Bearing platform formwork platform prefabrication assembly and accurate positioning system based on BIM (Building Information Modeling) technology

Abstract

The invention relates to the technical field of bearing platform template platform assembly, and discloses a BIM technology-based bearing platform template platform prefabrication assembly and accurate positioning system, which realizes the digital design and standardized production of a bearing platform template through the introduction of the BIM technology, and improves the quality and consistency of the template. Meanwhile, by combining a high-precision positioning technology and an intelligent calibration system, the mounting precision of the formwork is improved, reworking and material waste are reduced, the construction efficiency is improved, and the building construction industry is further promoted to develop towards the intelligent and digital direction.

Description

Technical Field

[0001] This invention relates to the field of pier formwork platform assembly technology, and in particular to a pier formwork platform prefabrication assembly and precise positioning system based on BIM technology. Background Technology

[0002] In building construction projects, the foundation cap, as a crucial component of the foundation structure, directly impacts the structural safety of the entire building. Traditional foundation cap construction typically employs on-site custom-made formwork, manual installation, and measurement positioning. Formwork fabrication often relies on manual labor, and the size and shape of the formwork need to be adjusted according to specific site conditions. This method is not only inefficient but also makes it difficult to guarantee formwork quality, easily leading to deviations that result in uneven concrete pouring or foundation cap shapes that do not meet design requirements.

[0003] Furthermore, the installation process of traditional formwork relies on manual measurement and installation. Although tools such as laser rangefinders are used, it is still difficult to ensure the absolute accuracy of the formwork's position. Especially in large-scale foundation projects, misalignment or installation errors of the formwork can lead to displacement of the concrete structure, thereby causing significant quality hazards. This construction method not only easily results in a large amount of rework, wasting manpower, materials, and time, but also increases the overall cost of the construction project.

[0004] With the digital transformation of the construction industry, how to improve the accuracy and efficiency of foundation formwork prefabrication and installation has become an urgent issue to be addressed. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a prefabrication and precise positioning system for a foundation formwork platform based on BIM technology, so as to solve the problem of low accuracy and efficiency in the prefabrication and assembly process of traditional foundation formwork.

[0006] This invention discloses a prefabrication, assembly, and precise positioning system for a foundation formwork platform based on BIM technology. The system includes BIM model units, formwork prefabrication units, on-site assembly units, high-precision positioning units, and intelligent calibration units.

[0007] BIM model units are used to create a three-dimensional digital model of the foundation formwork platform. The three-dimensional digital model includes the dimensions, shape, material properties, and installation design location of each module of the foundation formwork.

[0008] The template prefabrication unit is used to manufacture templates based on the three-dimensional digital model;

[0009] The on-site assembly unit is used to assemble the foundation formwork platform on the construction site according to the three-dimensional digital model;

[0010] The high-precision positioning unit is used to locate the position of the template in real time, so as to obtain the real-time positioning data of the template during the assembly process;

[0011] The intelligent calibration unit is used to calculate the calibration path based on the real-time positioning data and the installation design position data of the template in the 3D digital model when there is an error between the real-time positioning data and the installation design position data of the template in the 3D digital model, and then feeds the calibration path back to the field assembly unit.

[0012] The on-site assembly unit is also used to adjust the assembly position of the template according to the calibration path provided by the intelligent calibration unit when assembling the pier template platform.

[0013] Furthermore, the BIM model unit includes a template design sub-unit and an installation path planning sub-unit;

[0014] Among them, the template design sub-unit is used to generate a three-dimensional digital model of the foundation template platform based on the target building structure data;

[0015] The installation path planning subunit is used to generate the initial installation path of the template based on the template's installation design location.

[0016] Furthermore, the calculation of the calibration path based on real-time positioning data and the installation design position data of the template in the 3D digital model includes:

[0017] The displacement error and angle error of the template are calculated based on the real-time positioning data collected by the high-precision positioning unit and the installation design position data of the template in the three-dimensional digital model, and are used as the first error data.

[0018] Collect environmental data of the current construction site, including the location of obstacles around the formwork, available space, and the location of construction equipment.

[0019] Perform a data alignment operation between the current construction site environmental data and the 3D digital model;

[0020] A calibration path is generated using a fast random tree algorithm based on the first error data, the current construction site environmental data, the current location, and the target location. The target location is determined based on the initial installation path and the first error data, and includes any location on the initial installation path other than the starting installation location.

