Construction site digital twin construction method based on IoT technology

Abstract

The present invention relates to the field of digital twin technology, and in particular to a method for constructing a digital twin of a construction site based on IoT technology, wherein the method obtains relevant data of the construction site, the relevant data at least including vibration data of construction equipment, and other types of non-vibration data; constructs a graph structure according to the distance between different construction equipment and the distribution of the vibration data of each construction equipment in the frequency domain space; optimizes the vibration data of the construction equipment based on the connection relationship between the nodes in the graph structure and the distance between the different construction equipment to obtain the optimized vibration data of the construction equipment; and constructs a digital twin of the construction site based on the optimized vibration data of the construction equipment and other types of non-vibration data. The present invention effectively improves the construction accuracy of the digital twin of the construction site by correcting the vibration data of the construction equipment in the construction site.

Description

Technical Field

[0001] The present invention relates to the technical field of digital twin construction, and in particular to a method for constructing a digital twin of a construction site based on IoT technology. Background Art

[0002] The construction site digital twin construction method based on Internet of Things (IoT) technology is a complex process that integrates multiple advanced technologies to create a virtual model that completely corresponds to the actual construction site. This process first requires the deployment of various sensors and smart devices to collect real-time data on the construction site, including but not limited to key information such as environmental parameters, equipment status, and personnel location. Subsequently, these data are transmitted to the cloud through the IoT platform to provide dynamically updated data support for the digital twin. Next, the collected data is combined with the three-dimensional building model and geographic information using Building Information Modeling (BIM) technology and Geographic Information System (GIS) technology to achieve accurate mapping and visual management of the construction site.

[0003] The development of IoT technology and digital twin technology has undoubtedly brought great convenience to the safe production management of construction sites, but the premise of everything is to be able to achieve complete and scientific data collection on the construction site and build a reasonable and scientific construction site model. However, due to the complex environment of the construction site, there is often a problem of distortion in the collected construction site data, which has a certain impact on the accuracy of the construction of the digital twin of the construction site. For example, there are often multiple devices working at the same time on the construction site. At this time, the vibration sensor installed on each device will be affected by other vibrations, resulting in distortion of the vibration data collected. Summary of the invention

[0004] The purpose of the present invention is to provide a method for constructing a digital twin of a construction site based on IoT technology, so as to solve the problem of low construction accuracy of the digital twin of the construction site due to the distortion of the collected construction site data.

[0005] In order to solve the above technical problems, in a first aspect, the present invention provides a method for constructing a digital twin of a construction site based on IoT technology, comprising the following steps:

[0006] Acquire relevant data of the construction site, wherein the relevant data at least includes vibration data of the construction equipment and other types of non-vibration data;

[0007] According to the distances between different construction equipment and the distribution of vibration data of each construction equipment in the frequency domain space, a graph structure is constructed, wherein the graph structure includes various nodes and connection relationships between the nodes, and each of the nodes corresponds to a construction equipment;

[0008] Based on the connection relationship between the nodes in the graph structure and the distance between different construction equipment, the vibration data of the construction equipment is optimized to obtain the optimized vibration data of the construction equipment;

[0009] Build a digital twin of the construction site based on optimized vibration data from construction equipment and other types of non-vibration data.

[0010] In combination with the first aspect above, in some possible implementations, constructing a graph structure includes:

[0011] Generate an initial graph structure, wherein the initial graph structure includes nodes and connections between nodes, each node corresponds to a construction equipment, and the connection between any two nodes includes a bidirectional connection;

[0012] The vibration data corresponding to each construction equipment is converted into the frequency domain space. According to the distribution of frequencies in the frequency domain space, the connection relationship between the nodes in the initial graph structure and the distance between different construction equipment, the connection lines between the nodes in the initial graph structure are corrected to obtain a final corrected graph structure.

[0013] In combination with the first aspect above, in some possible implementations, correcting the connections between nodes in the initial graph structure to obtain a final corrected graph structure includes:

[0014] Determine the maximum frequency and the mean of all frequencies of the vibration data of each construction equipment in the frequency domain space, which are recorded as the equipment frequency and the frequency mean respectively; and determine all frequencies of the vibration data of each construction equipment in the frequency domain space that are greater than the frequency mean, which are recorded as the influencing frequencies;

[0015] Taking each construction equipment as the target construction equipment in turn, determining the closest distance influencing equipment of the target construction equipment according to the connection relationship between the nodes in the initial graph structure and the distance between different construction equipment, and correcting the connection lines between the nodes in the initial graph structure according to the relationship between the equipment frequency of the closest distance influencing equipment of the target construction equipment and the influence frequency of the target construction equipment, to obtain the graph structure after the first update;

[0016] In the same manner as described above for obtaining the first updated graph structure based on the initial graph structure, the connections between the nodes in the first updated graph structure are corrected to obtain the second updated graph structure, and a new updated graph structure is obtained by continuously correcting the connections between the nodes in the updated graph structure until the new updated graph structure does not change relative to the last updated graph structure, thereby obtaining the final corrected graph structure.

[0017] In combination with the first aspect above, in some possible implementations, determining the closest distance influencing device of the target construction equipment includes:

[0018] Determine various influencing devices of the target construction equipment according to the connection relationship between the nodes in the initial graph structure;

[0019] The distances between the target construction equipment and each of its influencing equipment are determined, and the influencing equipment corresponding to the minimum distance is used as the closest influencing equipment of the target construction equipment.

