A method for improving the overall precision control of multiple electromechanical modules

Abstract

The present invention discloses an overall precision control method for electromechanical multi-discipline modules, which relates to the field of intelligent manufacturing. The method includes: collecting point cloud data of electromechanical multi-discipline module components to obtain three-dimensional coordinate data; obtaining a three-dimensional model of the component according to the three-dimensional coordinate data; simulating splicing of the three-dimensional model of the component, and fitting and comparing the spliced ​​three-dimensional model with the target BIM model; performing error analysis according to the fitting and comparison results, locating component control parameters, performing precision search on component control parameters with errors as the target, and generating error compensation control parameters; using the error compensation control parameters to compensate and fit the original component control parameters to obtain an overall control strategy. The method solves the technical problem of low assembly precision in the existing electromechanical multi-discipline module assembly control, and achieves the technical effect of improving the assembly precision of electromechanical multi-discipline modules.

Description

Technical Field

[0001] The present application relates to fields related to intelligent manufacturing, and in particular to a method for overall precision improvement control of electromechanical multi-professional modules. Background Art

[0002] In the complex field of electromechanical engineering, especially in the integrated assembly process involving multiple professional modules, such as industrial automation production lines, large-scale mechanical equipment or intelligent buildings, it is crucial to ensure the precise docking and collaborative work between modules. With the popularization and development of building information modeling (BIM) technology, three-dimensional digital design, simulation and construction management have become industry trends. However, in the process of conversion from design to actual construction, due to the influence of various factors such as component processing errors, installation environment differences, and human operation errors, the actual assembly accuracy is often difficult to meet the design requirements, which in turn affects the performance and stability of the entire system.

[0003] In the current related technologies, the assembly control of electromechanical multi-disciplinary modules has the technical problem of low assembly accuracy. Summary of the invention

[0004] The present application provides an overall precision control method for electromechanical multi-disciplinary modules, uses 3D laser scanning equipment to collect point cloud data of components, constructs an accurate three-dimensional model, simulates and splices the component three-dimensional model based on the BIM platform, and performs fitting and comparison with the target BIM model to discover and resolve potential assembly conflicts and errors, accurately locates the control parameters of the components through error analysis, performs precision search based on error targets, generates error compensation control parameters, uses the error compensation control parameters to compensate and fit the original component control parameters, forms a complete overall control strategy, guides the actual assembly process and other technical means, and achieves the technical effect of improving the precision of electromechanical multi-disciplinary modules assembly.

[0005] The present application provides an overall improvement precision control method for electromechanical multi-professional modules, including:

[0006] 3D laser scanning equipment is used to collect point cloud data of electromechanical multi-disciplinary module components to obtain three-dimensional coordinate data, wherein the three-dimensional coordinate data includes component names and position identifiers; a three-dimensional model of the component is obtained according to the three-dimensional coordinate data; based on the component names and position identifiers, the three-dimensional model of the component is simulated and spliced, and the spliced ​​three-dimensional model is used to perform fitting and comparison with the target BIM model; error analysis is performed according to the fitting and comparison results to locate component control parameters, and precision search is performed on the component control parameters with errors as the target to generate error compensation control parameters; the error compensation control parameters are used to compensate and fit the original component control parameters to obtain an overall control strategy, which is used for assembly control of electromechanical multi-disciplinary modules.

[0007] In a possible implementation, the 3D laser scanning device is used to collect point cloud data of the electromechanical multi-professional module components, obtain three-dimensional coordinate data, and perform the following processing:

[0008] Identify the key parts and assembly connection points of the electromechanical multi-discipline module component; set a coverage constraint area according to the distribution density of the key parts and assembly connection points, and the coverage constraint area includes size constraints and space constraints; scan the electromechanical multi-discipline module component with the coverage constraint area as a scanning constraint to obtain component scanning data; configure the component coordinate origin based on the category of the electromechanical multi-discipline module, perform three-dimensional coordinate fitting on the component scanning data according to the component coordinate origin, and obtain the three-dimensional coordinate data.

[0009] In a possible implementation, based on the category of the electromechanical multi-discipline module, the component coordinate origin is configured and the following processing is performed:

[0010] According to the category of the electromechanical multi-discipline module, component analysis is performed to determine component consistency; according to the component consistency, an origin analysis channel is allocated, and the origin analysis channel includes a standard consistency analysis channel and a differentiated analysis channel; through the standard consistency analysis channel and the differentiated analysis channel, the coordinate origin analysis of the electromechanical multi-discipline module components is performed respectively to obtain the coordinate origin of each component of the electromechanical multi-discipline module.

[0011] In a possible implementation, the coordinate origin of the electromechanical multi-disciplinary module components is analyzed through the standard consistency analysis channel and the differentiation analysis channel, and the following processing is performed:

[0012] The component scanning data that meets the component consistency requirements is input into the standard consistency analysis channel, and the component border is extracted according to the component scanning data; the structural symmetry is determined according to the geometric shape of the component border; when the component geometric shape has structural symmetry, the geometric center or the starting end point of the geometric shape is obtained as the coordinate origin; when the component geometric shape does not have structural symmetry, the component installation reference point is identified, and the component installation reference point is used as the coordinate origin.