[0021] Furthermore, the first error data each time is recorded to form the second error data that changes over time;

[0022] An error trend prediction model is constructed based on historical error data and historical error change trends using time series analysis algorithms.

[0023] Get the timestamp of the latest first error data, and get the error data within a preset time period corresponding to the current timestamp from the second error data as the third error data;

[0024] The error trend prediction model predicts the error change trend based on the third error data, which serves as the first error change trend.

[0025] The error area of ​​the template is determined based on the first error change trend and the initial installation path, and the target position is determined based on the determined error area and the first error change trend.

[0026] Furthermore, the process of generating calibration paths using a fast random algorithm includes:

[0027] The current position of the template is used as the starting node of the path tree. Candidate nodes are randomly generated based on the environmental data of the current construction phenomenon. The candidate nodes are located within the available space.

[0028] Select the node that is closest to the candidate node from the existing nodes in the path tree, calculate the path from that node to the candidate node, and expand the path tree, taking the candidate node that meets the requirements as the new node of the path tree.

[0029] After the path tree is expanded, the path cost from the starting node to the new node is calculated, and the path with the minimum path cost is selected from multiple expanded paths as the current optimal path.

[0030] When it is determined that there is a new node within a preset distance from the target location, the optimal path from the starting node to the new node is used as the calibration path.

[0031] Furthermore, in the process of calculating the path cost from the starting node to the new node, the gradient of the path cost is calculated using the gradient descent method, the node positions in the path are fine-tuned to reduce the path cost, and the reduced path cost is used as the final path cost calculation result.

[0032] Furthermore, while the on-site assembly unit adjusts the assembly position of the template according to the calibration path provided by the intelligent calibration unit, the construction site environment is continuously monitored. When the construction site environment changes, a fast random algorithm is used to regenerate candidate nodes from the path area affected by the environmental change, dynamically update the path tree, and locally optimize and adjust the original calibration path.

[0033] Furthermore, the on-site assembly unit assembles the foundation formwork platform on the construction site according to the three-dimensional digital model, including assembling it based on the screen displayed by comparing the actual installation of the formwork with the three-dimensional digital model of the foundation formwork platform.

[0034] Furthermore, the display of the actual installation status of the template is obtained based on an AR device, specifically including:

[0035] The installation image of the template is captured by the camera of the AR device, and the processing unit of the AR device performs data processing and analysis operations based on the captured installation image data and the real-time positioning data collected by the high-precision positioning unit to obtain the three-dimensional coordinates of the template, and then performs AR display based on the three-dimensional coordinates of the template.

[0036] Furthermore, the comparison display also includes the initial installation path and the calibration path.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] This invention, through the introduction of BIM technology, enables the digital design and standardized production of foundation formwork, improving the quality and consistency of the formwork. Simultaneously, by combining high-precision positioning technology with an intelligent calibration system, it enhances the accuracy of formwork installation, reduces rework and material waste, increases construction efficiency, and further promotes the development of the construction industry towards intelligence and digitalization. Attached Figure Description

[0039] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and constitute a part of this application, do not constitute a limitation thereof. In the drawings:

[0040] Figure 1 This is a structural schematic diagram of a pier formwork platform prefabrication and precise positioning system based on BIM technology disclosed in Embodiment 1 of the present invention. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0042] Example 1

[0043] This invention discloses a prefabrication and precise positioning system for a foundation formwork platform based on BIM technology. Please refer to [link / reference]. Figure 1 , Figure 1 This is a structural schematic diagram of a BIM-based pier formwork platform prefabrication assembly and precise positioning system disclosed in an embodiment of the present invention. The system includes BIM model units, formwork prefabrication units, on-site assembly units, high-precision positioning units, and intelligent calibration units; wherein...

[0044] BIM model units are used to create a three-dimensional digital model of the foundation formwork platform. The three-dimensional digital model includes the dimensions, shape, material properties, and installation design positions of each module of the foundation formwork.

[0045] The BIM model unit includes a template design sub-unit and an installation path planning sub-unit.

[0046] The template design sub-unit is used to generate a three-dimensional digital model of the foundation formwork platform based on the target building structure data.

