Model-driven intelligent vibrating equipment control method and system for top mold platform

Abstract

The invention relates to the technical field of intelligent equipment, in particular to a model-driven intelligent vibration equipment control method and system for a top formwork platform, and aims to build an intelligent vibration control system based on a component BIM model-driven vibration process planning and scheme generation algorithm and function. The problems that the current concrete vibrating process is difficult to control, man-machine cooperation of vibrating equipment is lacked and the vibrating quality is difficult to control are solved, and the functions of component BIM model driving vibrating process planning, vibrating task auxiliary planning, automatic operation scheme generation and rapid operation instruction translation are provided. And the intelligent vibrating equipment for the building machine top die platform is driven to automatically complete vibrating operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent equipment control, and in particular relates to a model-driven top mold platform intelligent vibrating equipment control method and system. Background Art

[0002] The building machine is a comprehensive equipment platform that provides industrialized construction conditions for high-rise building construction. By integrating intelligent placing machines, concrete leveling equipment, etc., it can provide intelligent and convenient construction assistance for main steel bars, concrete and other engineering operations. However, for concrete projects under the cast-in-place structure building machine system, the intelligent construction of the entire concrete process has not yet been fully opened up, and the key link of concrete vibration still relies on manual implementation and control. The purpose of concrete vibration is to eliminate the air bubbles and pores inside the concrete through vibration and tamping, so that it can be densely combined and improve the forming quality and strength of concrete components. The spacing, depth and time of the vibration points will affect the vibration effect. However, relying on manual vibration methods, it is impossible to control the above-mentioned vibration process points. The vibration implementation process depends entirely on the workers' experience and professional ability, and it is impossible to carry out process control, which affects the concrete vibration effect and the quality of component formation, and also restricts the building machine system from further exerting the high-efficiency and high-quality advantages of the industrialized construction model. Summary of the invention

[0003] In view of the problems in the above-mentioned prior art, the present invention proposes a model-driven top formwork platform intelligent vibration equipment control method and system, and creates an intelligent vibration control system based on the vibration process planning and scheme generation algorithm and function driven by the component BIM model. It mainly solves the current problems of poor control of the concrete vibration process, lack of human-machine collaboration in vibration equipment, and difficulty in vibration quality control, and provides component BIM model-driven vibration process planning, vibration task auxiliary planning, automatic generation of operation schemes, and rapid translation of operation instructions, driving the intelligent vibration equipment on the top formwork platform of the building construction machine to automatically complete the vibration operation.

[0004] In a first aspect, the present invention proposes a model-driven top mold platform intelligent vibrating equipment control method, comprising the following steps:

[0005] Step S1, establishing a vibration process library: Aiming at the construction scene of cast-in-place structure building machine, taking the BIM models of various components of the standard construction layer of the cast-in-place structure as the object, corresponding the geometric attributes of the component BIM model to the spatial position of the cast-in-place structure, and taking the number of the component BIM model as the identification code, a cast-in-place structure vibration process database based on the component BIM model is established;

[0006] Step S2, generating a vibration process plan: extracting component specifications and steel bar distribution data from the component BIM model and steel bar BIM model of the building structure model respectively, planning and generating component vibration points by applying a vibration point arrangement algorithm according to the structural characteristics of various components, determining the vibration depth and vibration time process parameters of each vibration point, and determining the vibration process plan of the target component;

[0007] Step S3, reverse modeling of the building construction layer: establish a building construction layer coordinate system, scan the current construction layer to obtain a complete construction layer plane image, and apply a steel bar recognition algorithm to obtain the plane distribution information of the steel bars of the components in the current construction layer;

[0008] Step S4, vibration task planning: using the task planning module to select the component BIM model, quickly generate a vibration task including the component information to be vibrated and the operation time;

[0009] Step S5, automatic generation of vibration operation plan: using the operation plan generation module, matching the vibration process plan of each component according to the component BIM model number, planning the vibration route, and generating the vibration operation plan;

[0010] Step S6, automated vibration operation: using the vibration operation management module, the generated vibration operation plan is translated into industrial control instructions; the intelligent vibration equipment performs the vibration operation according to the industrial control instructions to complete the automatic vibration task.