[0013] In a possible implementation, the coordinate origin of the electromechanical multi-disciplinary module components is analyzed through the standard consistency analysis channel and the differentiation analysis channel, and the following processing is performed:

[0014] The component scanning data whose component consistency does not meet the requirements is input into the differential analysis channel to obtain the global reference point of the electromechanical general design drawing, the global reference point is the starting point of the main line, and a global coordinate system is established; based on the component scanning data, the edge structure of each component is extracted and the functional installation position is identified, and a component identification feature library is established; according to the component identification feature library, the polymorphic component features of each professional module are clustered, and a feature clustering cluster of multi-professional modules is constructed; according to the feature clustering cluster of multi-professional modules, the reference point of each component cluster is identified, and a local coordinate system is constructed; a conversion matrix relationship between the global coordinate system and the local coordinate system is established, and the coordinate origin is configured.

[0015] In a possible implementation, based on the component name and position identifier, the three-dimensional model of the component is simulated and spliced, and the following processing is performed:

[0016] Obtain the inter-system installation sequence of each electromechanical professional module and the intra-system installation sequence of each electromechanical professional module; conduct collaborative analysis on the professional functions and installation impacts of the components according to the component names, and determine the collaborative relationship of professional modules; coordinately deploy and adjust the inter-system installation sequence and the intra-system installation sequence according to the collaborative relationship of professional modules, and construct an installation process, wherein the installation process has component name and position requirements; match the component name and position requirements of the installation process with the component name and position identifier of the three-dimensional coordinate data to determine the splicing order and splicing position; and simulate the splicing of the three-dimensional model in sequence according to the splicing order and splicing position.

[0017] In a possible implementation, error analysis is performed based on the fitting comparison results, component control parameters are located, and the following processing is performed:

[0018] Acquire multi-dimensional error parameters, which include position error, rotation error, size error, shape error, and connection error; establish a control association between the error parameters and component control parameters; perform error analysis on the fitting comparison results based on the control association between the error parameters and the component control parameters, and locate the component control parameters.

[0019] In a possible implementation, the accuracy search of the component control parameter is performed with the error as the target, the error compensation control parameter is generated, and the following processing is performed:

[0020] According to the error parameters, the search direction and search step of each component control parameter are configured; the error is minimized as the goal, the current component control parameter is taken as the center, the search space is set with the search direction and search step, and the search objective function is fitted into the search space; based on the search objective function, the new search parameters of the search space are evaluated and screened, and the optimal control parameters are iterated. ,in, is the step size adjustment factor, is the search step length, For the q The iteration n control parameters, n Control the number of parameters for the component, For the q +1 iteration n control parameters, is the objective function In the current control parameters When the iteration frequency of the optimization control parameter is less than the iteration threshold, the search direction and the search step are reset until the iteration target or the search target is reached, and the error compensation control parameter is determined.

[0021] In a possible implementation, the following processing is performed:

[0022] The expression of the search objective function is: , where the position error , rotation error , size error , shape error , connection error , is the position error weight, is the rotation error weight, is the size error weight, is the shape error weight, is the connection error weight, ( ) is a component i In the current control parameters The actual position of the ) is a component i The target location in the target BIM model, ( ) is a component i In the current control parameters The actual rotation angle under ( ) is a component i The target rotation angle in the target BIM model, l For length, w For width, h is the height, ( ) is a component i In the current control parameters The actual size of the ) is a component i Target dimensions in the target BIM model, Components i At the point kThe distance between the actual shape and the designed shape, is the component shape control parameter, ( ) is the connection point j In the current control parameters The actual position of the ) is the target position of the design connection point in the target BIM model.

[0023] The overall precision improvement control method for electromechanical multi-disciplinary modules proposed in this application is proposed. First, 3D laser scanning equipment is used to collect point cloud data of electromechanical multi-disciplinary module components to obtain three-dimensional coordinate data, which includes component names and position identification. Then, according to the three-dimensional coordinate data, a three-dimensional model of the component is obtained. Based on the component name and position identification, the three-dimensional model of the component is simulated and spliced. The spliced ​​three-dimensional model is used to perform fitting and comparison with the target BIM model. Error analysis is performed based on the fitting and comparison results, and component control parameters are located. The component control parameters are precision searched with error as the target, and error compensation control parameters are generated. Finally, the error compensation control parameters are used to compensate and fit the original component control parameters to obtain an overall control strategy. The overall control strategy is used for assembly control of electromechanical multi-disciplinary modules, thereby achieving the technical effect of improving the precision of electromechanical multi-disciplinary module assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the accompanying drawings of the embodiment of the present invention will be briefly introduced below. A flow chart is used in the present application to illustrate the operations performed by the method according to the embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or one or more operations can be removed from these processes.

[0025] Figure 1 A flow chart of a method for overall precision improvement control of electromechanical multi-disciplinary modules provided in an embodiment of the present application.