[0020] In combination with the first aspect, in some possible implementations, correcting the connections between the nodes in the initial graph structure to obtain a first updated graph structure includes:

[0021] For the target construction equipment corresponding to any construction equipment, determine whether the equipment frequency of the closest distance influencing equipment of the target construction equipment is less than the minimum frequency among the influencing frequencies of the target construction equipment. If so, remove the arrow direction in the bidirectional connection between the two nodes corresponding to the target construction equipment and its closest distance influencing equipment in the initial graph structure from the node corresponding to the closest distance influencing equipment to the node corresponding to the target construction equipment;

[0022] After the traversal of the target construction equipment corresponding to all construction equipment is completed, the obtained graph structure is the graph structure after the first update.

[0023] In combination with the first aspect above, in some possible implementations, optimizing the vibration data of the construction equipment to obtain the optimized vibration data of the construction equipment includes:

[0024] Take any construction equipment as an object construction equipment, and determine the various influencing equipment of the object construction equipment according to the connection relationship between the nodes in the graph structure;

[0025] Determine, according to the distance between the target construction equipment and each of its influencing equipment, an equipment group of the target construction equipment, wherein the equipment group is composed of two influencing equipment among each of the influencing equipment of the target construction equipment;

[0026] Each influencing device in the device group of the target construction equipment is used as a device to be analyzed, and each frequency sequence is determined according to the matching of vibration data of different devices to be analyzed in the device group, wherein each frequency in the frequency sequence corresponds to a device to be analyzed;

[0027] According to the connection relationship between the nodes in the graph structure, determine the influencing devices of the device to be analyzed, and determine the intersection device of the influencing devices of different devices to be analyzed;

[0028] Determine a target frequency sequence of each intersection device relative to each object construction device based on the difference between each element in each frequency sequence and the device frequency of each intersection device;

[0029] According to the target frequency sequence of each intersection device relative to the construction devices of different objects, determine the correlation between each candidate device in all intersection devices and the propagation component and distance value corresponding to each candidate device;

[0030] Determine the affected devices of each candidate device according to the connection relationship between nodes in the graph structure;

[0031] According to the distance between each candidate device and each of its affected devices, and the correlation between the propagation component and the distance value corresponding to each candidate device, the vibration data of each affected device of each candidate device is corrected to obtain the corrected vibration data of the construction equipment.

[0032] In conjunction with the first aspect above, in some possible implementations, determining the equipment group of the target construction equipment includes:

[0033] Arrange the distances between the object construction equipment and its various influencing equipment in order from small to large to obtain an ascending sequence;

[0034] Calculate the difference between the next element and the previous element in the ascending sequence, and record it as the distance difference sequence;

[0035] The minimum element value in the distance difference sequence is determined, and the two influencing devices corresponding to the minimum element value are used to form an equipment group of the object construction equipment.

[0036] In combination with the first aspect, in some possible implementations, determining each frequency sequence includes:

[0037] Perform EMD decomposition on the vibration data of each device to be analyzed in the device group to obtain the IMF components corresponding to each device to be analyzed;

[0038] Perform KM matching on each IMF component corresponding to two devices to be analyzed in the device group to obtain each one-to-one match and its corresponding matching value, and each one-to-one match corresponds to two IMF components;

[0039] A first set number of one-to-one matches with the largest matching values ​​in each one-to-one match are obtained as target matches, and a frequency sequence is formed using two frequencies corresponding to two IMF components in each target match.

[0040] In combination with the first aspect, in some possible implementations, determining candidate devices in all intersection devices and an association relationship between a propagation component and a distance value corresponding to each candidate device includes:

[0041] The IMF component corresponding to each frequency in the target frequency sequence of each intersection device relative to each object construction device is used as a propagation component of each intersection device, thereby obtaining the propagation component of each intersection device relative to different object construction devices;

[0042] Taking intersection devices whose total number of propagation components among all intersection devices is greater than a second set number as candidate devices, thereby obtaining candidate devices among all intersection devices;

[0043] According to each propagation component of each candidate device and the distance between the influencing device and the intersection device of the object construction device corresponding to each propagation component, the correlation between the propagation component corresponding to each candidate device and the distance value is fitted.

[0044] In combination with the first aspect above, in some possible implementations, the vibration data of each affected device of each candidate device is corrected to obtain the corrected vibration data of the construction equipment, including:

[0045] Arrange all candidate devices in descending order of the total number of propagation components to obtain a candidate device sequence;

[0046] According to the order from front to back in the candidate equipment sequence, the distances between each candidate equipment in the candidate equipment sequence and its affected equipment are respectively substituted into the association relationship between the propagation component and the distance value corresponding to each candidate equipment, so as to obtain the propagation component of each candidate equipment in the candidate equipment sequence relative to its affected equipment, and remove the corresponding propagation component from the vibration data of each affected equipment of each candidate equipment in the candidate equipment sequence, so as to obtain the corrected vibration data of the construction equipment.

[0047] In order to solve the above technical problems, in a second aspect, the present invention also provides a construction site digital twin construction device based on IoT technology, the device comprising:

[0048] A data acquisition module, used to acquire relevant data of the construction site, wherein the relevant data at least includes vibration data of the construction equipment and other types of non-vibration data;

[0049] A graph structure building module, used to build a graph structure according to the distance between different construction equipment and the distribution of vibration data of each construction equipment in the frequency domain space, wherein the graph structure includes various nodes and connection relationships between the nodes, and each of the nodes corresponds to a construction equipment;

[0050] An optimization module, used to optimize the vibration data of the construction equipment based on the connection relationship between the nodes in the graph structure and the distance between different construction equipment to obtain the optimized vibration data of the construction equipment;

[0051] A twin building module for building a digital twin of a construction site based on optimized vibration data of construction equipment and other kinds of non-vibration data.

