A construction method and equipment for SPCS structure

Abstract

A construction method and equipment for SPCS structure, which relates to the field of image data processing, includes: obtaining a target model of a target building based on BIM modeling; extracting a cavity module including wall components, floor components, and beam and column components, and generating a construction process including the construction sequence and construction time of multiple cavity modules; controlling the corresponding hoisting equipment to carry the cavity module according to the construction process; collecting the actual construction position of the cavity module in real time through a laser radar, and calculating the actual positioning error of the cavity module; controlling the hoisting equipment to adjust the position of the cavity module; collecting the construction progress data including the construction time, construction personnel, and construction status of the construction site in real time, and displaying it on the screen. By implementing this method, the positioning error of the cavity module is accurately obtained and the module positioning is adjusted in time, thereby improving the quality and efficiency of SPCS structure construction.

Description

Technical Field

[0001] The present application relates to the field of image data processing, and in particular to a construction method and equipment for a SPCS structure. Background Art

[0002] As society progresses, the construction industry has increasingly higher requirements for building efficiency and quality. Traditional construction mainly relies on manual operations such as laying blocks and pouring concrete. This operation method has high labor intensity, long construction period and difficult quality control.

[0003] In order to realize the modernization of the construction industry, my country actively promotes the assembled integral composite structure system (SPCS structure system for short). The SPCS structure system is an assembled concrete structure system in which all or part of the lateral force-resistant components are composite shear walls and composite columns. Its biggest feature is the use of prefabricated components of cavity walls. This type of component has a light weight, is easy to assemble in large blocks, and can achieve fewer joints. At the same time, the prefabricated components are connected by high-strength mechanical connections using steel structure connectors to improve the overall stiffness.

[0004] However, when implementing SPCS structure construction, it is difficult to accurately obtain the actual positioning error of each cavity module and cannot make positioning adjustments in time, resulting in large module positioning deviations, which affects construction quality and efficiency. Summary of the invention

[0005] The present application provides a construction method and equipment for a SPCS structure, which are used to optimize the problem of excessive module positioning deviation and improve the quality and efficiency of SPCS structure construction.

[0006] In the first aspect, the present application provides a construction method of an SPCS structure, which is applied to construction equipment, and the method includes: obtaining a target model of a target building based on BIM modeling; parsing the target model, extracting cavity modules including wall components, floor components, and beam-column components, and generating a construction process including the construction sequence and construction time of multiple cavity modules; the construction sequence is determined according to the connection relationship and mechanical action sequence of the cavity modules; controlling the corresponding lifting equipment to move the cavity modules according to the construction process; collecting the actual construction position of the cavity module in real time through a laser radar, and comparing the actual construction position with the target model, and calculating the actual positioning error of the cavity module; controlling the lifting equipment to adjust the position of the cavity module based on the actual positioning error; collecting the construction progress data including construction time, construction personnel, and construction status at the construction site in real time, and displaying them on the screen.

[0007] In the above embodiment, the construction equipment obtains the target model based on BIM modeling, generates the construction process by analyzing the model, controls the hoisting equipment to carry the cavity module according to the process, collects the actual construction position of the cavity module and compares it with the target model to calculate the positioning error, and makes positioning adjustments. It can also collect and display the construction progress data in real time. This method can accurately obtain the actual positioning error of the cavity module and make positioning adjustments, solve the problem of excessive positioning deviation of the cavity module, and improve the quality and efficiency of SPCS structure construction.

[0008] In combination with some embodiments of the first aspect, in some embodiments, the target model is parsed to extract cavity modules including wall components, floor components, and beam-column components, and a construction process including the building sequence and building time of multiple cavity modules is generated, specifically including: by parsing the BIM model, the geometric dimensions, material parameters and position coordinates of the cavity modules are extracted; the cavity modules include wall components, floor components and beam-column components; based on the geometric dimensions and material parameters, the weight parameters of the cavity modules are calculated; according to the position coordinates and weight parameters, the interface relationship, force characteristics and load-bearing capacity of the lifting equipment between the cavity modules are analyzed, and the building sequence of the cavity modules is determined by a topological sorting method; in combination with the project schedule and the module production cycle, the building time of the cavity modules is analyzed and determined; based on the building sequence and building time, a complete construction process is generated.

[0009] In the above embodiment, the construction equipment parses the BIM model to obtain module parameters, calculates weight parameters, analyzes interface relationships to determine the order of building the cavity modules, determines the time of building the cavity modules in combination with the schedule, and finally generates a complete construction process plan. The detailed parameters of the cavity modules are obtained by parsing the model as the basis for generating the construction process, and the order and time of building the cavity modules are reasonably determined by considering various factors, so that the final generated construction process is more accurate and reasonable, providing accurate and reliable construction process guidance for subsequent construction, and improving the scientific nature of the construction plan.

[0010] In combination with some embodiments of the first aspect, in some embodiments, controlling the corresponding lifting equipment to transport the cavity module according to the construction process specifically includes: obtaining the size parameters and weight parameters of the cavity module, and determining the corresponding lifting equipment based on the size parameters and weight parameters; planning the operating position and motion trajectory of the crane according to the lifting time sequence of the cavity module in the construction process; determining the corresponding lifting method in combination with the shape parameters and center of gravity position of the cavity module; the lifting method includes the number and anchoring position of the lifting rigging; debugging the lifting equipment before lifting to confirm that the equipment status is normal and the lifting parameters are set to preset parameter values; controlling the crane to transport the cavity module according to the lifting time, operating position and motion trajectory.

[0011] In the above embodiment, the construction equipment determines the hoisting equipment, plans the crane's movement position and trajectory, determines the hoisting method, debugs the equipment, and finally controls the crane to hoist the cavity module. By analyzing the matching of the cavity module parameters and the crane performance, the crane's operating position and movement trajectory are reasonably determined, which can guide the crane to accurately position; at the same time, the crane equipment is debugged in advance, so that the cavity module can be hoisted accurately and controllably, improving the safety and accuracy of the hoisting.

[0012] In combination with some embodiments of the first aspect, in some embodiments, after the step of controlling the crane to move the cavity module according to the lifting time, working position and motion trajectory, the method also includes: real-time monitoring of the lifting coordinates and lifting height of the cavity module; calculating the landing point range of the cavity module based on the lifting coordinates and lifting height; and using a linear laser to indicate the landing point range.

[0013] In the above embodiment, when the cavity module is hoisted, the construction equipment monitors the hoisting coordinates and height in real time, calculates the landing range of the cavity module, and uses laser to indicate the landing range. By real-time monitoring of the hoisting status, the expected landing area of ​​the module is quickly calculated and indicated, so that the staff can clearly know the landing position, which is convenient for early installation preparations, and can quickly and correctly assemble and connect the module when the module is hoisted and dropped. The operating efficiency during the module hoisting process is improved, and an accurate spatial positioning basis is provided for subsequent module assembly work.