[0026] Figure 2 A schematic diagram of the flow chart of coordinate origin analysis of electromechanical multi-discipline module components in the overall precision improvement control method for electromechanical multi-discipline modules provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0028] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0029] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "including" and "having" and any variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of this application. The terms used herein are for the purpose of describing the embodiments of the present application only.

[0030] The present application embodiment provides a method for improving the overall precision control of electromechanical multi-professional modules, such as Figure 1 As shown, the method includes:

[0031] Step S100, using 3D laser scanning equipment to collect point cloud data of electromechanical multi-disciplinary module components, and obtain three-dimensional coordinate data, wherein the three-dimensional coordinate data includes component names and location identifiers. Specifically, calibrate the 3D laser scanning equipment (such as a handheld or fixed laser scanner) and set the scanning parameters (scanning accuracy, scanning range, etc.). At the site of the electromechanical multi-disciplinary module, use 3D laser scanning equipment to scan each component (such as a water pump, pipe, distribution box, etc.) one by one. During the scanning process, the laser beam will be projected onto the surface of the component and reflected back. The distance is calculated by measuring the round-trip time difference of the laser beam, and the horizontal and vertical angles of the laser beam are recorded at the same time. During the scanning process, it is necessary to move the 3D laser scanning equipment or rotate the component to obtain the complete surface point cloud data of the component. The scanned point cloud data is imported into a dedicated data processing software (such as Autodesk ReCap, Trimble RealWorks, etc.), and the point cloud data is pre-processed in the software such as denoising, filtering, and registration to improve the data quality. By identifying the QR code (or RFID tag or manually input information) on the component, the point cloud data is associated with the component name and location mark, and the point cloud data after association processing is converted into three-dimensional coordinate data containing the component name and location mark. These data not only describe the geometric shape and size of the component, but also include its position and role information in the entire electromechanical multi-disciplinary module.

[0032] In a possible implementation, the point cloud data of the electromechanical multi-discipline module components are collected by using a 3D laser scanning device to obtain three-dimensional coordinate data. Step S100 further includes step S110, identifying the key parts and assembly connection points of the electromechanical multi-discipline module components. Specifically, the design drawings (or BIM models) of the electromechanical multi-discipline module are analyzed to identify the key parts of the components that bear the main functions or affect the assembly accuracy, such as key functional areas, boundary parts, etc. At the same time, the assembly connection points (bolts, welding, etc.) between the components are determined. These points are the key positions for the modules to be connected and fixed to each other, and these key parts and assembly connection points are marked. Step S120, according to the distribution density of the key parts and assembly connection points, set the coverage constraint area, and the coverage constraint area includes size constraints and space constraints. Specifically, the distribution density of the key parts and assembly connection points on the components is evaluated to determine which areas require higher scanning accuracy and coverage. Set coverage constraint areas, which include size constraints (requirements for scanning accuracy, such as the minimum spacing of scanning points, error range, etc.) and space constraints (restrictions on the scanning path and range to ensure that the 3D laser scanning device can scan according to the predetermined path while avoiding collisions or omissions). The coverage constraint area is used to fully cover all key parts and assembly connection points, while reducing unnecessary scanning areas and improving scanning efficiency. Step S130, scanning the electromechanical multi-discipline module component with the coverage constraint area as the scanning constraint to obtain component scanning data. Specifically, according to the set coverage constraint area, adjust the parameters and scanning path of the 3D laser scanning device, perform scanning operations, and ensure that key parts and assembly connection points are fully covered and accurately scanned. Step S140, based on the category of the electromechanical multi-discipline module, configure the component coordinate origin, perform three-dimensional coordinate fitting on the component scanning data according to the component coordinate origin, and obtain the three-dimensional coordinate data. Specifically, according to the category of the electromechanical multi-discipline module (such as pipeline module, electrical module, etc.), select a suitable coordinate origin configuration scheme. For example, if the pipeline module is symmetrical or centrally arranged as a whole, the center point of the module can be selected as the coordinate origin; if the pipeline module has obvious horizontal or vertical reference surfaces (such as the bottom, top or side), the intersection of these reference surfaces can be selected as the coordinate origin. The scanned data is aligned and fitted with the preset coordinate origin to generate 3D coordinate data under a unified 3D coordinate system. This implementation method ensures the integrity and accuracy of the scanned data by identifying and scanning the key parts and assembly connection points of the multi-disciplinary mechanical and electrical module components, thereby improving the accuracy of subsequent 3D modeling and assembly control.