[0052] To solve the above technical problems, in a third aspect, the present invention also provides a construction site digital twin construction system based on IoT technology, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the device executes the method in the above first aspect or any possible implementation of the first aspect.

[0053] To solve the above technical problems, in a fourth aspect, the present invention further provides a computer program product, which includes: a computer program code, when the computer program code runs on a computer, enables the computer to execute the method in the above first aspect or any possible implementation of the first aspect.

[0054] To solve the above technical problems, in a fifth aspect, the present invention further provides a computer-readable storage medium, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above first aspect or any possible implementation of the first aspect.

[0055] The present invention has the following beneficial effects: obtaining relevant data of the construction site required for building a digital twin of the construction site; since multiple equipment are constructing at the construction site at the same time, the vibration data of the construction equipment in the acquired relevant data will be distorted, thereby affecting the accuracy of the constructed digital twin of the construction site, so firstly, according to the distance between different construction equipment and the distribution of the vibration data of each construction equipment in the frequency domain space, a graph structure is constructed, and the connection relationship between the nodes in the graph structure is used to reflect the vibration influence between different construction equipment; then, based on the connection relationship between the nodes in the graph structure and the distance between different construction equipment, the vibration data of the construction equipment is optimized to obtain the real vibration data of the construction equipment, and finally the real vibration data and other types of non-vibration data in the relevant data are used to construct the digital twin of the construction site, thereby effectively improving the construction accuracy of the digital twin of the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 A basic flow chart of a method for constructing a digital twin of a construction site based on IoT technology according to an embodiment of the present invention;

[0058] Figure 2 A flowchart of the steps of constructing a graph structure according to an embodiment of the present invention;

[0059] Figure 3 A schematic diagram of an initial graph structure according to an embodiment of the present invention;

[0060] Figure 4 For the embodiment of the present invention Figure 3 A schematic diagram of a graph structure obtained after the initial graph structure in is modified;

[0061] Figure 5 A flowchart of the steps of optimizing vibration data of construction equipment according to an embodiment of the present invention;

[0062] Figure 6 This is a schematic diagram of the structure of a construction site digital twin construction device based on IoT technology according to an embodiment of the present invention;

[0063] Figure 7 This is a structural schematic diagram of a construction site digital twin construction system based on IoT technology according to an embodiment of the present invention. DETAILED DESCRIPTION

[0064] In order to clearly illustrate the technical features of the present invention, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0065] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0066] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0067] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0068] It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0069] Although operations or steps are described in a specific order in the drawings in the embodiments of the present invention, it should not be understood that it is required to perform these operations or steps in the specific order shown or in a serial order, or that all the operations or steps shown must be performed to obtain the desired results. In the embodiments of the present invention, these operations or steps may be performed in series; these operations or steps may also be performed in parallel; or some of these operations or steps may be performed.

[0070] At the same time, it is understood that the data involved in the technical solution of the present invention (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of the relevant laws, regulations and relevant provisions. Unless otherwise defined, all technical and scientific terms used in the present invention have the same meanings as those generally understood by technicians in the technical field of the present invention, and all parameters or indicators in the formulas involved in the present invention are normalized values ​​that eliminate the influence of dimensions.

[0071] In order to solve the problem of low construction accuracy of digital twins of construction sites due to distortion of collected construction site data, an embodiment of the present invention provides a method for constructing digital twins of construction sites based on IoT technology. The method optimizes the relevant vibration data collected at the construction site to construct a digital twin, thereby effectively improving the construction accuracy of digital twins of construction sites.

[0072] A method for constructing a digital twin of a construction site based on IoT technology provided by an embodiment of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0073] Figure 1A basic flow chart of a method for constructing a digital twin of a construction site based on IoT technology provided by an embodiment of the present invention is shown, Figure 1 As shown, the method specifically comprises the following steps:

[0074] Step S100: Acquire relevant data of the construction site, wherein the relevant data at least includes vibration data of the construction equipment and other types of non-vibration data.

[0075] In order to build a digital twin of the construction site, data collection is required for the construction site. First, the vibration data of each construction equipment at the construction site is collected. The vibration data can be collected by the vibration sensor installed on each construction equipment. When using the vibration sensor to collect the vibration data of each construction equipment, the vibration sensor on each construction equipment is installed at a part of the construction equipment with high structural rigidity, such as the bearing seat and end cover of the equipment, so as to reduce the loss of vibration information in the transmission path. Each vibration sensor collects the vibration amplitude of the construction equipment where it is located according to the set sampling frequency, and then the vibration amplitude data collected by the vibration sensor is fitted to obtain an amplitude change curve that changes with time. The amplitude change curve is the vibration data of each construction equipment. In addition, according to the needs of building a digital twin of the construction site, other types of non-vibration data of the construction site should also be collected, such as temperature, humidity, air pressure and other data.

[0076] Step S200: constructing a graph structure according to the distances between different construction equipment and the distribution of vibration data of each construction equipment in the frequency domain space, wherein the graph structure includes various nodes and connection relationships between the nodes, and each of the nodes corresponds to a construction equipment.

[0077] When using relevant data from the construction site to build a digital twin of the construction site, the quality of vibration data is crucial. It is related to whether it will have a significant impact on the environment around the construction, and will directly affect the accuracy of the constructed digital twin of the construction site. When multiple equipment are working at the construction site at the same time, the vibration data collected at each equipment position may be affected by the vibration of other positions, thereby causing distortion of the vibration data. Therefore, it is necessary to optimize the collected vibration data to obtain the true vibration data of each construction equipment, thereby ultimately ensuring the accuracy of the constructed digital twin of the construction site.