[0047] Specifically, the main function of the template design sub-unit is to create a 3D digital model of the foundation formwork platform according to the specific requirements of the building project. This 3D digital model includes the dimensions, shape, material properties, and specific installation design locations of each template module. The digital model of each template module is automatically generated based on structural data from the building design, such as the building dimensions and foundation specifications. Then, 3D digital models are created using BIM modeling software. These models include, but are not limited to, the dimensions, shape, material type, and strength of the template. The generated 3D digital model will serve as the core data reference for the entire construction process; subsequent prefabrication and assembly will be based on this model.

[0048] The installation path planning subunit is used to generate the initial installation path of the template based on the template's installation design location.

[0049] Specifically, the installation path of the template is generated through a path planning algorithm, which takes into account factors such as transportation feasibility, template size, and construction site layout.

[0050] Template prefabrication units are used to manufacture templates based on three-dimensional digital models.

[0051] Specifically, the prefabrication unit reads the template geometry data (dimensions, shape, etc.) from the 3D digital model and transmits this data to the processing equipment (such as CNC machine tools, laser cutting machines, etc.) in the prefabrication plant for standardized and modular production according to the defined template specifications. Furthermore, quality inspection is conducted during the template production process to ensure the accuracy and consistency of each template module.

[0052] The on-site assembly unit is used to assemble the foundation formwork platform on the construction site based on the three-dimensional digital model.

[0053] The high-precision positioning unit is used to locate the position of the template in real time, so as to obtain the real-time positioning data of the template during the assembly process.

[0054] Specifically, the positioning technology in the embodiments of the present invention includes, but is not limited to, high-precision positioning technologies such as laser scanning, GPS, total station, or RTK, and thereby realizes real-time monitoring of the three-dimensional position and angle of the template.

[0055] The intelligent calibration unit is used to calculate the calibration path based on the real-time positioning data and the installation design position data of the template in the 3D digital model when there is an error between them, and then feeds the calibration path back to the field assembly unit.

[0056] In a preferred embodiment of the present invention, a preset error threshold is used to determine whether the error between the real-time positioning data and the installation design position data of the template in the three-dimensional digital model is greater than the preset error threshold before the calibration path is calculated.

[0057] The on-site assembly unit is also used to adjust the assembly position of the formwork according to the calibration path provided by the intelligent calibration unit when assembling the pier formwork platform.

[0058] Specifically, the on-site assembly unit is responsible for assembling the templates on-site based on the information from the 3D digital model and the initial installation path, and adjusting the template positions according to the calibration path provided by the intelligent calibration unit. In this embodiment of the invention, the assembly operation is performed, including but not limited to, through automated mechanical assembly equipment.

[0059] Furthermore, based on real-time positioning data and the installation design location data of the template in the 3D digital model, the calibration path is calculated as follows:

[0060] The displacement error and angle error of the template are calculated based on the real-time positioning data collected by the high-precision positioning unit and the installation design position data of the template in the three-dimensional digital model, and are used as the first error data.

[0061] Collect environmental data of the current construction site, including the location of obstacles around the formwork, available space, and the location of construction equipment.

[0062] Perform a data alignment operation between the current construction site environmental data and the 3D digital model;

[0063] A calibration path is generated using a fast random tree algorithm based on the first error data, the current construction site environmental data, the current location, and the target location. The target location is determined based on the initial installation path and the first error data, and includes any location on the initial installation path other than the starting installation location.

[0064] Specifically, the real-time positioning data collected by the high-precision positioning unit can include the current position and attitude data of the template, i.e., the X, Y, and Z coordinates of the template in three-dimensional space and the rotation angles (such as pitch, roll, and yaw angles); the installation design position data of the template in the three-dimensional digital model can include the predetermined installation position and angle of the template in the architectural design. The straight-line distance error between the current position and the installation design position is calculated, as well as the rotation error between the current angle and the design angle.

[0065] The location of obstacles at the construction site, including other equipment, supporting structures, and temporary facilities, is collected using equipment such as LiDAR. The system also identifies free space available for formwork movement and adjustment, and locates heavy machinery, lifting equipment, or other construction equipment that may affect formwork installation. Finally, a sensor fusion algorithm integrates the collected environmental data into a unified 3D map.