[0033] In a possible implementation, based on the category of the electromechanical multi-professional module, the component coordinate origin is configured, and step S140 further includes step S141, according to the category of the electromechanical multi-professional module, component parsing is performed to determine the consistency of the component. Specifically, the category of the electromechanical multi-professional module is identified, such as pipeline module, electrical module, mechanical equipment module, etc. For each module, all components contained in it are listed, such as pipelines, valves, cables, motors, etc. The degree of standardization, size specifications, connection methods, etc. of the components are analyzed to determine whether there is consistency between the components, and the consistency is reflected in the shape, size, installation interface, etc. of the components. According to the evaluation results, the components are divided into two categories: standardized unified components and differentiated components. Step S142, according to the component consistency, the origin parsing channel is allocated, and the origin parsing channel includes a standard consistency parsing channel and a differentiated parsing channel. Specifically, the origin parsing channel is a logical path for processing the coordinate origin parsing of different types of components. Two origin parsing channels are defined: a standard consistency parsing channel and a differentiated parsing channel. According to the component consistency classification determined in step S141, the standardized and unified components are assigned to the standard consistency analysis channel, and the differentiated components are assigned to the differentiated analysis channel. Step S143, the coordinate origin of the electromechanical multi-professional module components is analyzed through the standard consistency analysis channel and the differentiated analysis channel, respectively, to obtain the coordinate origin of each component of the electromechanical multi-professional module. Specifically, for standardized and unified components, the geometric center method or the functional structure center method is selected as the coordinate origin analysis method. Among them, the geometric center method is applicable to components with regular shapes and uniform sizes, and the geometric center of the component is used as the coordinate origin; the functional structure center method is applicable to components with clear functional partitions or structural centers, and the center point of the function or structure is used as the coordinate origin. For differentiated components, the global-local coordinate setting method is adopted. First, a global coordinate system is determined, and then an independent local coordinate system is set for each differentiated component under the global coordinate system. In the local coordinate system, the coordinate origin is flexibly determined according to factors such as the specific shape and functional requirements of the component. This implementation method significantly improves the accuracy and efficiency of analysis by classifying components according to their consistency and using appropriate standard consistency analysis channels and differentiated analysis channels to analyze the coordinate origin. For standardized and unified components, a unified analysis method is used to reduce errors and duplication of work; for differentiated components, a flexible global-local coordinate setting method is used to better meet their special needs.

[0034] like Figure 2As shown, in a possible implementation, the coordinate origin of the electromechanical multi-professional module component is parsed through the standard consistency parsing channel and the differentiated parsing channel, and step S143 further includes step S1431, inputting the component scanning data that meets the component consistency requirements into the standard consistency parsing channel, and extracting the component frame according to the component scanning data. Specifically, the component scanning data that meets the component consistency requirements is input into the standard consistency parsing channel. The frame information of the component is extracted from the component scanning data by using the image processing (or CAD software) function, and the frame information includes the outer contour line, edge points, etc. of the component, which describes the shape and size of the component. Step S1432, according to the geometric shape of the component frame, the structural symmetry is determined. Specifically, the extracted component frame is subjected to geometric shape analysis to identify its basic geometric features, and according to the geometric shape features, it is determined whether the component has structural symmetry, and the symmetry includes various forms such as central symmetry and axisymmetry. Step S1433, when the component geometric shape has structural symmetry, the geometric center or the shape starting end point of the geometric shape is obtained as the coordinate origin. Specifically, for components with structural symmetry, use geometric methods to calculate their geometric center or shape starting endpoint, that is, for components with central symmetry, calculate the centroid of all its points as the coordinate origin; for components with axisymmetry or obvious starting points, select appropriate endpoints as the coordinate origin, for example, for cylindrical components, the center of the bottom circle can be used as the starting endpoint, or the point on the edge of the bottom surface can be used as the starting endpoint. The calculated center point or endpoint is used as the coordinate origin of the component. Step S1434, when the geometric shape of the component does not have structural symmetry, identify the component installation reference point, and use the component installation reference point as the coordinate origin. Specifically, for components without structural symmetry, identify its installation reference point according to design requirements and installation specifications. The installation reference point is a reference point used for positioning and fixing the component during installation, such as the center of the interface, the center of the base, etc. For components with specific functional areas, such as the load point of the equipment support module, the wiring area of ​​the electrical box, etc., the installation points of these functional areas can be used as the coordinate origin. The identified installation reference point is used as the coordinate origin of the component. This implementation method uses a flexible method to determine the coordinate origin by carefully analyzing the geometric shape and installation requirements of the components. For components with structural symmetry, the geometric center or the starting endpoint of the shape is used as the coordinate origin, which simplifies the design and calculation process and improves the design accuracy. For components without structural symmetry, the coordinate origin is determined by identifying the installation reference point, ensuring that the components can be accurately positioned and fixed during installation and use. This classification processing method reduces design errors and improves the reliability and efficiency of the overall design.