[0078] In order to obtain the real vibration data of construction equipment, a graph structure can be constructed according to the distance between different equipment and the distribution of the vibration data of the construction equipment in the frequency domain space. The connection relationship between the nodes in the graph structure can be used to reflect whether there is an influence relationship between the vibrations of the corresponding construction equipment, thereby optimizing the vibration data of the construction equipment.

[0079] In the embodiment of the present invention, Figure 2 As shown, the steps to construct the graph structure are as follows:

[0080] Step S201: Generate an initial graph structure, wherein the initial graph structure includes nodes and connections between nodes, each node corresponds to a construction equipment, and the connection between any two nodes includes a bidirectional connection;

[0081] Step S202: Convert the vibration data corresponding to each construction equipment into the frequency domain space, and correct the connection lines between the nodes in the initial graph structure according to the distribution of frequencies in the frequency domain space, the connection relationship between the nodes in the initial graph structure, and the distance between different construction equipment to obtain a final corrected graph structure.

[0082] For the above steps, as an example, normally, the vibration data of a certain construction equipment is affected by the vibration of other construction equipment. The closer other construction equipment is to the construction equipment and the greater the vibration intensity of other construction equipment is, the greater the impact on the construction equipment. Therefore, the distance and vibration intensity of other construction equipment determine the degree of impact on the construction equipment.

[0083] To this end, all the construction equipment at the construction site are taken as nodes, one node corresponds to one construction equipment, and any two nodes are connected, and the connection is a bidirectional connection to generate the initial graph structure. Since the connection between any two nodes in the initial graph structure is a bidirectional connection, the initial graph structure generated is a bidirectional graph structure. For ease of understanding, Figure 3 A schematic diagram of an initial graph structure is given. In this initial graph structure, each circular node represents a construction equipment, the lines between the nodes represent the vibration influence between the corresponding construction equipment, and the arrows on the lines reflect the direction of vibration influence of the construction equipment corresponding to the two nodes on each line, that is, the vibration of the construction equipment corresponding to the node pointed by the arrow will be affected by the vibration of the construction equipment corresponding to another node.

[0084] The vibration data corresponding to each construction equipment is converted to the frequency domain space through Fourier transform, and the maximum frequency in the frequency domain space is determined. The maximum frequency is recorded as the equipment frequency, and the mean of all frequencies in the frequency domain space is determined and recorded as the frequency mean. The frequencies in the frequency domain space that are greater than the frequency mean are recorded as impact frequencies. These impact frequencies include the frequencies that other construction equipment affects the current construction equipment.

[0085] For any construction equipment, here referred to as the target construction equipment, the influence frequency of the target construction equipment and the equipment frequency of other construction equipment can be obtained by the above method. At the same time, according to the connection relationship between the nodes in the initial graph structure, the various influencing devices of the target construction equipment are determined. The influencing device refers to other nodes in the initial graph structure that have arrows pointing to the nodes corresponding to the target construction equipment between the nodes corresponding to the target construction equipment, that is, if there is a connection between a certain node in the initial graph structure and the node corresponding to the target construction equipment, and the arrow on the connection line points to the node corresponding to the target construction equipment, then the construction equipment corresponding to the certain node is used as the influencing device of the target construction equipment. The distance between any two construction equipment is obtained by a photoelectric rangefinder. Based on the distance between the any two construction equipment, the distance between the target construction equipment and its various influencing devices can be determined, and the influencing device corresponding to the minimum distance is used as the closest distance influencing device of the target construction equipment.

[0086] If the equipment frequency of the nearest distance affecting the target construction equipment is not within the influence frequency of the target construction equipment, it means that the vibration influence of the nearest distance affecting the target construction equipment can be ignored for the target construction equipment. It is possible that it is absorbed and offset by the soil during the vibration propagation process. Therefore, when establishing the graph structure, no edge connection is required in the direction from the nearest distance affecting the target construction equipment to the target construction equipment.

[0087] Therefore, for the target construction equipment, determine whether the equipment frequency of the closest distance influencing equipment of the target construction equipment is less than the minimum frequency among the influencing frequencies of the target construction equipment. If the equipment frequency of the closest distance influencing equipment of the target construction equipment is greater than or equal to the minimum frequency among the influencing frequencies of the target construction equipment, no other processing is performed. If the equipment frequency of the closest distance influencing equipment of the target construction equipment is less than the minimum frequency among the influencing frequencies of the target construction equipment, then in the initial graph structure, the arrow direction in the bidirectional connection between the two nodes corresponding to the target construction equipment and its closest distance influencing equipment is removed from the connection from the node corresponding to the closest distance influencing equipment to the node corresponding to the target construction equipment. In the initial graph structure, the same operation as above is performed on each construction equipment as the node corresponding to the target construction equipment in turn. After the traversal of the target construction equipment corresponding to all construction equipment is completed, a new graph structure is obtained, that is, the graph structure after the first update.

[0088] In the new graph structure, the same method as above is used to process until the new graph structure does not change relative to the previous graph structure, then the processing is stopped, that is, in the same way as the first updated graph structure is obtained based on the initial graph structure, the connections between the nodes in the first updated graph structure are corrected to obtain the second updated graph structure, and a new updated graph structure is obtained by continuously correcting the connections between the nodes in the updated graph structure until the new updated graph structure does not change relative to the last updated graph structure, thereby obtaining the final corrected graph structure.

[0089] At this point, the final corrected graph structure is obtained. Figure 3 The initial graph structure shown in , and its corresponding final modified graph structure is as follows Figure 4 shown.