[0014] In combination with some embodiments of the first aspect, in some embodiments, the landing range of the cavity module is calculated based on the hoisting coordinates and the hoisting height, specifically including: based on the hoisting coordinates and the hoisting height, calculating the landing range of the cavity module under normal working conditions; inputting the landing range, shape parameters and center of gravity position of the cavity module into the falling rehearsal large model to obtain the warning range of abnormal falling of the cavity module; when a staff member appears within the warning range, issuing a warning message.

[0015] In the above embodiment, the construction equipment calculates the module drop point range under normal and abnormal conditions, and issues a warning in abnormal conditions. Considering that various abnormal conditions during the hoisting process may cause the module drop point range to expand, the abnormal drop point range is calculated as the warning range, and a warning is issued when someone approaches, which can avoid accidental injuries. This further improves the safety of the hoisting process and reduces the safety risks caused by hoisting abnormalities.

[0016] In combination with some embodiments of the first aspect, in some embodiments, before the step of obtaining a target model of the target building based on BIM modeling, the method also includes: obtaining point cloud data of the project site by performing a three-dimensional scanning of the project site; generating a three-dimensional site model of the project site based on the point cloud data; performing three-dimensional modeling of the building using BIM technology according to the architectural design drawings to generate a three-dimensional building model; and fusing the three-dimensional site model and the three-dimensional building model to obtain the target model.

[0017] In the above embodiment, before obtaining the target model, the construction equipment performs a three-dimensional scanning of the project site to obtain point cloud data and generate a three-dimensional site model. Combined with the BIM three-dimensional building model, a target model integrating the site environment can be obtained. The target model includes the specific conditions of the site, and the data is more accurate and complete, providing an accurate site environment basis for subsequent construction process generation and positioning comparison, improving the accuracy of positioning, and making the planned construction plan more in line with the site conditions.

[0018] In combination with some embodiments of the first aspect, in some embodiments, after the step of collecting construction progress data including construction time, construction personnel, and construction status of the construction site in real time and displaying it on the screen, the method also includes: performing correlation analysis on the construction progress data to determine whether the current construction stage progress is within the preset progress range; if it is within the preset progress range, saving the construction progress data; if it is not within the preset progress range, issuing a prompt message; the prompt message is used to prompt the user to promptly determine the specific cause of the abnormal progress; collecting related information data of the current construction progress; the related information data includes the day's meteorological information, personnel attendance information, material supply information, and the operating status of major mechanical equipment; comparing and analyzing the related information data with historical data to determine the predicted cause of the abnormal progress and display it to the user; after the user chooses to determine the corresponding predicted cause, displaying the corresponding improvement measures and construction adjustment plan.

[0019] In the above embodiment, after displaying the construction progress data, the construction equipment analyzes the progress data, determines the cause of abnormal progress, and provides improvement plans. It can quickly analyze the cause of abnormal construction progress, propose targeted improvement measures, realize closed-loop construction progress control, ensure that the construction progress meets expectations, ensure that the construction tasks are completed on time and with high quality, improve the process control ability during the construction process, and ensure the construction progress and quality.

[0020] In the second aspect, an embodiment of the present application provides a construction equipment, which includes: an acquisition module for acquiring a target model of a target building based on BIM modeling; a parsing module for parsing the target model, extracting cavity modules including wall components, floor components, and beam-column components, and generating a construction process including the construction sequence and construction time of multiple cavity modules; the construction sequence is determined according to the connection relationship and mechanical action sequence of the cavity modules; a control module is used to control the corresponding lifting equipment to transport the cavity modules according to the construction process; a detection module is used to collect the actual construction position of the cavity module in real time through a laser radar, and compare the actual construction position with the target model to calculate the actual positioning error of the cavity module; a correction module is used to control the lifting equipment to adjust the position of the cavity module according to the actual positioning error; a display module is used to collect the construction progress data including construction time, construction personnel, and construction status at the construction site in real time, and display it on the screen.

[0021] In the third aspect, an embodiment of the present application provides a construction device, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the construction device to execute the method described in the first aspect and any possible implementation method of the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on construction equipment, enables the construction equipment to execute the method described in the first aspect and any possible implementation of the first aspect.

[0023] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising instructions, which, when executed on construction equipment, enable the construction equipment to execute the method described in the first aspect and any possible implementation of the first aspect.

[0024] It is understandable that the construction equipment provided in the second and third aspects, the computer program product provided in the fourth aspect, and the computer storage medium provided in the fifth aspect are all used to execute the method provided in the embodiment of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, and will not be repeated here.

[0025] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0026] 1. The target model based on BIM modeling of the target building is obtained, the construction process is generated by the analytical model, the lifting equipment is controlled to carry the modules according to the process, the actual construction position of the acquisition module is compared with the target model to calculate the positioning error, and the positioning adjustment is carried out. Therefore, the actual positioning error of the cavity module can be accurately obtained and the positioning adjustment can be carried out in time, which effectively solves the problem that the actual positioning error of the cavity module cannot be accurately obtained in the related technology, and the positioning adjustment cannot be carried out in time, resulting in excessive module positioning deviation, thereby improving the quality and efficiency of SPCS structure construction, making the module positioning accurate during the entire construction process, ensuring the correct position of each component, and improving the quality level of SPCS structure engineering as a whole.

[0027] 2. After the module is hoisted, the real-time monitoring of the hoisting coordinates and height is added, and the technical means of calculating and indicating the module landing range is adopted. Therefore, the expected landing area of ​​the module can be quickly indicated, so that the staff can clearly know the landing position, which effectively solves the problem that the operators in the relevant technology cannot timely understand the module landing information and cannot prepare for the work in advance, thereby improving the operation efficiency during the module hoisting process, providing an accurate spatial positioning basis for the subsequent module assembly work, so that the operators can quickly and correctly locate and assemble the module when it is hoisted and dropped, shortening the operation cycle of the overall module installation, while ensuring the process safety.

[0028] 3. Due to the use of technical means to analyze the construction progress data, determine the causes of abnormal progress, and provide improvement plans, it is possible to quickly analyze and find out the causes of abnormal construction progress, and put forward targeted improvement measures, effectively solving the problem that the related technologies cannot accurately analyze and locate the causes of abnormal construction progress, and cannot timely and targetedly put forward progress control measures, thereby realizing closed-loop construction progress monitoring and control, ensuring that the construction progress is in line with the expected plan, and ensuring that the construction tasks are completed on time and with high quality, greatly improving the process control capabilities during the construction process, so that the entire construction project can be advanced efficiently and orderly, and avoiding the quality and safety risks of uncontrolled progress. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a flow chart of the construction method of the SPCS structure in the embodiment of the present application;

[0030] Figure 2 is another flow chart of the construction method of the SPCS structure in the embodiment of the present application;

[0031] Figure 3 This is a schematic diagram of a functional module structure of the construction equipment in the embodiment of the present application;

[0032] Figure 4It is a schematic diagram of the structure of a physical device of the construction equipment in the embodiment of the present application. DETAILED DESCRIPTION

[0033] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification of the present application, the singular expressions "one", "a kind of", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more of the listed items.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0035] For ease of understanding, the application scenarios of the embodiments of the present application are introduced below.