[0035] In a possible implementation, the coordinate origin of the electromechanical multi-professional module components is analyzed through the standard consistency analysis channel and the differential analysis channel respectively. Step S143 further includes step S1435, inputting the component scanning data of the component that does not meet the consistency requirements into the differential analysis channel, obtaining the global reference point of the electromechanical general design drawing, and the global reference point is the starting point of the main line, and establishing a global coordinate system. Specifically, the component scanning data that fails to meet the consistency requirements are input into the differential analysis channel. The scanning data of the main line is analyzed in detail, such as diameter, flow direction, position and other information, to determine its starting position, and the starting point of the main line is used as the global reference point. A global coordinate system is established with the global reference point as the center, and the global coordinate system is the reference for positioning and assembly of all components. Step S1436, based on the component scanning data, the edge structure of each component is extracted and the functional installation position is identified, and a component recognition feature library is established. Specifically, the edge structure of each component is extracted from the component scanning data using an image processing (or three-dimensional modeling) method. According to the design drawings and standards of the components, the functional installation positions on them, such as interfaces, fixing points, etc., are identified. The extracted edge structure and the identified functional installation position information are stored in a database to form a component identification feature library. Step S1437, the polymorphic component features of each professional module are clustered according to the component identification feature library, and a feature clustering cluster of multiple professional modules is constructed. Specifically, the feature information of the components of each professional module is extracted from the component identification feature library, and a clustering algorithm (such as K-means, etc.) is used to divide the components into different categories or clusters according to the feature information, and the clustering results are organized into feature clustering clusters, each cluster containing components with similar features. Step S1438, according to the feature clustering cluster of the multiple professional modules, the reference points of each component cluster are identified and a local coordinate system is constructed. Specifically, in each component cluster, a reference point is calculated using the geometric center method, and the point can represent the overall position or direction of the cluster component. A local coordinate system is established with the reference point of each component cluster as the center, and these local coordinate systems are used for accurate positioning and assembly within the cluster. Step S1439, establish the transformation matrix relationship between the global coordinate system and the local coordinate system, and configure the coordinate origin. Specifically, according to the relationship between the global coordinate system and the local coordinate system, calculate the transformation matrix between them, use the transformation matrix to convert the position of each component in the local coordinate system to the position in the global coordinate system, and complete the configuration of the coordinate origin. This implementation method sets the local coordinate system so that each subsystem can achieve the best accuracy in its independent coordinate system, while maintaining the accuracy and consistency of the global assembly, reducing the error caused by inconsistency.

[0036] Step S200, obtaining a three-dimensional model of the component according to the three-dimensional coordinate data. Specifically, using triangulation, the points in the point cloud data are connected into a triangular (or quadrilateral) mesh to form a continuous three-dimensional surface, and the point cloud data is converted into a three-dimensional mesh model. The generated mesh model is smoothed, holes are repaired, edges are sharpened, etc., to improve the accuracy and aesthetics of the model. In the modeling software, the three-dimensional model is associated with the component name and location identifier in the three-dimensional coordinate data by adding attributes (labels or metadata). The associated three-dimensional model contains the geometric shape information, name, and location information of the component.

[0037] Step S300, based on the component name and position identification, simulate the splicing of the three-dimensional model of the component, and use the spliced ​​three-dimensional model to fit and compare with the target BIM model. Specifically, prepare a target BIM (Building Information Model) model, which is a digital representation of the mechanical and electrical multi-professional module design after completion, and contains the design position, size, shape and other information of all components, which is used to support the full life cycle management of the construction project. By reading the three-dimensional coordinate data, using the component name and position identification, the initial position and direction of each component's three-dimensional model are specified in the virtual environment, and the three-dimensional models of each component are simulated and spliced ​​according to the design relationship using the BIM platform. The splicing process includes operations such as rotation and translation to ensure that the interfaces, connection points and other positions between the components are accurately aligned. Through the comparison function in the software, the three-dimensional model after simulated splicing is fitted and compared with the target BIM model to identify the differences between the two. The comparison content includes the position deviation, size error, shape inconsistency and other aspects of the component.

[0038] In a possible implementation, based on the component name and position identifier, the three-dimensional model of the component is simulated and spliced, and step S300 further includes step S310, obtaining the inter-system installation sequence of each electromechanical professional module and the intra-system installation sequence of each electromechanical professional module. Specifically, the installation sequence information of the electromechanical professional module is collected from design drawings, project plans, technical specifications and other documents, and communication is carried out with various professional teams (such as electrical, HVAC, water supply and drainage, etc.) to confirm the interdependence and installation sequence between the systems. Based on the collected information and communication results, the inter-system installation sequence and the intra-system installation sequence of each electromechanical professional module are determined, and a document record is formed. Among them, the inter-system installation sequence refers to the installation sequence between different electromechanical systems (such as electrical systems and HVAC systems); the intra-system installation sequence refers to the installation sequence of each component within the same electromechanical system. Step S320, according to the component name, the component professional function and installation influence are collaboratively analyzed to determine the collaborative relationship of the professional modules. Specifically, consult the technical specifications and project requirements of the components to clarify the professional functions of each component (specific tasks that the components undertake in the construction project, such as lighting, ventilation, water supply and drainage, etc.). Analyze the impact of the installation of each component on other components or systems, including space occupancy, interface connection, electrical interference, etc. Based on the results of functional analysis and installation impact analysis, determine the synergistic relationship between components. The synergistic relationship refers to the interdependent and mutually supportive relationship established between different components or systems to achieve common goals, including dependency relationships, parallel relationships, etc.