[0090] Step S300: Based on the connection relationship between the nodes in the graph structure and the distance between different construction equipment, the vibration data of the construction equipment is optimized to obtain the optimized vibration data of the construction equipment.

[0091] In the above, according to the distance between different construction equipment and the distribution of vibration data of each construction equipment in the frequency domain space, a graph structure is constructed to reflect whether there is an influence relationship between the vibrations of different construction equipment. Considering that a vibration wave of a certain frequency propagates through the soil, due to the friction and absorption of the soil, the energy of the wave will gradually decrease, which will cause the amplitude to decrease. As a result, the other two construction equipment may have different distances from the same construction equipment, but when they affect the same construction equipment, the impact amplitude is the same. At the same time, due to the various existing signal decomposition methods, the secondary signal obtained by decomposition may still be a mixed signal rather than a single signal, and it is impossible to accurately obtain the device corresponding to the influencing signal. Therefore, when constructing a digital twin, it is difficult to accurately model the impact between construction equipment, and it will also cause various tests through the digital twin, and there will be large errors when the test data are applied to actual practice.

[0092] Therefore, it is necessary to determine the two influencing devices that have a vibration impact on the same construction equipment and are relatively close to the construction equipment based on the connection relationship between the nodes in the graph structure determined above and combined with the distance between different construction equipment, and construct the intersection device of the two influencing devices, and then process the intersection device of the two influencing devices to obtain the frequency of the intersection device, and then remove the impact from the frequency of the construction equipment affected by the intersection device, so as to determine the correlation between the propagation component and the distance value, and based on the correlation between the propagation component and the distance value, correct the vibration data of the construction equipment affected by the intersection device, and finally optimize the vibration data of the construction equipment to obtain the optimized vibration data of the construction equipment.

[0093] In the embodiment of the present invention, Figure 5 As shown, the vibration data of the construction equipment is optimized to obtain the optimized vibration data of the construction equipment, and the implementation steps include:

[0094] Step S301: taking any construction equipment as an object construction equipment, and determining various influencing equipment of the object construction equipment according to the connection relationship between nodes in the graph structure;

[0095] Step S302: determining a device group of the target construction device according to the distance between the target construction device and each of its influencing devices, wherein the device group is composed of two influencing devices among each of the influencing devices of the target construction device;

[0096] Step S303: taking each influencing device in the device group of the target construction equipment as a device to be analyzed, and determining each frequency sequence according to the matching of vibration data of different devices to be analyzed in the device group, wherein each frequency in the frequency sequence corresponds to one device to be analyzed;

[0097] Step S304: determining the influencing devices of the device to be analyzed according to the connection relationship between the nodes in the graph structure, and determining the intersection device of the influencing devices of different devices to be analyzed;

[0098] Step S305: determining a target frequency sequence of each intersection device relative to each object construction device according to the difference between each element in each frequency sequence and the device frequency of each intersection device;

[0099] Step S306: determining the correlation between each candidate device in all the intersection devices and the propagation component and distance value corresponding to each candidate device according to the target frequency sequence of each intersection device relative to the construction devices of different objects;

[0100] Step S307: determining the affected device of each candidate device according to the connection relationship between the nodes in the graph structure;

[0101] Step S308: According to the distance between each candidate device and each affected device thereof, and the correlation between the propagation component corresponding to each candidate device and the distance value, the vibration data of each affected device of each candidate device is corrected to obtain the corrected vibration data of the construction equipment.

[0102] For the above steps, as an example, any construction equipment is taken as an object construction equipment, and the various influencing equipment of the object construction equipment is determined according to the connection relationship between the nodes in the graph structure. Since the method of obtaining the various influencing equipment of the object construction equipment is exactly the same as the method of determining the various influencing equipment of the target construction equipment, it will not be repeated here. Arrange the distances between the object construction equipment and its various influencing equipment in order from small to large to obtain an ascending sequence, calculate the difference between the latter element and the previous element in the ascending sequence, and record it as the distance difference sequence. Determine the two influencing equipment corresponding to the minimum element value in the distance difference sequence, and use these two influencing equipment to form an equipment group of the object construction equipment. The equipment group of the object construction equipment represents two other construction equipment that are closest to the object construction equipment and will have a vibration effect on the object construction equipment.

[0103] Each influencing equipment in the equipment group of the object construction equipment is taken as the equipment to be analyzed, and the vibration data of the two equipment to be analyzed in the equipment group of the object construction equipment are respectively decomposed by EMD to obtain multiple IMF components corresponding to each equipment to be analyzed, and KM matching is performed on the IMF components corresponding to the two equipment to be analyzed in the equipment group to obtain multiple one-to-one matches. Each one-to-one match corresponds to two IMF components, and the two IMF components belong to the vibration data of two other construction equipment in the equipment group respectively.

[0104] The specific steps of performing KM matching on the IMF components corresponding to the two devices to be analyzed in the equipment group to obtain multiple one-to-one matches are as follows: the multiple IMF components of one of the devices to be analyzed in the equipment group of the object construction equipment are used as the left nodes, and the multiple IMF components of the other device to be analyzed are used as the right nodes. Each node on the left is connected to each node on the right. The edge value of the connection, that is, the matching value, is the cosine similarity of the IMF components corresponding to the two left nodes and the right node. Following the maximum matching principle, matching is performed through the KM (Kuhn-Munkres) algorithm to obtain a one-to-one match between each node on the left and each node on the right.