[0036] A large residential community project called Jiangnan Garden is being built in the suburbs of City A. The total construction area of ​​the project is about 200,000 square meters, consisting of 10 30-story high-rise residential buildings. In order to speed up the construction progress, the project adopted the assembled integral composite structure system (SPCS structure system) for construction.

[0037] During the construction, the project party equipped each high-rise residential building with two tower cranes for module hoisting. However, in actual operation, due to the inability to accurately obtain the actual positioning error of the module, the module positioning deviation often exceeds the allowable tolerance. For example, when hoisting a cavity exterior wall panel on the 15th floor, due to inaccurate positioning, there was a misalignment of more than 10mm between the exterior wall panel and the previously hoisted floor slab, which did not meet the position design specification requirement of a maximum allowable misalignment of 8mm. Rework and adjustment were required, which not only affected the quality of a single module, but also had a negative impact on the structural quality of the entire floor, and may cause chain errors in the positions of the upper and lower modules. If the original positioning method is still used, it will seriously affect the quality of the project and the progress of the construction.

[0038] In the related art, the module position can be determined by using a simple measuring tool such as a measuring ruler to measure the module position.

[0039] The following describes a scenario of a construction method using an SPCS structure in the related art.

[0040] To solve the positioning deviation problem, the construction company A used simple equipment such as measuring rulers and levels to position the modules. However, due to the limited accuracy of these devices, they can usually only ensure that the positioning error is controlled within about 15mm, which cannot meet the requirements of the position specification.

[0041] During an operation of hoisting an exterior wall panel, the worker positioned it according to the measurement results of the level instrument. As a result, the actual misalignment after installation reached 20mm, exceeding the required upper limit of 8mm. Due to inaccurate positioning, the exterior wall panel needed to be removed and reinstalled, which not only delayed the operation time, but also may have affected the position of other hoisted modules.

[0042] By adopting the construction method of the SPCS structure in the embodiment of the present application, precise control of module positioning is achieved by accurately obtaining the actual positioning error of the module and performing closed-loop feedback adjustment. This can not only control the positioning error within the specified range, but also find out the cause of the positioning deviation and guide subsequent positioning adjustments.

[0043] The following describes a scenario in which the construction method of the SPCS structure in this application is used.

[0044] To solve the positioning deviation problem, the project party introduced a set of BIM-based SPCS cavity module construction equipment, which includes components such as stereo cameras and lidar. The construction equipment determines the design position of each cavity module by analyzing the BIM model, collects the cavity module position in real time during hoisting, and compares the positioning error with the BIM model, so that the positioning error can be accurately controlled within 5mm, meeting the position specification requirements. In the previous operation of hoisting the exterior wall panels, the construction equipment quickly determined that its positioning deviation reached 20mm. The workers made adjustments according to the prompts of the construction equipment, and finally completed the positioning error control within 5mm, avoiding rework. The construction equipment effectively solves the positioning deviation problem and ensures the construction quality.

[0045] It can be seen that by adopting the construction method of the SPCS structure in the embodiment of the present application, while achieving precise positioning of the cavity module, it is also possible to quickly analyze the causes of positioning deviations and avoid repeated positioning deviations, thereby achieving continuous improvement in positioning quality and efficiency, thereby greatly improving the overall SPCS structure construction level.

[0046] For ease of understanding, the following describes the process of the method provided by this implementation in combination with the above scenario. Figure 1 , which is a flow chart of the construction method of the SPCS structure in the embodiment of the present application.

[0047] S101. Obtain a target model of a target building based on BIM modeling.

[0048] The construction equipment will first obtain the target model of the target building based on BIM modeling. Specifically, the construction equipment will obtain the engineering design drawings, perform three-dimensional modeling of the building according to BIM technology, and obtain the target model of the building. The target model integrates the three-dimensional parameter information of the designed building, making subsequent construction more accurate.

[0049] S102, analyzing the target model, extracting cavity modules including wall components, floor components, and beam-column components, and generating a construction process including the construction sequence and construction time of the plurality of cavity modules.

[0050] The construction equipment will parse the target model, extract the wall components, floor components, and beam and column components in the building, and assemble them into multiple cavity modules. The construction equipment will first analyze the BIM model to obtain the geometric dimensions, material parameters, position coordinates and other information of each component. The construction equipment will then calculate the deadweight of the cavity module corresponding to each component. Next, the construction equipment will consider the positional relationship between the components, the load-bearing characteristics, and the load-bearing capacity of the lifting equipment, analyze the construction plan, and then determine the lifting order of the cavity modules. Finally, combined with the project plan schedule and production cycle, the construction equipment determines the lifting time of each cavity module to form a complete construction process plan.

[0051] S103, controlling corresponding lifting equipment to move the cavity module according to the construction process.

[0052] The construction equipment will control the crane and other lifting equipment to move the cavity modules according to the predetermined construction process. Specifically, the construction equipment will first select a suitable crane based on the size and weight parameters of each cavity module. Then, the construction equipment plans the crane's operating position and movement trajectory to ensure that each cavity module is lifted in time sequence. At the same time, the construction equipment will also select the number and anchor position of the lifting rigging according to the shape and center of gravity distribution of the cavity module. Finally, the construction equipment can directly control the crane to move the cavity modules according to the planned path and sequence.

[0053] S104, collecting the actual construction position of the cavity module in real time through the laser radar, and comparing the actual construction position with the target model to calculate the actual positioning error of the cavity module.

[0054] The construction equipment will use the laser radar to collect the actual construction position of the cavity module in real time, compare it with the BIM model, and calculate the positioning error. Specifically, during the hoisting process of the cavity module, the laser radar connected to the construction equipment will scan the surface of the cavity module to obtain the actual spatial coordinates of the cavity module. The construction equipment then extracts the design coordinates of the cavity module in the BIM model, compares them with the actual coordinates obtained by the scan, and determines the deviation between the current actual position of the cavity module and the design position. After coordinate transformation calculation, the construction equipment can obtain the positioning error values ​​of the cavity module in three directions. These error values ​​reflect the accuracy of the actual hoisting positioning of the cavity module.

[0055] S105. Control the hoisting equipment to adjust the position of the cavity module according to the actual positioning error.