[0039] Step S330, according to the collaborative relationship of the professional modules, the installation sequence between the systems and the installation sequence within the system are collaboratively deployed and adjusted to construct the installation process, and the installation process has component name and position requirements. Specifically, according to the results of the collaborative relationship analysis, the preliminarily determined installation sequence is adjusted to ensure the smooth connection between the components and the system, and the adjusted installation sequence is refined into specific installation processes, including the component name, position requirements, precautions, etc. of each process. Step S340, the component name and position requirements of the installation process are matched with the component name and position identification of the three-dimensional coordinate data to determine the splicing order and splicing position. Specifically, the component name and position requirements in the installation process are matched with the component name and position identification in the three-dimensional coordinate data one by one, and according to the matching results, the splicing order of each component in the three-dimensional model (the order of simulated splicing of each component) is determined, and the splicing position of each component (the specific position where each component should be placed) is marked in the three-dimensional model for simulated splicing. Step S350, simulated splicing of the three-dimensional model is performed in sequence according to the splicing order and splicing position. Specifically, the three-dimensional coordinate data is imported into the BIM platform, and the corresponding three-dimensional model of the component is loaded. According to the splicing order and splicing position determined in step S340, the simulated splicing operation is sequentially performed in the three-dimensional model. This implementation method realizes the precise simulated splicing of the three-dimensional model by obtaining the installation order, performing collaborative analysis, building the installation process, matching the data, and determining the splicing order and position, thereby ensuring the coordination and accuracy of the multi-disciplinary modules of electromechanics in the simulated splicing process.

[0040] Step S400, error analysis is performed according to the fitting comparison results, component control parameters are located, and the component control parameters are accurately searched with the error as the target, and error compensation control parameters are generated. Specifically, the difference data between the spliced ​​three-dimensional model and the target BIM model is extracted from the fitting comparison results, which is manifested in various forms such as position deviation, size error, and shape mismatch. The error analysis tool in the BIM platform is used to quantify the difference data to obtain error data, and the extracted error data is analyzed to identify different types of errors (such as position error, size error, angle error, etc.) and their causes. According to the results of the error analysis, the specific component and its related control parameters are located, including the size, position, angle, installation sequence, etc. of the component. The technical specifications, design drawings and information in the target BIM model of the component are consulted to confirm the accurate value and allowable deviation range of the control parameters. With the error as the target, an accuracy search strategy is formulated to determine the search direction (such as increase, decrease, adjust the angle, etc.), the search step (the amount of each adjustment) and the search termination condition (such as the error is reduced to an acceptable range). According to the precision search strategy, the control parameters of the components are adjusted, and the simulation splicing and fitting comparison are performed again. The above process is repeated until the error is reduced to an acceptable range (or the search termination condition is reached). According to the search results, error compensation control parameters are generated to adjust the control parameters of the original components.

[0041] In a possible implementation, error analysis is performed according to the fitting comparison result to locate the component control parameters. Step S400 further includes step S410, obtaining multi-dimensional error parameters, which include position error, rotation error, size error, shape error, and connection error. Specifically, various types of error data are extracted from the fitting comparison result, and the extracted error data are classified into position error, rotation error, size error, shape error, and connection error according to type. Position error is the deviation of the position of the component in space; rotation error is the rotation deviation of the component around a certain axis; size error is the deviation between the actual size of the component and the designed size; shape error is the deviation between the shape of the component and the designed shape; connection error is the deviation of the connecting part between the components, such as the position deviation of the bolt hole, the alignment of the welded joint, etc. Step S420, establish a control association between the error parameter and the component control parameter. Specifically, according to the design drawings, technical specifications and target BIM models of the component, identify the key control parameters that affect the accuracy of the component. Based on engineering experience and physical principles, analyze the potential relationship between each error parameter and the control parameter, and formulate association rules. By using association rules, a logical model between error parameters and control parameters is constructed. Step S430, based on the control association between the error parameters and the component control parameters, the fitting comparison results are analyzed for errors and the component control parameters are located. Specifically, the fitting comparison results are matched with the established association logic model, and the errors are traced back to specific component control parameters, which are the objects of subsequent precision search and compensation adjustment. This implementation method achieves rapid tracing of error sources and reduces the time for error analysis and location by acquiring multi-dimensional error parameters, establishing control associations between error parameters and control parameters, and performing error analysis and control parameter location based on these associations.