[0105] The first set number of one-to-one matches with the largest matching value in each one-to-one match is taken as the target match, and then the frequency sequence of the IMF component corresponding to each target match can be obtained, and the frequency sequence is composed of two frequencies corresponding to the two IMF components corresponding to the target match. The value of the first set number can be reasonably set as needed. In the embodiment of the present invention, the value of the set number is set to 5. For ease of understanding, it is assumed that the two equipment to be analyzed in the equipment group of the object construction equipment are construction equipment f and g, and the multiple IMF components obtained by EMD decomposition of the vibration data of construction equipment f are I1, I2 and I3, respectively, and the multiple IMF components obtained by EMD decomposition of the vibration data of construction equipment g are M1, M2 and M3, respectively. After matching by the KM algorithm, the IMF components I1 and M1 are one-to-one matching, and the IMF components I2 and M2 are one-to-one matching. At this time, the two frequencies of the IMF components I1 and M1 constitute a frequency sequence, and the two frequencies of the IMF components I2 and M2 constitute a frequency sequence.

[0106] According to the connection relationship between the nodes in the graph structure, the influencing devices of each device to be analyzed in the device group of the object construction equipment are obtained in the graph structure. Since the method of determining the influencing devices of each device to be analyzed is exactly the same as the method of determining the influencing devices of the target construction equipment and the object construction equipment, it will not be repeated here. Further, the intersection of the influencing devices of the two devices to be analyzed in the device group of the object construction equipment is determined, and the intersection is recorded as the intersection device of the two devices to be analyzed in the device group of the object construction equipment.

[0107] For each frequency sequence, the difference between each frequency in the frequency sequence and the equipment frequency of each intersection device is determined respectively. The difference specifically refers to the difference between each frequency in the frequency sequence and the equipment frequency of each intersection device. The difference between each frequency in the frequency sequence and the equipment frequency of the same intersection device is added to obtain the difference sum of each intersection device. At this time, for multiple frequency sequences, multiple difference sums can be obtained for each intersection device, and the frequency sequence with the smallest difference sum is used as the target frequency sequence of the intersection device relative to the object construction equipment. Each frequency in the target frequency sequence corresponds to an IMF component, and then multiple IMF components corresponding to each intersection device can be obtained. These multiple IMF components are recorded as the propagation components of each intersection device. The propagation component represents the propagation curve of the vibration of each intersection device itself as the distance changes. Each propagation component corresponds to an IMF component.

[0108] For each intersection device, the propagation component of the intersection device relative to different object construction devices can be obtained by the difference in object construction devices. The intersection devices whose total number of propagation components is greater than the second set number are taken as candidate devices. The value of the second set number can be reasonably set as needed. In the embodiment of the present invention, the value of the set number is set to 6.

[0109] All candidate devices are arranged in descending order of the total number of propagation components to obtain a candidate device sequence. For each candidate device in the candidate device sequence, each propagation component of the candidate device can be obtained, and at the same time, the distance between the construction equipment and the intersection equipment corresponding to the propagation component can be obtained, and the correlation between the propagation component and the distance value can be fitted, that is, the propagation component is taken as the dependent variable, and the distance value is taken as the independent variable, and then the relationship between the independent variable and the dependent variable is fitted, so that the change curve of the propagation component corresponding to each candidate device with the distance value can be obtained.

[0110] According to the connection relationship between the nodes in the graph structure, the affected device of each candidate device in the candidate device sequence is determined. The affected device refers to the device corresponding to other nodes in the graph structure that have arrows pointing to the nodes between the nodes corresponding to each candidate device. That is, if there is a connection between the node corresponding to a certain device in the graph structure and the node corresponding to each candidate device, with an arrow pointing to the node corresponding to the certain device, the certain device is regarded as the affected device of the candidate device. The affected device refers to the construction equipment that will be affected by the vibration of the corresponding candidate device in the candidate device sequence.

[0111] For the first candidate device in the candidate device sequence, the distance between the first candidate device in the candidate device sequence and each of its affected devices is obtained, and the distance is substituted into the association relationship between the propagation component and the distance value corresponding to the first candidate device determined above, so that the propagation component of the first candidate device in the candidate device sequence relative to each affected device can be obtained. The vibration data of each affected device of the first candidate device in the candidate device sequence is obtained, and the corresponding propagation component is removed from the vibration data, so that the corrected vibration data of each affected device after removing the vibration influence of the first candidate device in the candidate device sequence can be obtained.

[0112] In the same manner as above, for the second candidate device in the candidate device sequence, obtain each affected device of the second candidate device, and obtain the propagation component of the second candidate device in the candidate device sequence relative to each affected device, remove the propagation component from the vibration data of each affected device, and thus obtain the corrected vibration data of each affected device after removing the vibration influence of the second candidate device in the candidate device sequence. In this manner, traverse each candidate device in the candidate device sequence in turn, and thus obtain the corrected vibration data of each affected device of each candidate device after removing the vibration influence of the candidate device, and finally obtain the vibration data of each construction device, that is, the vibration data of each construction device itself that is not affected by the vibration of other construction devices.

[0113] Step S400: constructing a digital twin of the construction site based on the optimized vibration data of the construction equipment and other types of non-vibration data.

[0114] Based on the optimized vibration data of the construction equipment determined above, and combined with other types of non-vibration data, namely, temperature, humidity, air pressure and other data, a digital twin is constructed. The construction process is as follows:

[0115] 1. 3D modeling and visualization: Use BIM (Building Information Modeling) technology or similar tools to build a digital model of the construction site. Create virtual models of buildings, construction equipment, sensors, etc. and map them to the real physical environment.