[0056] The construction equipment will control the hoisting equipment to adjust the position of the cavity module according to the actual positioning error of the cavity module. For example, if the calculation results show that the displacement of a cavity module in the left and right directions exceeds the allowable value, the construction equipment will control the crane to move slightly to reduce the left and right displacement of the cavity module. If the cavity module has an angle deviation in the horizontal plane, the construction equipment will adjust the hook angle of the crane accordingly. If the height positioning error is too large, the construction equipment will directly control the crane to lift or lower the cavity module. After adjustment, until the positioning error of the cavity module is within the allowable range, the hoisting positioning of the cavity module has reached the requirements and accuracy.

[0057] S106. Collect construction progress data including construction time, construction personnel, and construction status at the construction site in real time and display it on the screen.

[0058] The construction equipment will collect the time, personnel, status and other information of the construction site in real time through cameras, RFID readers and other equipment, and display it on the display screen to reflect the current construction progress. For example, the construction equipment will count the number of people working on the construction surface, and display the completion progress of each construction team by the number of components that have been assembled. At the same time, the construction equipment will also read RFID tags to determine the use status of key materials and machinery. After all the information is summarized, it will be displayed to the management staff in real time in a visual form, so that they can understand the overall construction dynamics and progress in a timely manner and conduct scientific scheduling.

[0059] In the above embodiments, the construction equipment realizes the target building analysis and construction process generation based on the BIM model, the precise control of the crane for the hoisting of the cavity module, and the laser-assisted safety protection and other functions. In actual applications, the construction equipment must also consider the complex and changeable construction site conditions and the response to various abnormal risks. For example, if the crane temporarily fails to work properly, the construction equipment needs to quickly re-plan the operation sequence and guide other spare hoisting equipment to complete the handling of the cavity module to ensure that the construction progress is not affected; if the production of the cavity module is delayed, the construction equipment also needs to update the construction process in time and rearrange the hoisting time of the subsequent cavity modules.

[0060] The following is a supplement to the scenario of this embodiment.

[0061] After using the construction equipment, the project party further upgraded the construction equipment and added the function of quickly analyzing the cause of positioning deviation. When the positioning error exceeds the limit, the construction equipment can intelligently analyze the possible causes of the deviation, such as crane operation deviation or component size error, and give targeted improvement measures. This function avoids the occurrence of repeated positioning deviations and makes the construction equipment more intelligent. For example, in another hoisting, the construction equipment quickly determined that the cause of the large deviation was that the crane hoisting hook deviated from the predetermined position, and prompted the operator to make adjustments. The application of this intelligent diagnostic cavity module improves the reliability and intelligence level of construction equipment.

[0062] After combining the above scenarios, the following is a more detailed description of the process of the method provided by this implementation. Figure 2 , is another flow chart of the construction method of the SPCS structure in the embodiment of the present application.

[0063] S201, obtaining a target model of a target building based on BIM modeling.

[0064] Referring to step S101 , the construction equipment will obtain a target model.

[0065] In some embodiments, the construction equipment will first perform a three-dimensional scan of the construction site to obtain point cloud data of the construction site; then generate a three-dimensional site model of the construction site based on the point cloud data, and at the same time use BIM technology to perform three-dimensional modeling of the building according to the architectural design drawings to generate a three-dimensional building model; finally, the construction equipment will fuse the three-dimensional site model and the three-dimensional building model to obtain the target model.

[0066] Specifically, the construction equipment will first scan the actual project site with a 3D laser scanning device to obtain high-density point cloud data of the site. These point clouds reflect the actual conditions of the site, such as terrain, obstacles, temporary facilities, etc. In order to process the huge amount of point cloud data, the software in the construction equipment will filter and downsample the point cloud, remove noise points, and obtain a point cloud collection of key parts.

[0067] Then, the construction equipment will use the point cloud generation algorithm to build a three-dimensional site grid model based on the point cloud data. The site model accurately presents the actual site environment in three-dimensional space. At the same time, the construction equipment will obtain the file data of the building three-dimensional model generated by the BIM design software and import it. The building model contains all the three-dimensional geometric information of the building.

[0068] In order to comprehensively consider the actual site factors, the construction equipment will perform image registration on the two models, that is, spatial registration of the 3D site model and the 3D building model, and coordinate system alignment. After the registration is completed, the construction equipment obtains a 3D building model that integrates the actual site environment, that is, the target model. This model will serve as the basis for the subsequent construction plan.

[0069] For example, the target model shows that there is a temporary steel support frame on a certain floor, which will affect the hoisting plan of the cavity module. With the target model as a reference, the construction equipment can consider the impact of the steel support frame in advance and plan a reasonable hoisting path. For another example, the target model reflects the uneven terrain of the site, and the construction equipment can choose the appropriate vehicle based on this to ensure transportation reliability. Therefore, it is very important to generate a target model by fusing site scanning with the BIM model to improve the pertinence and reliability of subsequent construction.

[0070] S202, parsing the target model, extracting cavity modules including wall components, floor components, and beam-column components, and generating a construction process including the construction sequence and construction time of the plurality of cavity modules.

[0071] Referring to step S102, the construction equipment will generate a construction process.

[0072] In some embodiments, the construction equipment will parse the BIM model to extract the geometric dimensions, material parameters and position coordinates of the cavity modules; the cavity modules include wall components, floor components and beam-column components; then the construction equipment will calculate the weight parameters of the cavity modules based on the geometric dimensions and material parameters, and analyze the interface relationship, force characteristics and load capacity of the lifting equipment between the cavity modules according to the position coordinates and weight parameters, and use the topological sorting method to determine the construction order of the cavity modules; then the construction equipment will analyze and determine the construction time of the cavity modules based on the project schedule and the cavity module production cycle; finally, based on the construction order and construction time, a complete construction process plan is generated.

[0073] Specifically, the construction equipment connects to the BIM model database to fully analyze the three-dimensional model. The cavity analysis module contains a geometric information extraction algorithm that can accurately identify all components in the model and obtain the length, width, height and other dimensional parameters of each component. At the same time, the construction equipment can obtain the material type and related parameters of the component by querying the component properties, such as the density and compressive strength of the wall material. The construction equipment will also divide the spatial coordinates of each component to determine the exact position of the component in the three-dimensional building.

[0074] Finally, the construction equipment can extract the detailed geometry and material information of all the components related to the cavity module, as well as the precise location coordinates. The components related to the cavity module extracted by the construction equipment mainly include three categories, namely wall components, floor components and beam-column components. Wall components are the prefabricated panels that make up the cavity wall; floor components include horizontal components such as floor slabs and stairs; beam-column components include various columns and beams and other main load-bearing components. These components can be connected and assembled to form a complete cavity module. The parsed cavity module can automatically identify these three types of components, providing a data basis for the subsequent cavity module assembly analysis.

