Prefabricated construction assembly and hoisting methods, systems, equipment and media based on BIM4D

Abstract

The present invention discloses a prefabricated construction assembly and hoisting method, system, equipment and medium based on BIM4D. The method comprises: constructing an assembly characteristic penalty value function according to the assembly characteristics of prefabricated components; constructing a total penalty value function according to the assembly characteristic penalty value function; marking the prefabricated components by using a BIM4D model and formulating an assembly plan; verifying the assembly plan by using the total penalty value function, and taking the assembly plan with the smallest total penalty value as the final plan. The present application optimizes the hoisting and assembly sequence of a single prefabricated component, determines the collision-free optimal path with the help of a path planner, and proposes an innovative method for path replanning to cope with dynamic environments and constraints.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a BIM4D-based prefabricated construction assembly and hoisting method, system, equipment and medium. Background Art

[0002] To improve the productivity and quality of building and construction (B&C), prefabrication is increasingly being used in the B&C industry. Prefabricated components can be manufactured in specialized factories and delivered to construction sites. Prefabricated construction relies heavily on cranes to assemble building components such as beams, columns, and walls. Assembly planning of individual prefabricated components of a building is a fundamental problem that has not yet been addressed. Most existing studies deal with scheduling optimization in construction only considering the entire project schedule. Although the BIM4D concept is well-known for its built-in macro schedule, it usually shows the time frame for the assembly of certain grouped building components within a specific period. Once the building components are determined according to their assembly sequence, the lifting path of each component in the group is planned. Past research works usually deal with these two issues separately or independently. In fact, the assembly sequence of grouped prefabricated components may affect the feasibility and quality of the lifting path of individual components in the group. Sometimes, an incorrect assembly sequence may cause the crane to fail to complete the lifting and assembly tasks.

[0003] Therefore, how to provide a highly efficient construction assembly and hoisting method is a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The embodiments of the present application provide a BIM4D-based prefabricated construction assembly and hoisting method, system, equipment and medium, aiming to solve the problem of low efficiency of prefabricated component assembly tasks in the existing construction industry.

[0005] In a first aspect, the present application provides a prefabricated construction assembly and hoisting method based on BIM4D, the method comprising:

[0006] According to the assembly characteristics of prefabricated components, an assembly characteristic penalty value function is constructed;

[0007] According to the assembly characteristic penalty value function, a total penalty value function is constructed;

[0008] Use BIM4D models to mark prefabricated components and develop assembly plans;

[0009] The total penalty value function is used to verify the assembly plan, and the assembly plan with the smallest total penalty value is taken as the final plan.

[0010] In one embodiment, the assembly characteristics of the threshold component include: component weight, component occupied space, component layout interference and component lifting path interference. The assembly characteristic function is constructed according to the assembly characteristics of the prefabricated component, including:

[0011] According to the component weight, component occupied space, component layout interference and component lifting path interference of prefabricated components, corresponding assembly characteristic penalty value functions are constructed respectively.

[0012] In one implementation, marking prefabricated components using a BIM4D model includes:

[0013] The BIM4D model is used to assign a component ID to each component and mark the subgroup to which each component belongs.

[0014] In the second aspect, the present application also provides a prefabricated construction assembly and hoisting system based on BIM4D, including:

[0015] A penalty value function construction unit is used to construct an assembly characteristic penalty value function according to the assembly characteristics of the prefabricated components;

[0016] A total penalty value function construction unit, used for constructing a total penalty value function according to an assembly characteristic penalty value function;

[0017] The scheme formulation unit is used to mark the prefabricated components using the BIM4D model and formulate assembly schemes;

[0018] The scheme verification unit is used to verify the assembly scheme using the total penalty value function, and take the assembly scheme with the smallest total penalty value as the final scheme.

[0019] In the third aspect, the present application also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the BIM4D-based prefabricated construction assembly and hoisting method as described in any one of the first aspects.