[0116] 2. Sensor and data integration: Combine real-time data with digital models, build the location of each sensor in the model, and integrate the data stream directly into the model. Virtual reality (VR) or augmented reality (AR) technology can be used for visualization to more intuitively display field data.

[0117] 3. Data stream processing and real-time monitoring: Use stream processing platforms (such as Apache Kafka, Apache Flink, etc.) to process sensor data in real time. Generate environmental data charts (temperature, humidity, air pressure, etc.) of the construction site in real time and display them dynamically in the model.

[0118] 4. Predictive analysis and fault detection: Introduce machine learning or artificial intelligence technology for data analysis, and use historical data and real-time data to predict trends. For example, predict the failure of construction equipment, or predict changes in construction progress based on environmental conditions. In the case of large changes in temperature and humidity, early warning of possible impacts on construction, such as whether materials are damp, the impact of climate on construction progress, etc.

[0119] 5. Feedback mechanism and decision support: Use the output of the digital twin as a decision support tool to help construction managers make real-time decisions. For example, adjust the construction plan or remotely control the equipment based on real-time data. Provide an alarm system to notify relevant personnel to intervene when encountering abnormal data. For example, when the temperature and humidity exceed the predetermined range, the system can automatically generate an alarm.

[0120] 6. Iterative optimization: Continuously optimize the accuracy and application of digital twins based on feedback. For example, new sensors can be added during construction, the accuracy of the model can be updated, or the predictive analysis algorithm can be improved.

[0121] Since the focus of the embodiments of the present invention is to obtain optimized vibration data of each construction equipment that is not affected by the vibration of other construction equipment, and the specific implementation process of constructing a digital twin of the construction site based on the optimized vibration data of the construction equipment and other types of non-vibration data belongs to the prior art, it will not be elaborated here.

[0122] Based on the same inventive concept, the embodiment of the present invention also provides a construction site digital twin construction device based on IoT technology, such as Figure 6 As shown, the device comprises:

[0123] A data acquisition module, used to acquire relevant data of the construction site, wherein the relevant data at least includes vibration data of the construction equipment and other types of non-vibration data;

[0124] A graph structure building module, used to build a graph structure according to the distance between different construction equipment and the distribution of vibration data of each construction equipment in the frequency domain space, wherein the graph structure includes various nodes and connection relationships between the nodes, and each of the nodes corresponds to a construction equipment;

[0125] An optimization module, used to optimize the vibration data of the construction equipment based on the connection relationship between the nodes in the graph structure and the distance between different construction equipment to obtain the optimized vibration data of the construction equipment;

[0126] A twin building module for building a digital twin of a construction site based on optimized vibration data of construction equipment and other kinds of non-vibration data.

[0127] It should be noted that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above.

[0128] Based on the same inventive concept, the embodiment of the present invention also provides a construction site digital twin construction system based on IoT technology, such as Figure 7 As shown, the system includes: a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and running on the processor 702, wherein when the processor 702 executes the computer program 703, the system can execute any one of the construction site digital twin construction methods based on IoT technology introduced above.

[0129] The embodiment of the present invention can divide the system into functional modules according to the above method example. For example, each functional module can be corresponded to, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0130] Based on the same inventive concept, an embodiment of the present invention also provides a computer program product, which includes: a computer program code, when the computer program code runs on a computer, enables the computer to execute any one of the construction site digital twin construction methods based on IoT technology introduced above.

[0131] Based on the same inventive concept, an embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program code. When the computer program code runs on a computer, the computer executes any one of the aforementioned methods for constructing a digital twin of a construction site based on IoT technology.

[0132] It should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A construction site digital twin construction method based on IoT technology, characterized in that: The following steps are involved: Acquire relevant data of the construction site, wherein the relevant data at least includes vibration data of the construction equipment and other types of non-vibration data; According to the distances between different construction equipment and the distribution of vibration data of each construction equipment in the frequency domain space, a graph structure is constructed, wherein the graph structure includes various nodes and connection relationships between the nodes, and each of the nodes corresponds to a construction equipment; Based on the connection relationship between the nodes in the graph structure and the distance between different construction equipment, the vibration data of the construction equipment is optimized to obtain the optimized vibration data of the construction equipment; Build a digital twin of the construction site based on optimized vibration data of construction equipment and other types of non-vibration data; Build the graph structure, including: Generate an initial graph structure, wherein the initial graph structure includes nodes and connections between nodes, each node corresponds to a construction equipment, and the connection between any two nodes includes a bidirectional connection; The vibration data corresponding to each construction equipment is converted into the frequency domain space, and the connection between the nodes in the initial graph structure is corrected according to the distribution of the frequencies in the frequency domain space, the connection relationship between the nodes in the initial graph structure, and the distance between different construction equipment, so as to obtain a final corrected graph structure; Correcting the connections between the nodes in the initial graph structure to obtain a final corrected graph structure includes: Determine the maximum frequency and the mean of all frequencies of the vibration data of each construction equipment in the frequency domain space, which are recorded as the equipment frequency and the frequency mean respectively; and determine all frequencies of the vibration data of each construction equipment in the frequency domain space that are greater than the frequency mean, which are recorded as the influencing frequencies; Taking each construction equipment as the target construction equipment in turn, determining the closest distance influencing equipment of the target construction equipment according to the connection relationship between the nodes in the initial graph structure and the distance between different construction equipment, and correcting the connection lines between the nodes in the initial graph structure according to the relationship between the equipment frequency of the closest distance influencing equipment of the target construction equipment and the influence frequency of the target construction equipment, to obtain the graph structure after the first update; In the same manner as the above-mentioned method of obtaining the first updated graph structure according to the initial graph structure, the connections between the nodes in the first updated graph structure are corrected to obtain the second updated graph structure, and a new updated graph structure is obtained by continuously correcting the connections between the nodes in the updated graph structure, until the new updated graph structure does not change relative to the last updated graph structure, thereby obtaining a final corrected graph structure; Optimize the vibration data of the construction equipment to obtain optimized vibration data of the construction equipment, including: Take any construction equipment as an object construction equipment, and determine the various influencing equipment of the object construction equipment according to the connection relationship between the nodes in the graph structure; Determine, according to the distance between the target construction equipment and each of its influencing equipment, an equipment group of the target construction equipment, wherein the equipment group is composed of two influencing equipment among each of the influencing equipment of the target construction equipment; Each influencing device in the device group of the target construction equipment is used as a device to be analyzed, and each frequency sequence is determined according to the matching of vibration data of different devices to be analyzed in the device group, wherein each frequency in the frequency sequence corresponds to a device to be analyzed; According to the connection relationship between the nodes in the graph structure, determine the various influencing devices of the device to be analyzed, and determine the intersection device of the various influencing devices of different devices to be analyzed; Determine a target frequency sequence of each intersection device relative to each object construction device based on the difference between each element in each frequency sequence and the device frequency of each intersection device; According to the target frequency sequence of each intersection device relative to the construction devices of different objects, determine the correlation between each candidate device in all intersection devices and the propagation component and distance value corresponding to each candidate device; Determine the affected devices of each candidate device according to the connection relationship between nodes in the graph structure; According to the distance between each candidate device and each of its affected devices, and the correlation between the propagation component and the distance value corresponding to each candidate device, the vibration data of each affected device of each candidate device is corrected to obtain the corrected vibration data of the construction equipment.