[0075] After obtaining the size and material parameters of the component, the construction equipment will calculate the deadweight of each cavity component based on the parameters. That is, the construction equipment will combine the density of the material and the length, width and height of the component to calculate the weight of the component according to the formula of volume multiplied by density. For components with complex shapes, the construction equipment will also automatically perform three-dimensional subdivision, accurately calculate the weight of each subcomponent, and finally summarize it as the total weight of the component. The total weight of each cavity module is the sum of the weights of all the components that make up the cavity module. This weight parameter will provide data support for the subsequent selection of lifting equipment and sequence planning.

[0076] After obtaining the weight information of the cavity modules, the construction equipment will determine the interface bonding relationship and mechanical action sequence between the cavity modules based on the coordinate position and weight of the cavity modules. At the same time, combined with the load curve parameters of hoisting equipment such as cranes, the load capacity range of the equipment is determined. On the basis of comprehensive consideration of the above factors, the construction equipment uses a topological sorting algorithm to sort the cavity modules and calculate a feasible component assembly sequence that meets the interface constraints and equipment capabilities, providing a basis for determining the final construction process.

[0077] After determining the order of cavity module construction, the construction equipment also needs to arrange the construction time nodes of each cavity module. To this end, the construction equipment will refer to the overall project schedule and analyze the time node requirements of each stage. At the same time, combined with the production cycle of each cavity module, calculate when the cavity module can be used for hoisting. After comprehensively considering the above time factors, the construction equipment can arrange a reasonable hoisting time for each cavity module, and finally form a complete four-dimensional construction process plan.

[0078] Through the above steps, the construction equipment determines the construction order and corresponding time nodes of the cavity modules. Based on these two aspects of data, the construction equipment can generate a complete digital plan for the construction process. The plan includes detailed information such as the number, name, operation time and sequence relationship of each cavity module. This provides a scientific and reliable guidance basis for subsequent construction simulation and implementation, realizes the refined control of complex construction processes, avoids many uncertain factors in traditional experience-based construction, and improves the accuracy and reliability of construction.

[0079] S203, obtaining size parameters and weight parameters of the cavity module, and determining corresponding lifting equipment based on the size parameters and weight parameters.

[0080] The construction equipment will obtain the size and weight parameters of each cavity module and select the appropriate lifting equipment based on these parameters. For example, for larger or heavier cavity modules, the construction equipment will select a large crane with a stronger lifting capacity; for smaller and lighter cavity modules, a small crane can be used. In addition, for some cavity modules with special shapes, the construction equipment will also consider specially designed lifting devices. By matching the cavity module parameters with the lifting equipment parameters, the construction equipment can scientifically select lifting equipment with corresponding lifting capacity and applicability.

[0081] S204: Plan the operation position and movement trajectory of the crane according to the hoisting time sequence of the cavity modules in the construction process.

[0082] The construction equipment will reasonably plan the crane's operating position and movement trajectory according to the order and time of hoisting the cavity modules specified in the construction process. For example, for multiple cavity modules that need to be hoisted in the same time period, the construction equipment will optimize the crane's operating sequence and position so that it can hoist all cavity modules in the shortest travel and time. For the hoisting of cavity modules on different floors, the construction equipment will also consider the crane's movement trajectory and whether a temporary working platform needs to be added. By scientifically planning the path, the crane's operating efficiency can be improved and the overall cavity module hoisting time can be shortened.

[0083] S205. Determine a corresponding lifting method based on the shape parameters and the center of gravity position of the cavity module; the lifting method includes the number and anchoring position of the lifting rigging.

[0084] The construction equipment will determine the reasonable lifting method according to the shape and center of gravity position parameters of the cavity module, including the number of lifting rigging and the anchoring position. For example, for some cavity modules with eccentric center of gravity, the construction equipment will increase the lifting points and adopt the multi-point lifting method to ensure the stability of the cavity module lifting. For cavity modules with special shapes, the construction equipment will also adjust the anchoring position of the lifting rigging accordingly to achieve the effect of center of gravity alignment and balanced lifting. Choosing the appropriate lifting method can effectively reduce the shaking of the cavity module during lifting and improve safety.

[0085] S206. Before hoisting, debug the hoisting equipment to confirm that the equipment is in normal condition and the hoisting parameters are set to preset parameter values.

[0086] Before the cavity module is officially hoisted, the construction equipment will conduct comprehensive debugging and testing of the hoisting equipment to ensure that the equipment is in normal condition and that the various parameter settings meet the requirements. Specifically, the construction equipment will first test the crane's operating capacity and check whether its main components are worn, fatigued, etc. to ensure that the crane has the corresponding lifting capacity. Then, the construction equipment will detect whether the various control systems of the crane are working properly to respond to subsequent precise operations. Finally, the construction equipment will check whether the crane's hoisting parameters, such as lifting speed, lifting height and other parameters are set reasonably, and will optimize the parameters according to the actual situation to ensure the stability of the crane during hoisting.

[0087] S207, controlling the crane to move the cavity module according to the hoisting time, operation position and motion trajectory.

[0088] After confirming that the hoisting equipment is in normal condition, the construction equipment will directly control the crane to hoist the cavity module according to the planned hoisting time, operation position and motion trajectory. During the hoisting process, the construction equipment will also monitor the work of the crane to check whether various parameters meet the requirements. Once an abnormality is found, the construction equipment will respond quickly and stop the hoisting operation to ensure construction safety.

[0089] S208. Monitor the hoisting coordinates and hoisting height of the cavity module in real time.

[0090] The construction equipment will monitor the spatial coordinates and altitude parameters of the cavity module in real time during the entire process of hoisting the cavity module. For example, the real-time position data of the cavity module can be collected by setting a tracking sensor at the crane hook. The altitude data can be collected by the altitude sensor on the crane. The monitoring of these parameters can help the construction equipment determine the stability of the cavity module hoisting and the deviation from the designed position. If the data is abnormal, the construction equipment can respond quickly, such as slowing down the movement of the crane.

[0091] S209: Calculate the landing point range of the cavity module based on the hoisting coordinates and hoisting height.

[0092] The construction equipment will calculate the expected drop point range of the cavity module based on the hoisting coordinates and height parameters of the cavity module obtained by monitoring. First, under normal working conditions, the construction equipment will comprehensively consider factors such as the crane position and the cavity module size to calculate the theoretical drop point range, which can be used to indicate the installation of the cavity module.

[0093] In some embodiments, the construction equipment will calculate the landing range of the cavity module under normal working conditions based on the hoisting coordinates and hoisting height; then the construction equipment will input the landing range, shape parameters and center of gravity position of the cavity module into the falling rehearsal large model to obtain the warning range of abnormal falling of the cavity module; when a staff member appears within the warning range, the construction equipment will issue a warning message.