[0020] In a fourth aspect, the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the BIM4D-based prefabricated construction assembly and hoisting method as described in any one of the first aspects.

[0021] The BIM4D-based prefabricated construction assembly and hoisting method, system, equipment and medium proposed in this application optimize the hoisting and assembly sequence of individual prefabricated components, determine the collision-free optimal path with the help of a path planner, and propose an innovative method for path replanning to cope with dynamic environments and constraints. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A flow chart of a prefabricated construction assembly and hoisting method based on BIM4D provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of component layout interference provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of a six-story residential building in BIM format provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of the scheduling data of floors in the BIM model provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of wall elements of one layer extracted from a BIM model provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] See also Figure 1 The embodiment shows a flow chart of a prefabricated construction assembly and hoisting method based on BIM4D, including:

[0030] S101. Constructing an assembly characteristic penalty value function according to assembly characteristics of prefabricated components.

[0031] In one embodiment, the assembly characteristics of the prefabricated components include: component weight, component occupied space, component layout interference, and component lifting path interference.

[0032] Based on the various physical characteristics of the precast elements, as well as the position and lifting paths of the elements in the precast element group, the following four main aspects were identified based on the physical and spatial characteristics of these elements, which affect the quality of the assembly sequence and are therefore important attributes for the optimization search:

[0033] (i) Component Weight - Generally, the heavier the component, the earlier it needs to be assembled. This is because heavier components technically require greater effort and longer time to lift and install. Therefore, it is convenient and efficient to assemble the heaviest components first in order to reduce deviation from their optimal lifting path due to the presence of pre-assembled components.

[0034] (ii) Component Footprint - Footprint refers to the base area occupied by prefabricated components in the BIM model. The larger the base area occupied by an element, the earlier it should be assembled. Generally, larger components require more steps and changes in their lifting path to pre-assemble the component. Therefore, the components with the largest base area need to be installed first.

[0035] (iii) Layout interference of components - Layout interference refers to the interference of installed components with the assembly of new components. Ease of assembly is one of the main considerations in sequence scheduling optimization. In this application, the ease of assembly is determined based on the three-dimensional plan obtained from the BIM model.

[0036] (iv) Interference of lifting paths of components - When planning the lifting path of the target component, it is crucial to avoid collisions with the previous components in the sequence. Therefore, the path that the crane will follow is an important factor in sequence planning. The aim is to sequence the components in a way that minimizes unnecessary detours of the crane and does not collide with previously installed components.

[0037] In one embodiment, according to the assembly characteristics of the prefabricated components, an assembly characteristic penalty value function is constructed, including:

[0038] According to the component weight, component occupied space, component layout interference and component lifting path interference, the corresponding assembly characteristic penalty value functions are constructed respectively.

[0039] The individual penalty values ​​for component assembly characteristics, namely weight, footprint, layout interference, and lifting path interference, are represented by p weight 、 p space 、p layout and p path It indicates that the penalty value represents the relative difficulty of assembling prefabricated components and is therefore dimensionless.

[0040] In one embodiment, the construction of the assembly characteristic function of the component weight specifically includes:

[0041] In general, the heavier a component is, the earlier it must be assembled. Once this rule is violated, a penalty value is assigned. The matrix (A) is used to store all possible penalty values. If the i-th component (with weight i) is assembled before the j-th component (with weight j), then its component a ij Hold the penalty value. Equation (2) shows the calculation of the penalty value aij function. (p weight ) j represents the penalty value of the jth component in the sequence. The penalty values ​​p of all components in the assembly sequence are weight Add together to get the total weight penalty ∑p weight The weight of the sequence is shown in formula (3).

[0042]

[0043]

[0044] Where n is the number of components to be assembled.