2. The method for constructing a digital twin of a construction site based on IoT technology according to claim 1, characterized in that: Determine the closest distance to the target construction equipment and the influencing equipment, including: Determine various influencing devices of the target construction equipment according to the connection relationship between the nodes in the initial graph structure; The distances between the target construction equipment and each of its influencing equipment are determined, and the influencing equipment corresponding to the minimum distance is used as the closest influencing equipment of the target construction equipment.

3. The method for constructing a digital twin of a construction site based on IoT technology according to claim 1, characterized in that: Correcting the connections between the nodes in the initial graph structure to obtain a first updated graph structure includes: For the target construction equipment corresponding to any construction equipment, determine whether the equipment frequency of the closest distance influencing equipment of the target construction equipment is less than the minimum frequency among the influencing frequencies of the target construction equipment. If so, remove the arrow direction in the bidirectional connection between the two nodes corresponding to the target construction equipment and its closest distance influencing equipment in the initial graph structure from the node corresponding to the closest distance influencing equipment to the node corresponding to the target construction equipment; After the traversal of the target construction equipment corresponding to all construction equipment is completed, the obtained graph structure is the graph structure after the first update.

4. The method for constructing a digital twin of a construction site based on IoT technology according to claim 1, characterized in that: Determine the equipment group of the target construction equipment, including: Arrange the distances between the object construction equipment and its various influencing equipment in order from small to large to obtain an ascending sequence; Calculate the difference between the next element and the previous element in the ascending sequence, and record it as the distance difference sequence; The minimum element value in the distance difference sequence is determined, and the two influencing devices corresponding to the minimum element value are used to form an equipment group of the object construction equipment.

5. The method for constructing a digital twin of a construction site based on IoT technology according to claim 4, characterized in that: Determine the individual frequency sequences, including: Perform EMD decomposition on the vibration data of each device to be analyzed in the device group to obtain the IMF components corresponding to each device to be analyzed; Perform KM matching on each IMF component corresponding to two devices to be analyzed in the device group to obtain each one-to-one match and its corresponding matching value, and each one-to-one match corresponds to two IMF components; A first set number of one-to-one matches with the largest matching values ​​in each one-to-one match are obtained as target matches, and a frequency sequence is formed using two frequencies corresponding to two IMF components in each target match.

6. The method for constructing a digital twin of a construction site based on IoT technology according to claim 5, characterized in that: Determine the candidate devices among all the intersection devices and the correlation between the propagation component and the distance value corresponding to each candidate device, including: The IMF component corresponding to each frequency in the target frequency sequence of each intersection device relative to each object construction device is used as a propagation component of each intersection device, thereby obtaining the propagation component of each intersection device relative to different object construction devices; Taking intersection devices whose total number of propagation components among all intersection devices is greater than a second set number as candidate devices, thereby obtaining candidate devices among all intersection devices; According to each propagation component of each candidate device and the distance between the influencing device and the intersection device of the object construction device corresponding to each propagation component, the correlation between the propagation component corresponding to each candidate device and the distance value is fitted.

7. The method for constructing a digital twin of a construction site based on IoT technology according to claim 6, characterized in that: The vibration data of each affected device of each candidate device is corrected to obtain the corrected vibration data of the construction equipment, including: Arrange all candidate devices in descending order of the total number of propagation components to obtain a candidate device sequence; According to the order from front to back in the candidate equipment sequence, the distances between each candidate equipment in the candidate equipment sequence and its affected equipment are respectively substituted into the association relationship between the propagation component and the distance value corresponding to each candidate equipment, so as to obtain the propagation component of each candidate equipment in the candidate equipment sequence relative to its affected equipment, and remove the corresponding propagation component from the vibration data of each affected equipment of each candidate equipment in the candidate equipment sequence, so as to obtain the corrected vibration data of the construction equipment.

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