[0066] Aligning the real-time collected construction site environmental data with the 3D digital model in the BIM model is crucial because the coordinate system defined in the BIM model may differ from the coordinate system of the actual construction environment. Therefore, coordinate transformation is necessary to ensure both operate within the same reference frame. Specifically, homogeneous coordinate transformation, rotation matrices, or other coordinate transformation methods are used to convert the construction site environmental data to the same coordinate system as the BIM model. This ensures that every obstacle and spatial element is correctly mapped to its position in the BIM model, thereby guaranteeing the accuracy of subsequent path planning.

[0067] Furthermore, the first error data each time is recorded to form the second error data that changes over time;

[0068] An error trend prediction model is constructed based on historical error data and historical error change trends using time series analysis algorithms.

[0069] Get the timestamp of the latest first error data, and get the error data within a preset time period corresponding to the current timestamp from the second error data as the third error data;

[0070] The error trend prediction model predicts the error change trend based on the third error data, which serves as the first error change trend.

[0071] The error area of ​​the template is determined based on the first error change trend and the initial installation path, and the target position is determined based on the determined error area and the first error change trend.

[0072] Specifically, after acquiring the first error data each time, it is recorded in a time-series data structure, and the timestamp of each error value is saved simultaneously. The first error data refers to the error data between the current position of the template and the designed installation position, including but not limited to displacement error and angle error. The second error data is the accumulation of the first error data, i.e., a sequence of error data that changes over time. Each time the error data is updated, the system adds the new data to the second error data, forming a continuous historical error data set. The historical error data used to construct the error trend prediction model can include the second error data.

[0073] Each time the latest first error data is collected, a current timestamp is recorded. This timestamp represents the time point of the current error data. The preset time period can be the past 10 minutes or N past time steps; this embodiment of the invention does not specifically limit this.

[0074] In this embodiment of the invention, the error region refers to the spatial range within which the template may shift in the future. The size and shape of this region are affected by the error change trend. If the predicted future error is large, the error region will be larger; if the error tends to stabilize, the error region will be smaller. Based on the first error change trend, the system can predict the offset direction and possible offset magnitude of the template. By combining these prediction results with the initial installation path, the error region of the template is determined. The target position refers to the location where the template needs to be moved. The system will adjust the target position according to the position of the error region and the initial installation path. For example, if the current error change trend is to the left, the target position is set to the right side of the installation path. Specifically, the error change trend represents the error caused by uncontrollable physical factors, that is, the error will still exist during the calibration process, such as installation errors caused by factors like terrain, mechanized equipment performing the installation, and human installation.

[0075] Furthermore, the process of generating calibration paths using a fast random algorithm includes:

[0076] The current position of the template is used as the starting node of the path tree. Candidate nodes are randomly generated based on the environmental data of the current construction phenomenon. The candidate nodes are located within the available space.

[0077] Select the node that is closest to the candidate node from the existing nodes in the path tree, calculate the path from that node to the candidate node, and expand the path tree, taking the candidate node that meets the requirements as the new node of the path tree.

[0078] After the path tree is expanded, the path cost from the starting node to the new node is calculated, and the path with the minimum path cost is selected from multiple expanded paths as the current optimal path.

[0079] When it is determined that there is a new node within a preset distance from the target location, the optimal path from the starting node to the new node is used as the calibration path.

[0080] Specifically, path cost is a metric for measuring path quality. In this embodiment of the invention, the factors considered include the following:

[0081] Path length: The shorter the path, the lower the cost.

[0082] Obstacle avoidance capability: Whether the path effectively avoids obstacles. Paths that are close to obstacles are more costly, while paths with a larger safe distance are less costly.

[0083] Path smoothness: Sharp turns or large changes in angle in the path will increase the cost, while a smoother path will have a lower cost.

[0084] Furthermore, in the process of calculating the path cost from the starting node to the new node, the gradient of the path cost is calculated using the gradient descent method, the node positions in the path are fine-tuned to reduce the path cost, and the reduced path cost is used as the final path cost calculation result.

[0085] Specifically, this step is the process of fine-tuning the nodes in the initial path cost, using the initial path cost as the starting point for optimization.