[0094] Specifically, after monitoring the real-time hoisting coordinates and altitude of the cavity module, the construction equipment will calculate the expected drop point range under normal circumstances based on these data. The construction equipment will comprehensively consider the position coordinates of the crane and the geometric size parameters of the cavity module. Through precise physical calculations, it can obtain the theoretical drop range of the cavity module when the crane is working normally, taking into account factors such as lifting angle and arm length limitations. This provides a reference for the construction safety range under normal circumstances. In addition, in order to prevent abnormal situations such as crane failures, the construction equipment will also input various parameters of the cavity module into a drop preview model. The drop preview large model can establish a three-dimensional model of the cavity module, perform virtual simulation of gravity drop, and simulate the drop point distribution law under various abnormal conditions. After the simulation calculation of the drop preview large model, the construction equipment can determine the maximum warning range of the cavity module falling under the premise of considering the failure.

[0095] The drop rehearsal model is a virtual simulation system used by construction equipment to simulate and predict the drop trajectory and landing point distribution of the cavity module under abnormal conditions. The drop rehearsal model needs to be trained through a large number of simulation experiments to establish sufficiently accurate predictions of the drop law. The specific training process is as follows: collect a large amount of cavity module parameter data during actual hoisting operations as a training set, including the three-dimensional model, size, weight, material, etc. of the cavity module; in a virtual environment, use these training set data to establish a three-dimensional model of the cavity module, set different starting hoisting heights and postures, and simulate the drop; collect key frame images of the cavity module during the drop process through a high-speed camera to obtain the drop trajectory of the cavity module and the actual distribution data of the final landing point; compare the simulation results with the actual drop results, calculate the error, and gradually reduce the error and improve the simulation accuracy by adjusting the parameters and algorithms in the model; when the simulated drop results and the actual drop results meet certain accuracy requirements, a training iteration is completed; repeat the training to obtain a more accurate drop law modeling. Finally, the trained drop rehearsal model is deployed in construction equipment for drop prediction during actual lifting to guide equipment operation and prevent safety accidents. By collecting a large amount of actual data, building an accurate model, and iterative training, the simulation prediction capability of the drop rehearsal model can be continuously optimized, making its simulation results closer to the actual situation, thereby improving the early warning effect of the model.

[0096] Obtaining this range allows construction workers to avoid this high-risk area. Finally, the construction equipment will use a linear laser to clearly mark the calculated warning range. This allows workers to intuitively see the boundaries of the dangerous area outlined by the laser and avoid entering the high-risk area. Once a person is detected approaching or entering the warning range, the construction equipment will warn the person through an audible and visual alarm. Using lasers to mark the warning range can enhance work safety and avoid accidents.

[0097] S210, using a linear laser to indicate the landing point range.

[0098] After the cavity module is hoisted by the crane, the construction equipment will use the laser emission device connected to it to clearly mark the calculated landing range of the cavity module in space. Specifically, the construction equipment will control the linear laser emitter installed on the main body of the crane to emit laser light in the direction of the expected landing area of ​​the cavity module. This linear laser can form a clearly visible light line projected into the actual space. The construction equipment will control this laser line to perform scanning movement, and finally illuminate the complete landing range outline of the cavity module. The on-site operators can directly observe the projection of this red laser outline on the ground or building components with their eyes, so as to clearly understand the spatial distribution of the landing range of the cavity module. Through this intuitive laser range indication method, the construction equipment can enhance the safety of the work site and avoid dangerous personal injury accidents. In short, the construction equipment uses linear laser vision to indicate the landing range of the cavity module, which realizes the clear visibility of the safety hazards in the work area, clearly indicates the working range, improves work efficiency, and allows operators to actively avoid entering high-risk areas, thereby enhancing the safety of the hoisting operation.

[0099] S211. The actual construction position of the cavity module is collected in real time by using a laser radar, and the actual construction position is compared with the target model to calculate the actual positioning error of the cavity module.

[0100] Referring to step S104 , the construction equipment calculates the actual positioning error of the cavity module.

[0101] S212. According to the actual positioning error, control the hoisting equipment to adjust the position of the cavity module.

[0102] Referring to step S105 , the construction equipment controls the hoisting equipment to adjust the position of the cavity module.

[0103] S213. Collect construction progress data including construction time, construction personnel, and construction status at the construction site in real time and display them on the screen.

[0104] Referring to step S106 , the construction equipment will display the construction progress data on the screen.

[0105] In some embodiments, the construction equipment will perform correlation analysis on the construction progress data to determine whether the current construction stage progress is within the preset progress range; if the current construction stage progress is within the preset progress range, the construction equipment will save the construction progress data; if the current construction stage progress is not within the preset progress range, the construction equipment will issue a prompt message; the prompt message is used to prompt the user to promptly determine the specific cause of the abnormal progress; the construction equipment will also collect related information data of the current construction progress; the related information data includes the day's weather information, personnel attendance information, material supply information, and the operating status of major mechanical equipment; then the construction equipment will compare and analyze the related information data with historical data to determine the predicted cause of the abnormal progress and display it to the user; finally, after the user chooses to determine the corresponding predicted cause, the construction equipment will display the corresponding improvement measures and construction adjustment plan.

[0106] Specifically, the construction equipment will collect various types of construction progress data in real time, such as the number of construction workers, completion rate, etc., and correlate and analyze these data to determine whether the current construction progress is within the preset range. If the progress is normal, just save the data record. If the progress is abnormal, that is, the completion rate is lower than expected, the construction equipment will immediately issue a prompt to notify the user that the exact cause of the abnormality needs to be confirmed. That is, by issuing prompts in a timely manner, the project manager can intervene in advance to avoid further delays.

[0107] Next, the construction equipment can autonomously identify the cause of the abnormal progress. The construction equipment will automatically collect a variety of information related to the construction of the day, such as meteorological parameters, personnel attendance, main machinery operating status and other data. Then, it will be compared with the data under normal historical conditions. If an abnormality is found, such as an increase in equipment failure rate, it will be considered as a possible cause. After comprehensively analyzing all factors, the construction equipment can give the most likely predicted cause of the abnormal progress and submit it to the project manager for reference.

[0108] Finally, after the project manager confirms the corresponding cause, the construction equipment can propose corresponding corrective measures or adjustment plans for subsequent processes. For example, if it is determined that weather factors affect concrete pouring, the material configuration can be adjusted to adapt to humidity changes. After the project manager chooses to adopt the corresponding adjustment plan, the construction equipment can quickly convey these contents to the implementation personnel to guide the detailed implementation of subsequent work.

[0109] In the embodiment of the present application, due to the use of BIM-based target building model analysis and construction process generation, hoisting positioning closed-loop control, linear laser visual assistance and other technical means, the SPCS structure construction process is precisely controlled and optimized, effectively solving the problems of large module positioning deviation and lack of construction progress control, thereby significantly improving the construction quality and efficiency of the SPCS structure. Based on the intelligent algorithm to analyze the BIM model to guide the formulation of the construction process, the process planning and control capabilities of complex construction projects have been greatly improved; closed-loop positioning error detection and feedback correction have achieved precise control of module positioning and solved quality problems; the application of linear laser early warning technology has enhanced the safety of hoisting construction; construction information monitoring and analysis have achieved comprehensive management of on-site construction and ensured the achievement of progress and quality goals.

