coordinate system to obtain the point cloud model. S2. Quality inspection of a single precast component to be tested: A BIM reference model is established based on the design and construction drawings. The BIM reference model data is obtained by using point cloud data or triangular mesh data to obtain the three-dimensional coordinates of each point in the BIM reference model. These coordinates are then referenced into the reference coordinate system in step S1. The point cloud model and the BIM reference model in the same reference coordinate system are uploaded to the three-dimensional data inspection software. The point cloud model is then converted to coordinates and aligned with the BIM reference model. According to the inspection requirements, the dimensions and positions of the surfaces, edges, and structural units extracted from the scanned data are inspected. If the inspection is qualified, the next step is performed. If the inspection is unqualified, the unqualified precast component to be tested is returned to the factory for reprocessing or replacement. S3. Virtual Pre-assembly and Quality Inspection: After the quality inspection of a single component to be tested is qualified, virtual pre-assembly is carried out. The point cloud data of each precast component to be tested is assembled and aligned according to the actual construction sequence, and the position coordinates after completion are obtained. After assembly and alignment, each ring of precast components or the whole precast components are compared with the BIM reference model to generate a colorimetric cloud map and automatically generate accurate assembly deviation values. If the assembly error meets the specification requirements, the next step is carried out. If the assembly error does not meet the specification requirements, the unqualified precast components to be tested are returned to the factory for reprocessing or replacement. S4. Transport the precast components that have passed the quality inspection in step S3 to the construction site, and send the position coordinates obtained after virtual pre-assembly to the precast component gantry crane. The precast component gantry crane will assemble the corresponding precast components according to the position coordinates. The measuring device used includes a gantry crane (1), a gantry crane slide rail (2), a 3D scanner slide rail and several 3D scanner components. Two gantry crane slide rails (2) are provided on the outside of the 3D scanner slide rail. The gantry crane (1) can slide along the gantry crane slide rail (2) through pulleys (3). At least one 3D scanner component is provided on the 3D scanner slide rail. The 3D scanner component can slide along the 3D scanner slide rail. The 3D scanner component includes two sliders (6) that are slidably connected to the 3D scanner slide rail. A connecting rod (7), a 3D scanner slide base (8), a telescopic rod (9) and a 3D scanner (10) are arranged sequentially on the sliders (6). The connecting rod (7) is mounted on the two sliders (6). The 3D scanner slide base (8) is slidably connected to the connecting rod (7). The 3D scanner slide base (8) is connected to one end of the telescopic rod (9), and the other end of the telescopic rod (9) is rotatably connected to the 3D scanner (10). The 3D scanner slide rail includes two parallel single slide rails (5), and several sleepers (4) are evenly distributed below the single slide rails (5). The slider (6) is provided with a slide rail groove, and the single slide rail (5) is connected to the slide rail groove for the slider (6) to slide along the 3D scanner slide rail. The 3D scanner slide base (8) is provided with a connecting rod groove, and the connecting rod (7) is connected to the connecting rod groove for the 3D scanner slide base (8) to slide along the connecting rod (7). The measuring device is installed inside the factory building, where the walls, roof, and floor are all solid-color backgrounds.

2. The method for refined installation control of large prefabricated components applicable to fully prefabricated subway stations according to claim 1, characterized in that: The 3D scanner (10) is a TrimbleX7 high-precision intelligent 3D scanner.

3. The method for refined installation control of large prefabricated components applicable to fully prefabricated subway stations according to claim 2, characterized in that: In step S1, the measurement distance between the 3D scanner and the prefabricated component to be measured is less than or equal to 5m.

4. The method for refined installation control of large prefabricated components applicable to fully prefabricated subway stations according to claim 3, characterized in that: In step S1, the point cloud model of the prefabricated component to be tested is established by registering, denoising, segmenting and reconstructing the point cloud data using TrimblePerspective software.

5. The method for refined installation control of large prefabricated components in fully prefabricated subway stations according to claim 4, characterized in that, In step S2, the coordinates of the corresponding matching points in the point cloud model and the BIM reference model are calculated using the least squares method to calculate the 3D coordinate transformation matrix. The method is as follows: The point set P is obtained from the point cloud model. c ={p c1 ,p c2 ,p c3 ,p c4 ,p c5 ,...,p cn }, obtain the point set P in the BIM reference model r ={p r1 ,p r2 ,p r3 ,p r4 ,p r5 ,...,p rn There is a three-dimensional coordinate transformation relationship between the two: T×P r =P c Based on the principle of least squares, the transformation relationship T is calculated using three-dimensional residuals: In the formula: A represents the number of points less than or equal to n, and i takes the values ​​1, ..., n.

6. The method for refined installation control of large prefabricated components applicable to fully prefabricated subway stations according to claim 5, characterized in that: The 3D data detection software in step S2 is Geomagic Control software.

7. The method for refined installation control of large prefabricated components applicable to fully prefabricated subway stations according to claim 6, characterized in that: In step S3, the bottom surface of block A is selected as the reference plane. Each component is transformed and aligned according to the coordinates of the reference plane, and then assembled in the order of block A, block B1, block B2, block C1, block C2, block D, and block E.

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