[0045] In one embodiment, the construction of the assembly characteristic function of the component occupied space specifically includes:

[0046] Generally, the larger the base area occupied by a primitive, the earlier it should be assembled. Once this rule is violated, a penalty value is assigned. The matrix (B) is used to store all such penalty values. If the i-th element (base area is space i ) in the jth element (base area is space i ) before assembly, then its component b ij will hold the penalty value. Equation (4) shows the calculation of the penalty value b ij function. (p space ) j represents the penalty value of the jth element in the sequence. By substituting the penalty value p of all elements in the assembly sequence space Add together to get the total space penalty to get the ∑p of the sequence space , as shown in equation (5).

[0047]

[0048]

[0049] Where n is the number of components to be assembled.

[0050] See also Figure 2 A schematic diagram of component layout interference shown in the embodiment;

[0051] In one embodiment, the construction of the assembly characteristic function of component layout interference specifically includes:

[0052] One of the key factors in assembly sequence scheduling is the ease of assembly. This application defines logical conditions that should not be violated as much as possible to avoid any assembly difficulties. Figure 2 Six cases of layout violations are shown. Once a component violates any of these conditions, a penalty value is assigned to it.

[0053] i) Figure 2 (a) shows the target element is boxed between elements ① and ②, where ① belongs to the current subgroup and ② belongs to the previously assembled subgroup. Since the previous group is fully assembled, the only condition that needs to be checked for assembly difficulty is whether ① is before the target element. The logical condition for this case is "①".

[0054] (ii) Figure 2 (b) The situation shown is similar to Figure 2 (a) is similar to the case with multiple walls (①, ②, ③, and ) belongs to the current subgroup and wall ④ belongs to the subgroup of the previous combination. The logical condition here is "① or ② or ③".

[0055] (iii) Figure 2 (c) Display target components Clamped by two elements ① and ②. If both ① and ② are before the target element, then a penalty value is assigned. The logical condition for this case is "① and ②".

[0056] (iv) Figure 2 In the case shown in (d), if ① and ③ or both have ② and ④ in the target element Previously, the target component had assembly difficulties and was assigned a penalty value. The logical condition for this situation is "(① and ③) or (② and ④)".

[0057] (v) in Figure 2 In the case shown in (e), multiple walls (①, ②, ③ and ) belongs to the current subgroup, and walls (④, ⑤ and ⑥) belong to the previously combined subgroup. If ② or both, such as ① and ③ in the target element Before, a penalty value is assigned. The logical condition here is "(① and ③) or ②".

[0058] (vi) Figure 2 In the case shown in (f), if any of ① and ② or ③ abandons the target element in advance Then a penalty is assigned. The logical condition in this case is "(② or ③) and ①".

[0059] In the current study, violations are checked based on the 3D floor plan obtained from the BIM model. The penalty value p for an element in the sequence layout is the number of layout conditions it violates. For example, if the jth component violates a layout condition penalty value (p layout ) j = 1. Total value (∑P layout) By adding the penalty values ​​of all components in the assembly sequence, the layout penalty value of the sequence is obtained, as shown in equation (6).

[0060]

[0061] Where n is the number of elements to be sorted.

[0062] In one embodiment, the construction of the assembly characteristic function of the component path interference specifically includes:

[0063] The planning engine is run once to generate a list of paths that are sent to the sequence scheduler. For a subgroup of wall elements of a building block, the planning engine of the CALP system will generate a lifting path for each wall element. In this way, it is guaranteed that the best path that each element can take is generated. Therefore, for all wall elements in this subgroup, the corresponding optimal path will be calculated. The next step is to track each lifting path to check for potential collisions with all other building components in the fully assembled case. The collision check is performed by using the volume swept along its planned path using the bounding box of the target element. The ids of the elements that collide with the target element j are stored in the set S j Then, the set S j Compared with the set of elements 1 to j - 1 in the sequence, the number of common elements produced in the two sets is assigned as the penalty value P for the jth element in the assembly sequence path For example, if two sets of an element in the sequence have two elements in common, then the P of the element path = 2. The total penalty value caused by path interference (∑P path ) by dividing the P of all elements in the sequence path Add them together to get, as shown in equation (7).