[0110] The following describes the construction equipment in the embodiment of the present application from the perspective of modules. Figure 3 , which is a schematic diagram of a functional module structure of the construction equipment in an embodiment of the present application.

[0111] The construction equipment includes:

[0112] An acquisition module 301 is used to acquire a target model of a target building based on BIM modeling;

[0113] The parsing module 302 is used to parse the target model, extract the cavity modules including the wall components, the floor components, and the beam and column components, and generate a construction process including the construction sequence and construction time of the multiple cavity modules; the construction sequence is determined according to the connection relationship and mechanical action sequence of the cavity modules;

[0114] The control module 303 is used to control the corresponding lifting equipment to move the cavity module according to the construction process;

[0115] The detection module 304 is used to collect the actual construction position of the cavity module in real time through the laser radar, and compare the actual construction position with the target model to calculate the actual positioning error of the cavity module;

[0116] The correction module 305 is used to control the hoisting equipment to adjust the position of the cavity module according to the actual positioning error;

[0117] The display module 306 is used to collect the construction progress data including the construction time, construction personnel, and construction status of the construction site in real time, and display it on the screen.

[0118] In some embodiments, the parsing module 302 specifically includes:

[0119] A data extraction unit is used to extract geometric dimensions, material parameters and position coordinates of a cavity module by parsing the BIM model; the cavity module includes wall components, floor components and beam-column components;

[0120] A weight calculation unit, used for calculating the weight parameters of the cavity module based on the geometric dimensions and material parameters;

[0121] The sequential construction unit is used to analyze the interface relationship, force characteristics and load-bearing capacity of the cavity modules according to the position coordinates and weight parameters, and to determine the construction order of the cavity modules using the topological sorting method;

[0122] The time construction unit is used to analyze and determine the construction time of the cavity module in combination with the engineering schedule and the module production cycle;

[0123] The process generation unit is used to generate a complete construction process based on the construction sequence and construction time.

[0124] In some embodiments, the control module 303 specifically includes:

[0125] A hoisting matching unit, used to obtain the size parameters and weight parameters of the cavity module, and determine the corresponding hoisting equipment based on the size parameters and weight parameters;

[0126] The operation planning unit is used to plan the operation position and movement trajectory of the crane according to the hoisting time sequence of the cavity modules in the construction process;

[0127] A hoisting determination unit, used to determine a corresponding hoisting method in combination with the shape parameters and the center of gravity position of the cavity module; the hoisting method includes the number and anchoring position of the hoisting rigging;

[0128] Parameter verification unit, used to debug the hoisting equipment before hoisting, confirm that the equipment is in normal condition and the hoisting parameters are set to the preset parameter values;

[0129] The hoisting implementation unit is used to control the crane to move the cavity module according to the hoisting time, operation position and movement trajectory.

[0130] In some embodiments, the control module 303 further includes:

[0131] A hoisting monitoring unit is used to monitor the hoisting coordinates and hoisting height of the cavity module in real time;

[0132] A drop point prediction unit, used to calculate the drop point range of the cavity module based on the hoisting coordinates and the hoisting height;

[0133] The landing point indication unit is used to indicate the landing point range using a linear laser.

[0134] In some embodiments, the landing point prediction unit specifically includes:

[0135] A normal prediction subunit is used to calculate the landing point range of the cavity module under normal working conditions based on the hoisting coordinates and hoisting height;

[0136] The abnormal prediction subunit is used to input the drop point range, shape parameters and center of gravity position of the cavity module into the drop preview large model to obtain the warning range of abnormal drop of the cavity module;

[0137] The range warning subunit is used to issue a warning message when a worker appears within the warning range.

[0138] In some embodiments, the construction equipment further comprises:

[0139] The site acquisition module is used to obtain point cloud data of the engineering site by performing three-dimensional scanning on the engineering site;

[0140] Site construction module, used to generate a 3D site model of the engineering site based on point cloud data;

[0141] The building construction module is used to perform three-dimensional modeling of the building based on the architectural design drawings using BIM technology to generate a three-dimensional building model;

[0142] The model fusion module is used to fuse the three-dimensional site model and the three-dimensional building model to obtain the target model.

[0143] In some embodiments, the construction equipment further comprises:

[0144] The construction confirmation module is used to conduct correlation analysis on the construction progress data to determine whether the current construction phase progress is within the preset progress range;

[0145] The data saving module is used to save the construction progress data when the current construction phase progress is within the preset progress range;

[0146] The abnormality prompt module is used to issue a prompt message when the progress of the current construction phase is not within the preset progress range; the prompt message is used to prompt the user to promptly determine the specific cause of the abnormal progress;

[0147] The associated confirmation module is used to collect the associated information data of the current construction progress; the associated information data includes the weather information of the day, personnel attendance information, material supply information, and the operating status of major mechanical equipment;

[0148] The cause prediction module is used to compare and analyze the related information data with the historical data, determine the predicted cause of the abnormal progress, and display it to the user;

[0149] The solution display module is used to display the corresponding improvement measures and construction adjustment solutions after the user selects and determines the corresponding predicted reasons.

[0150] The above describes the construction equipment in the embodiment of the present application from the perspective of modular functional entities. The following describes the construction equipment in the embodiment of the present application from the perspective of hardware processing. Please refer to Figure 4 , which is a schematic diagram of a physical device structure of the construction equipment in the embodiment of the present application.

[0151] It should be noted that Figure 4 The structure of the construction equipment shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0152] like Figure 4 As shown, the construction equipment includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method described in the above embodiment. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, the ROM 402 and the RAM 403 are connected to each other through the bus 404. The input / output (I / O) interface 405 is also connected to the bus 404.

[0153] The following components are connected to the I / O interface 405: an input section 406 including a camera, an audio input device, a button switch, an RFID reader, etc.; an output section 407 including a liquid crystal display (LCD) and an audio output device, an indicator light, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0154] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, various functions defined in the present invention are performed.

[0155] It should be noted that specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0156] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings.

[0157] Specifically, the construction equipment of this embodiment includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the construction method of the SPCS structure provided in the above embodiment is implemented.

[0158] As another aspect, the present invention further provides a computer-readable storage medium, which may be included in the construction equipment described in the above embodiment; or may exist independently without being assembled into the construction equipment. The above storage medium carries one or more computer programs, and when the above one or more computer programs are executed by a processor of the construction equipment, the construction equipment implements the construction method of the SPCS structure provided in the above embodiment.