[0042] In a possible implementation, the component control parameter is searched for accuracy with the error as the target to generate the error compensation control parameter, and step S400 further includes step S440, configuring the search direction and search step of each component control parameter according to the error parameter. Specifically, the specific value and distribution of the current error parameter are analyzed, and a search direction is determined for each component control parameter based on the error analysis, and this direction points to the direction of reducing the error. An initial search step is configured for the search direction of each control parameter, and the selection of the step needs to balance the search speed and search accuracy to avoid missing the optimal solution due to too large a step or low search efficiency due to too small a step. Step S450, minimizing the error as the target, taking the current component control parameter as the center, setting the search space with the search direction and search step, and fitting the search objective function to the search space. Specifically, taking the current component control parameter value as the center, defining the search space according to the search direction and search step, and fitting a search objective function in the search space, which is a function used to evaluate the error size under different component control parameter combinations. Step S460: evaluate and screen the new search parameters of the search space based on the search objective function, and perform optimal control parameter iteration. ,in, is the step size adjustment factor, is the search step length, For the q The iteration n control parameters, n Control the number of parameters for the component, For the q +1 iteration n control parameters, is the objective function In the current control parameters The gradient at. Specifically, in the search space, the error of each new parameter combination is evaluated according to the search objective function, the parameter combination with the smallest error is selected as the new control parameter, and the search step and search direction are adjusted according to the gradient information (the derivative of the search objective function to the current component control parameter) to perform the next iteration. Step S470, when the iteration frequency of the optimized control parameter is less than the iteration threshold, the search direction and search step are reset until the iteration target or search target is reached, and the error compensation control parameter is determined. Specifically, the convergence during the iteration process is monitored. If the iteration frequency is lower than the preset threshold, it means that the current search direction or step is no longer valid. When the iteration frequency is lower than the threshold, the search direction and search step are reset, including changing the search direction, reducing the step, etc. Repeat the above steps until the preset number of iterations or error threshold is reached, and finally the error compensation control parameter is determined. This implementation method searches for possible optimal solutions in a targeted manner by configuring the search direction and step size, avoiding blind search. It gradually approaches the optimal solution through iterative updates and step size adjustments, reducing errors. By resetting the search parameters, the system can jump out of the local optimal solution and continue to explore the global optimal solution. This implementation method can be adjusted according to different error conditions and control parameter characteristics, and has strong adaptability and flexibility.

[0043] In a possible implementation, step S450 further includes step S451, and the expression of the search objective function is: , where the position error , rotation error , size error , shape error , connection error , is the position error weight, is the rotation error weight, is the size error weight, is the shape error weight, is the connection error weight, ( ) is a component i In the current control parameters The actual position of the ) is a component i The target location in the target BIM model, ( ) is a component i In the current control parameters The actual rotation angle under ( ) is a component i The target rotation angle in the target BIM model, l For length, w For width, h is the height, ( ) is a component i In the current control parameters The actual size of the ) is a component i Target dimensions in the target BIM model, Components i At the point k The distance between the actual shape and the designed shape, is the component shape control parameter, ( ) is the connection point j In the current control parameters The actual position of the ) is the target position of the design connection point in the target BIM model.

[0044] Step S500, using the error compensation control parameters to compensate and fit the original component control parameters, to obtain an overall control strategy, which is used to control the assembly of electromechanical multi-disciplinary modules. Specifically, the error compensation control parameters are applied to the control parameters of the original components, and mathematical operations such as addition, subtraction, multiplication, and division are performed to calculate the adjusted control parameters of each component. Based on the adjusted control parameters of all components, a complete overall control strategy for the assembly of electromechanical multi-disciplinary modules is constructed. This strategy not only includes the adjustment plan of a single component, but also includes the relative position relationship between components, assembly order, etc. The overall control strategy is output to guide the actual electromechanical multi-disciplinary module assembly process. The embodiment of the present application uses 3D laser scanning equipment to collect point cloud data of components, construct an accurate three-dimensional model, simulate and splice the component three-dimensional model based on the BIM platform, and fit and compare it with the target BIM model to discover and resolve potential assembly conflicts and errors. Through error analysis, the control parameters of the components are accurately located, and accuracy search is performed based on the error target to generate error compensation control parameters. The error compensation control parameters are used to compensate and fit the original component control parameters to form a complete overall control strategy, guide the actual assembly process and other technical means, and achieve the technical effect of improving the accuracy of electromechanical multi-disciplinary module assembly.

[0045] The above specific implementation manner does not constitute a limitation to the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application. In some cases, the actions or steps recorded in the present application can be performed in an order different from that in the embodiment and can still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. An overall precision control method for electromechanical multi-professional modules, characterized in that: The overall improvement precision control method for electromechanical multi-disciplinary modules includes: Use 3D laser scanning equipment to collect point cloud data of electromechanical multi-disciplinary module components to obtain three-dimensional coordinate data, which includes component names and location identifiers; Obtaining a three-dimensional model of the component according to the three-dimensional coordinate data; Based on the component names and location identifiers, simulate splicing the three-dimensional models of the components, and use the spliced ​​three-dimensional models to perform fitting comparison with the target BIM model; Perform error analysis based on the fitting comparison results, locate component control parameters, perform precision search on the component control parameters with the error as the target, and generate error compensation control parameters; The error compensation control parameters are used to compensate and fit the original component control parameters to obtain an overall control strategy, and the overall control strategy is used to perform assembly control of electromechanical multi-professional modules; The method of collecting point cloud data of electromechanical multi-professional module components using 3D laser scanning equipment to obtain three-dimensional coordinate data includes: Identify the key parts and assembly connection points of the electromechanical multi-discipline module components; According to the distribution density of the key parts and assembly connection points, a coverage constraint area is set, and the coverage constraint area includes size constraint and space constraint; Scanning the electromechanical multi-discipline module components using the coverage constraint area as a scanning constraint to obtain component scanning data; Based on the category of the electromechanical multi-disciplinary module, a component coordinate origin is configured, and three-dimensional coordinate fitting is performed on the component scanning data according to the component coordinate origin to obtain the three-dimensional coordinate data; Based on the category of the electromechanical multi-discipline module, configure the component coordinate origin, including: According to the categories of the electromechanical multi-disciplinary modules, component analysis is performed to determine component consistency; According to the component consistency, an origin resolution channel is allocated, wherein the origin resolution channel includes a standard consistency resolution channel and a differentiated resolution channel; The coordinate origin of the components of the electromechanical multi-discipline module is analyzed through the standard consistency analysis channel and the differentiated analysis channel respectively, so as to obtain the coordinate origin of each component of the electromechanical multi-discipline module.