[0064]

[0065] Where n is the number of components to be assembled.

[0066] S102: Construct a total penalty value function according to the assembly characteristic penalty value function.

[0067] The overall penalty function is the utility function of the optimization problem and is defined by taking the weighted sum of these four total penalty values, as shown in Equation (1).

[0068] P total =k∑P weight +λ∑P space +μ∑P layout +v∑P path (1)

[0069] where κ, λ, μ, and ν are the relative weights assigned to each cost.

[0070] S103. Use the BIM4D model to mark prefabricated components and develop an assembly plan.

[0071] In one embodiment, marking the prefabricated components using the BIM4D model includes:

[0072] A component ID is assigned to each component, and the subgroup to which each component belongs is marked.

[0073] The BIM4D model has building plans for different groups of elements. Each group of elements has a time range defined by the BIM4D macro plan. Figure 3 A schematic diagram of a six-story residential building in BIM format is shown. The building is constructed floor by floor. Figure 4 A schematic diagram showing the scheduling data for floors in a BIM model. Macro schedule data provides order by dividing specific floors into groups (such as apartments and common areas) and further subdividing each group into classes (such as walls, beams, columns, etc.). Figure 5 A schematic diagram of the wall elements of one layer extracted from the BIM model is shown. The macro schedule only states the start and end date / time of the subgroup. The purpose of the study is to schedule the assembly sequence of the wall elements in a group or subgroup, and such schedule information is not included in the BIM4D model.

[0074] The BIM model has two system parameters: "Component ID" and "Tag". The "Component ID" is a unique 7-digit ID used as an identifier for each component (such as wall, beam, etc.) in the BIM model. The "Tag" corresponds to the subgroup to which the component belongs. For example, Figure 4 The item "FL6_#06-559_Walls" shown in the figure is a "tag" (subgroup) on the sixth floor. All components (identified by "component ID") belonging to a certain "tag" (subgroup) are extracted from the BIM model to arrange the installation order of the components.

[0075] This application takes four aspects into consideration (weight, occupied space, layout interference and lifting path interference). In addition to the above-mentioned "component ID" and "tag", information such as the size and material of the wall components can also be obtained from the BIM model. The base area and weight of certain graphics elements can then be automatically calculated and stored. The above method derives the weight and occupied space (ie, basic area) of each component. For layout interference, the logical conditions of each target graphics element can be sorted out by checking the individual floor plans. The algorithm uses a string input for each component to analyze the interference, processes the string to determine which logic gate to use, and determines whether there is assembly difficulty based on this.

[0076] Path interference needs to be calculated using the CALP system. Figure 3In the building shown, when processing the assembly sequence of subgroups on floors, the floors from the ground to the relevant level are loaded into the CALP system. For each wall element in the working subgroup, a path is generated and then the interfering elements are stored as strings in an array. The proposed optimization algorithm processes these strings and then checks the previous elements in the sequence to calculate the corresponding penalties.

[0077] S104: Verify the assembly plan using the total penalty value function, and take the assembly plan with the smallest penalty value as the final plan.

[0078] According to the total penalty value function, the fitness function of the assembly scheme is constructed:

[0079]

[0080] When the total penalty value is the smallest, that is, when the fitness f approaches 1, it means that the assembly scheme is the optimal solution, and this scheme is taken as the final solution.

[0081] Traditionally, the lifting sequence is determined by the construction team based on their experience and site conditions. Less experienced lifting teams may perform trial and error tests before delivering components for assembly. This application optimizes the lifting and assembly sequence of individual prefabricated components, determines the collision-free optimal path with the help of a path planner, and proposes an innovative method for path replanning to cope with dynamic environments and constraints.