[0159] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0160] As used in the above embodiments, the term "when..." may be interpreted to mean "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. Similarly, the phrases "upon determining..." or "if (the stated condition or event) is detected" may be interpreted to mean "if determining..." or "in response to determining..." or "upon detecting (the stated condition or event)" or "in response to detecting (the stated condition or event)", depending on the context.

[0161] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

Claims

1. A construction method of a SPCS structure, characterized in that: The construction method is applied to construction equipment, and the method comprises: Obtain a target model of a target building based on BIM modeling; Analyze the target model, extract cavity modules including wall components, floor components, and beam-column components, and generate a construction process including the construction sequence and construction time of the plurality of cavity modules; the construction sequence is determined according to the connection relationship and mechanical action sequence of the cavity modules; Acquire size parameters and weight parameters of the cavity module, and determine corresponding lifting equipment based on the size parameters and the weight parameters; Planning the operation position and movement trajectory of the crane according to the hoisting time sequence of the cavity modules in the construction process; Determine a corresponding hoisting method in combination with the shape parameters and the center of gravity position of the cavity module; the hoisting method includes the number and anchoring position of the hoisting rigging; Debug the hoisting equipment before hoisting to confirm that the equipment is in normal condition and the hoisting parameters are set to the preset parameter values; Controlling the crane to transport the cavity module according to the hoisting time, the operation position and the motion trajectory; Real-time monitoring of the hoisting coordinates and hoisting height of the cavity module; Based on the hoisting coordinates and the hoisting height, calculating the landing point range of the cavity module under normal working conditions; Inputting the drop point range, shape parameters and center of gravity position of the cavity module into a drop preview large model to obtain a warning range for abnormal drop of the cavity module; When a worker appears within the warning range, a warning message is issued; Use a linear laser to indicate the landing point range; The actual construction position of the cavity module is collected in real time by a laser radar, and the actual construction position is compared with the target model to calculate the actual positioning error of the cavity module; According to the actual positioning error, controlling the hoisting equipment to adjust the position of the cavity module; The construction progress data including construction time, construction personnel and construction status of the construction site is collected in real time and displayed on the screen.

2. The method according to claim 1, characterized in that The target model is analyzed to extract cavity modules including wall components, floor components, and beam and column components, and a construction process including the construction sequence and construction time of the plurality of cavity modules is generated, specifically including: By analyzing the BIM model, the geometric dimensions, material parameters and position coordinates of the cavity module are extracted; the cavity module includes wall components, floor components and beam-column components; Based on the geometric dimensions and the material parameters, a weight parameter of the cavity module is calculated; Analyzing the interface relationship, force characteristics and load-bearing capacity of the hoisting equipment between the cavity modules according to the position coordinates and the weight parameters, and determining the assembly order of the cavity modules by using a topological sorting method; Analyze and determine the construction time of the cavity module in combination with the project schedule and module production cycle; Based on the building sequence and the building time, a complete construction process is generated.

3. The method according to claim 1, characterized in that Before the step of obtaining the target model of the target building based on BIM modeling, the method further includes: By performing three-dimensional scanning on the engineering site, point cloud data of the engineering site is obtained; generating a three-dimensional site model of the engineering site based on the point cloud data; According to the architectural design drawings, use BIM technology to perform 3D modeling of the building and generate a 3D building model; The three-dimensional site model and the three-dimensional building model are integrated to obtain a target model.

4. The method according to claim 1, characterized in that: After the step of collecting the construction progress data including construction time, construction personnel, and construction status of the construction site in real time and displaying it on the screen, the method further includes: Performing correlation analysis on the construction progress data to determine whether the current construction phase progress is within a preset progress range; If it is within the preset progress range, then the construction progress data is saved; If the progress is not within the preset range, a prompt message is issued; the prompt message is used to prompt the user to promptly determine the specific cause of the abnormal progress; Collect relevant information data of the current construction progress; the relevant information data includes the weather information of the day, personnel attendance information, material supply information, and the operating status of major mechanical equipment; Comparing and analyzing the associated information data with historical data, determining the predicted cause of the abnormal progress, and displaying it to the user; After the user selects and confirms the corresponding predicted reason, the corresponding improvement measures and construction adjustment plan are displayed.

5. A construction equipment, characterized in that: include: An acquisition module, used for acquiring a target model of a target building based on BIM modeling; A parsing module, used to parse the target model, extract cavity modules including wall components, floor components, and beam-column components, and generate a construction process including the construction sequence and construction time of the plurality of cavity modules; the construction sequence is determined according to the connection relationship and mechanical action sequence of the cavity modules; A control module is used to control the corresponding lifting equipment to carry the cavity module according to the construction process; the control module specifically includes: a lifting matching unit, which is used to obtain the size parameters and weight parameters of the cavity module, and determine the corresponding lifting equipment based on the size parameters and weight parameters; an operation planning unit, which is used to plan the operation position and motion trajectory of the crane according to the lifting time sequence of the cavity module in the construction process; a lifting determination unit, which is used to determine the corresponding lifting method in combination with the shape parameters and center of gravity position of the cavity module; the lifting method includes the number and anchoring position of the lifting rigging; a parameter inspection unit, which is used to debug the lifting equipment before lifting, confirm that the equipment status is normal and the lifting parameters are set to preset parameter values; a lifting implementation unit, which is used to control the crane to carry the cavity module according to the lifting time, operation position and motion trajectory; a lifting monitoring unit, which is used to monitor the lifting coordinates and lifting height of the cavity module in real time; a landing point prediction unit, which is used to calculate the landing point range of the cavity module based on the lifting coordinates and lifting height; a landing point indication unit, which is used to indicate the landing point range using a linear laser; The drop prediction unit includes: a normal prediction subunit, which is used to calculate the drop range of the cavity module under normal working conditions based on the hoisting coordinates and the hoisting height; an abnormal prediction subunit, which is used to input the drop range, the shape parameters and the center of gravity position of the cavity module into the drop preview large model to obtain the warning range of abnormal drop of the cavity module; a range warning subunit, which is used to issue a warning message when a staff member appears within the warning range; A detection module, used to collect the actual construction position of the cavity module in real time through a laser radar, and compare the actual construction position with the target model to calculate the actual positioning error of the cavity module; A correction module, used for controlling the hoisting equipment to adjust the position of the cavity module according to the actual positioning error; The display module is used to collect the construction progress data including construction time, construction personnel, and construction status at the construction site in real time, and display it on the screen.

6. A construction equipment, characterized in that: include: one or more processors and memory; The memory is coupled to the one or more processors, and the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the construction equipment to execute the method as described in any one of claims 1-4.

7. A computer-readable storage medium comprising instructions, characterized in that: When the instruction is executed on the construction equipment, the construction equipment is caused to execute the method as described in any one of claims 1 to 4.

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