2. The overall improvement precision control method for electromechanical multi-professional modules according to claim 1 is characterized in that: Through the standard consistency analysis channel and the differentiated analysis channel, the coordinate origin analysis of the electromechanical multi-disciplinary module components is performed, including: Inputting component scanning data that meets the component consistency requirements into the standard consistency analysis channel, and extracting the component border according to the component scanning data; Determining structural symmetry based on the geometric shape of the component frame; When the geometric shape of the component has structural symmetry, the geometric center or the starting end point of the geometric shape is obtained as the coordinate origin; When the geometric shape of the component does not have structural symmetry, the component installation reference point is identified and the component installation reference point is used as the coordinate origin.

3. The overall improvement precision control method for electromechanical multi-professional modules according to claim 1 is characterized in that: The coordinate origin of the electromechanical multi-professional module components is analyzed through the standard consistency analysis channel and the differentiated analysis channel respectively, and also includes: Input the component scanning data whose component consistency does not meet the requirement into the differential analysis channel, obtain the global reference point of the electromechanical general design drawing, the global reference point is the starting point of the main line, and establish a global coordinate system; Extract edge structures and identify functional installation positions of each component based on the component scanning data, and establish a component recognition feature library; Clustering the polymorphic component features of each professional module according to the component identification feature library to construct a feature clustering cluster of multiple professional modules; According to the feature clustering of the multi-professional modules, the reference points of each component cluster are identified and a local coordinate system is constructed; A transformation matrix relationship between the global coordinate system and the local coordinate system is established, and the coordinate origin is configured.

4. The overall improvement precision control method for electromechanical multi-professional modules according to claim 1 is characterized in that: Based on the component name and position identifier, the three-dimensional model of the component is simulated and spliced, including: Obtain the inter-system installation sequence of each electromechanical module and the intra-system installation sequence of each electromechanical module; According to the component name, conduct collaborative analysis on the component's professional function and installation impact, and determine the collaborative relationship of professional modules; According to the professional module collaborative relationship, the inter-system installation sequence and the intra-system installation sequence are collaboratively deployed and adjusted to construct an installation process, wherein the installation process has component name and location requirements; Matching the component names and position requirements of the installation process with the component names and position identifiers of the three-dimensional coordinate data to determine the splicing order and splicing position; The simulated splicing of the three-dimensional model is performed in sequence according to the splicing order and splicing positions.

5. The overall improvement precision control method for electromechanical multi-professional modules according to claim 1 is characterized in that: According to the fitting comparison results, error analysis is performed to locate component control parameters, including: Acquire multi-dimensional error parameters, wherein the multi-dimensional error parameters include position error, rotation error, size error, shape error, and connection error; Establishing a control association between the error parameter and a component control parameter; According to the control association between the error parameter and the component control parameter, the error analysis is performed on the fitting comparison result to locate the component control parameter.

6. The overall improvement precision control method for electromechanical multi-professional modules according to claim 5 is characterized in that: The step of performing precision search on the component control parameters with the error as the target to generate error compensation control parameters comprises: According to the error parameters, the search direction and search step length of the control parameters of each component are configured; Minimizing the error is the goal, taking the current component control parameter as the center, setting the search space with the search direction and the search step, and fitting the search objective function into the search space; Based on the search objective function, the new search parameters of the search space are evaluated and screened, and the optimal control parameters are iterated. ,in, is the step size adjustment factor, is the search step length, For the q The iteration n control parameters, n Control the number of parameters for the component, For the q +1 iteration n control parameters, is the objective function At the current control parameters The gradient at When the iteration frequency of the optimization control parameter is less than the iteration threshold, the search direction and the search step are reset until the iteration target or the search target is reached, and the error compensation control parameter is determined.

7. The overall improvement precision control method for electromechanical multi-professional modules according to claim 6 is characterized in that: The expression of the search objective function is: , where the position error , rotation error , size error , shape error , connection error , is the position error weight, is the rotation error weight, is the size error weight, is the shape error weight, is the connection error weight, ( ) is a component i In the current control parameters The actual position of the ) is a component i The target location in the target BIM model, ( ) is a component i In the current control parameters The actual rotation angle under ( ) is a component i The target rotation angle in the target BIM model, l For length, w For width, h is the height, ( ) is a component i In the current control parameters The actual size of the ) is a component i Target dimensions in the target BIM model, Components i At the point k The distance between the actual shape and the designed shape, is the component shape control parameter, ( ) is the connection point j In the current control parameters The actual position of the ) is the target position of the design connection point in the target BIM model.

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