[0086] The gradient represents the derivative of a function, reflecting the rate of change of the function at a certain point. In the path optimization of this embodiment, gradient calculation is used to determine how to adjust the positions of nodes in the path to reduce the path cost. By calculating the gradient of the path cost relative to the node positions, the direction of the fastest cost reduction is found.

[0087] In each iteration, the positions of nodes in the path are adjusted based on the magnitude and direction of the gradient. The update rule for gradient descent is as follows:

[0088]

[0089] in, Let α be the new position of the node, and α be the learning rate, which controls the step size for each update. This represents the gradient of the path cost with respect to the node location.

[0090] The gradient descent process iteratively updates the position of each node in the path, gradually reducing the path cost until a local optimum or cost convergence is reached. After each node position update, the adjusted path cost is recalculated, with the new cost lower than the previous one. This process continues until the decrease in path cost falls below a set threshold, indicating that the path has reached a local optimum.

[0091] Optimizing path cost using gradient descent can effectively improve the quality of paths generated by the Fast Randomization and Transformation (RRT) algorithm. By progressively adjusting the positions of nodes in the path, the path cost is reduced, ultimately resulting in a smoother, safer, and more efficient path.

[0092] Furthermore, while the on-site assembly unit adjusts the assembly position of the template according to the calibration path provided by the intelligent calibration unit, the construction site environment is continuously monitored. When the construction site environment changes, a fast random algorithm is used to regenerate candidate nodes from the path area affected by the environmental change, dynamically update the path tree, and locally optimize and adjust the original calibration path.

[0093] Example 2

[0094] Based on Example 1, Example 2 also includes the following:

[0095] Furthermore, the on-site assembly unit assembles the foundation formwork platform at the construction site based on the three-dimensional digital model, including assembling it by comparing the actual installation of the formwork with the three-dimensional digital model of the foundation formwork platform.

[0096] Furthermore, the actual installation status of the template is displayed using an AR device, specifically including:

[0097] The installation image of the template is captured by the camera of the AR device, and the processing unit of the AR device performs data processing and analysis operations based on the captured installation image data and the real-time positioning data collected by the high-precision positioning unit to obtain the three-dimensional coordinates of the template, and then performs AR display based on the three-dimensional coordinates of the template.

[0098] Furthermore, the comparison display also includes the initial installation path and the calibration path.

[0099] Specifically, on the construction site, the on-site assembly units need to be guided by the 3D digital model in the BIM model to assemble the formwork. In this example, AR devices are used to display the actual installation status of the formwork and compare it with the BIM model, allowing construction personnel to see the differences between the installation progress and the design requirements in real time.

[0100] The AR device's camera can capture real-time images of the formwork installation at the construction site and transmit this image data to the device's processing unit. The processing unit combines this data with real-time positioning to accurately calculate the formwork's three-dimensional coordinates. This real-time positioning data includes not only positioning data collected by the high-precision positioning unit but also positioning tag technology, such as RFID, which is identified by the AR device's camera to determine the formwork's location.

[0101] Augmented reality technology allows AR devices to overlay real-world scenes with virtual BIM models, i.e., 3D digital models. The current installation location of the template is presented in AR as a 3D model, which can be compared with the design location in the BIM model.

[0102] By comparing the results, the differences between the actual installation of the template and the design can be immediately seen. In particular, when the initial installation path and the calibration path are superimposed, it is possible to determine what adjustments need to be made to the template, ensure the installation accuracy of the template, and thus reduce rework and construction delays.

[0103] Finally, it should be noted that the prefabrication and precise positioning system for a foundation formwork platform based on BIM technology disclosed in this embodiment of the invention is merely a preferred embodiment of the invention and is only used to illustrate the technical solution of the invention, not to limit it. Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the invention.

Claims

1. A prefabrication, assembly and precise positioning system for the cap formwork platform based on BIM technology, characterized in that: The system includes a BIM model unit, a template prefabrication unit, an on-site assembly unit, a high-precision positioning unit and an intelligent calibration unit; wherein, The BIM model unit is used to create a three-dimensional digital model of the cap formwork platform, which includes the size, shape, material properties and installation design position of each module of the cap formwork; The template prefabrication unit is used to manufacture the template based on the three-dimensional digital model; The on-site assembly unit is used to assemble the cap formwork platform according to the three-dimensional digital model at the construction site; The high-precision positioning unit is used to locate the position of the template in real time and obtain the real-time positioning data of the template during the assembly process; The intelligent calibration unit is used to calculate a calibration path according to the real-time positioning data and the installation design position data of the template in the three-dimensional digital model when an error occurs between the real-time positioning data and the installation design position data of the template in the three-dimensional digital model, and feed the calibration path back to the on-site assembly unit; The on-site assembly unit is also used to adjust the assembly position of the template according to the calibration path provided by the intelligent calibration unit when assembling the base template platform.

2. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 1 is characterized in that: The BIM model unit includes a template design subunit and an installation path planning subunit; Among them, the template design subunit is used to generate a three-dimensional digital model of the foundation template platform according to the target building structure data; The installation path planning subunit is used to generate an initial installation path of the template according to the installation design position of the template.

3. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 2 is characterized in that: The step of calculating the calibration path based on the real-time positioning data and the installation design position data of the template in the three-dimensional digital model includes: Based on the real-time positioning data collected by the high-precision positioning unit and the installation design position data of the template in the three-dimensional digital model, the displacement error and the angle error of the template are calculated and used as the first error data; Collect environmental data of the current construction site, including the location of obstacles around the template, available space, and location of construction equipment; Perform data alignment operation on the current construction site environmental data and the 3D digital model; A calibration path is generated by a fast random tree algorithm based on the first error data, environmental data of the current construction site, the current position and the target position; wherein the target position is determined based on the initial installation path and the first error data, and the target position includes any position in the initial installation path except the starting installation position.

4. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 3 is characterized in that: Recording the first error data each time to form second error data that changes with time; An error trend prediction model is constructed based on historical error data and historical error change trends through a time series analysis algorithm; Obtain the latest timestamp of the first error data, and obtain the error data within a preset time period from the second error data to the time corresponding to the current timestamp as the third error data; Predicting an error variation trend based on the third error data by using an error trend prediction model as a first error variation trend; An error region of the template is determined according to the first error variation trend and the initial installation path, and a target position is determined according to the determined error region and the first error variation trend.

5. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 3 is characterized in that: The process of generating a calibration path using a fast random algorithm includes: The current position of the template is used as the starting node of the path tree, and candidate nodes are randomly generated based on the environmental data of the current construction phenomenon, and the candidate nodes are located in the available space; Select the node closest to the candidate node from the existing nodes in the path tree, calculate the path from the node to the candidate node, and expand the path tree to use the candidate node that meets the requirements as the new node of the path tree; After the path tree is expanded, the path cost from the starting node to the new node is calculated, and the path with the smallest path cost is selected from multiple expanded paths as the current optimal path; When it is determined that there is a new node whose distance from the target position is within a preset distance, the optimal path from the starting node to the new node is used as the calibration path.

6. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 5 is characterized in that: In the process of calculating the path cost from the starting node to the new node, the gradient of the path cost is calculated by the gradient descent method, the node position in the path is fine-tuned to reduce the path cost, and the reduced path cost is used as the final path cost calculation result.

7. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 6 is characterized in that: While the on-site assembly unit adjusts the assembly position of the template according to the calibration path provided by the intelligent calibration unit, it continues to monitor the construction site environment. When the environment at the construction site changes, it regenerates candidate nodes starting from the path area affected by the environmental change through a fast random algorithm, dynamically updates the path tree, and locally optimizes and adjusts the original calibration path.

8. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 1 is characterized in that: The on-site assembly unit assembles the cap formwork platform according to the three-dimensional digital model at the construction site, including assembling according to the picture displayed by comparing the actual installation situation of the formwork with the three-dimensional digital model of the cap formwork platform.

9. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 8 is characterized in that: The display screen of the actual installation status of the template is obtained based on the AR device, specifically including: The camera of the AR device collects the installation image of the template, and the processing unit of the AR device performs data processing and analysis operations based on the collected installation image data and the real-time positioning data collected by the high-precision positioning unit to obtain the three-dimensional coordinates of the template, and AR display is performed based on the three-dimensional coordinates of the template.

10. The prefabrication, assembly and precise positioning system of the cap formwork platform based on BIM technology according to claim 9 is characterized in that: The comparative display screen also includes an initial installation path and a calibration path.

Images