[0082] In one embodiment, the present application also provides a BIM4D-based prefabricated construction assembly and hoisting system, including:

[0083] A penalty value function construction unit is used to construct an assembly characteristic penalty value function according to the assembly characteristics of the prefabricated components;

[0084] A total penalty value function construction unit, used for constructing a total penalty value function according to an assembly characteristic penalty value function;

[0085] The scheme formulation unit is used to mark the prefabricated components using the BIM4D model and formulate assembly schemes;

[0086] The scheme verification unit is used to verify the assembly scheme using the total penalty value function, and take the assembly scheme with the smallest total penalty value as the final scheme.

[0087] In one embodiment, the present application also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, the BIM4D-based prefabricated construction assembly and hoisting method as described in any of the above embodiments is implemented.

[0088] In one embodiment, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the BIM4D-based prefabricated construction assembly and hoisting method as described in any of the above embodiments.

[0089] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. Prefabrication construction assembly and hoisting method based on BIM4D, It is characterized in that include: According to the assembly characteristics of prefabricated components, an assembly characteristic penalty value function is constructed; According to the assembly characteristic penalty value function, a total penalty value function is constructed; Use BIM4D models to mark prefabricated components and develop assembly plans; The total penalty value function is used to verify the assembly plan, and the assembly plan with the smallest total penalty value is taken as the final plan; The assembly characteristics of the prefabricated components include: component weight, component space occupation, component layout interference, and component lifting path interference; The step of constructing an assembly characteristic function according to the assembly characteristics of the prefabricated components includes: According to the component weight, component occupied space, component layout interference and component lifting path interference of prefabricated components, corresponding assembly characteristic penalty value functions are constructed respectively; The step of constructing a total penalty value function according to the assembly characteristic penalty value function includes: According to the assembly characteristic penalty value functions corresponding to the component weight, component occupied space, component layout interference and component lifting path interference of the prefabricated components, the total penalty value function is constructed as follows: P total =k∑P weight +λ∑P space +μ∑P layout +ν∑P path Among them, P weight , P space , P layout and P path are the penalty value functions of the component weight, component occupied space, component layout interference and component lifting path interference of the prefabricated component, respectively. κ, λ, μ and ν are the weights assigned to the corresponding penalty value functions; The method of verifying the assembly scheme by using the total penalty value function and taking the assembly scheme with the minimum total penalty value as the final scheme includes: According to the total penalty value function, the fitness function of the assembly scheme is constructed: When the total penalty value is the smallest, that is, when the fitness f approaches 1, it means that the assembly scheme is the optimal solution, and this scheme is taken as the final solution.

2. The BIM4D-based prefabricated construction assembly and hoisting method as claimed in claim 1, It is characterized in that The method of marking the prefabricated components by using the BIM4D model includes: The BIM4D model is used to assign a component ID to each component and mark the subgroup to which each component belongs.

3. The BIM4D-based prefabricated construction assembly and hoisting method as claimed in claim 2, It is characterized in that After using the BIM4D model to assign a component ID to each component and mark the subgroup to which each component belongs, the following steps are included: Extract all components belonging to one of the subgroups from the BIM model and arrange the order in which the components should be installed.

4. A system using the BIM4D-based prefabricated construction assembly and hoisting method according to claim 1, It is characterized in that include: A penalty value function construction unit is used to construct an assembly characteristic penalty value function according to the assembly characteristics of the prefabricated components; A total penalty value function construction unit, used for constructing a total penalty value function according to an assembly characteristic penalty value function; The scheme formulation unit is used to mark the prefabricated components using the BIM4D model and formulate assembly schemes; The scheme verification unit is used to verify the assembly scheme using the total penalty value function, and take the assembly scheme with the smallest total penalty value as the final scheme.

5. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the BIM4D-based prefabricated construction assembly and hoisting method as described in any one of claims 1 to 3 is implemented.

6. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the BIM4D-based prefabricated construction assembly and hoisting method as described in any one of claims 1-3.

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