[0011] Furthermore, step S2 includes: based on the top-view plane dimensions of the component BIM model, with the diameter of the vibrating rod, the vibration influence radius and the component reinforcement as input, and with the highest coverage efficiency of the vibration influence range as the goal, solving and calculating the optimal set of vibration point positions for the component.

[0012] Furthermore, the step of solving the optimal vibration point set of the component with the vibration rod diameter, the vibration influence radius and the component reinforcement as input and the highest coverage efficiency of the vibration influence range as the goal includes:

[0013] Taking the vibration influence radius of the vibrating rod as input, determine the interval between vibration points [d po-min ,d po-max ] and the distance interval between the template and the vibration point [d te-min ,d te-max ];

[0014] According to the distribution data of steel bars of the component, the distance d between the vibrator and the template te , determine the area where vibration points cannot be generated on the current component plane, and reduce the solution set space of vibration points;

[0015] In the area where vibration points can be generated on the component plane, the points to be selected are generated according to the preset dense spacing to form a vibration point solution space;

[0016] According to the goal requirement of the highest coverage efficiency of the vibration influence range, adjacent vibration points should minimize the overlapping area of ​​the vibration influence range and no gaps should appear; select the point with the smallest ordinate in the solution space as the first row, the point with the smallest abscissa as the starting point, and the point with the largest vibration point spacing d as the starting point. po-max Arrange the vibration points in a row in sequence;

[0017] Select the x-axis coordinate below the original starting point and the difference between it and the left boundary of the component is d te-max , distance d from the original starting point po-max The point is taken as the starting point of a new row, and the above steps are repeated to obtain the vibration points of each row in turn to form the initial point set of the component;

[0018] Compare the initial point set with the vibration point solution space, select and extract the candidate vibration points closest to the initial points in the solution space in turn, and generate an optimized vibration point set.

[0019] Furthermore, the step S3 comprises:

[0020] Divide the construction layer plane image according to the spatial relationship of the component BIM model;

[0021] Apply the rebar category semantic segmentation neural network model to identify rebar pixels in the image;

[0022] Cluster analysis is performed on the steel bar pixel points within the geometric boundary of each component in turn to extract the longitudinal bar pixel point set, transverse bar pixel point set and oblique bar pixel point set in the image; for each steel bar pixel point set, the curve fitting method is used to obtain the steel bar line, and then the curve is extended in parallel to the farthest point in the point set to form a steel bar line frame to represent the area occupied by the steel bar entity; this step is repeated to obtain the steel bar pixel point set and steel bar line graphics of all components in the construction layer.

[0023] Furthermore, the step of segmenting the construction layer plane image according to the component BIM model spatial relationship includes:

[0024] According to the image acquisition device and the laser ranging sensor configured by the intelligent vibrating equipment, the image acquisition device is calibrated in combination with the target to obtain the scaling ratio of the construction layer plane image;

[0025] The construction layer plane image is converted into millimeter units, and the target calibration position is used as the overlapping point. The construction layer component BIM model plan and the construction layer plane image are overlapped in the same proportion, and the construction layer plane image is segmented according to the component BIM model geometric boundary to obtain the actual plane image of each component.

[0026] Furthermore, the step of extracting the longitudinal rib pixel point set, the transverse rib pixel point set and the oblique rib pixel point set in the image includes:

[0027] The pixel point with the smallest sum of horizontal and vertical coordinates of the component steel bar pixel points is selected as the starting point, and the remaining steel bar pixel points are traversed and scanned, and the pixel points with the x-axis coordinate difference with the starting point within the threshold range are included in the classification group as a potential longitudinal reinforcement point set; if the previous classification group is valid, the pixel point with the smallest sum of horizontal and vertical coordinates is reselected from the remaining steel bar pixel points as the new starting point; if the previous classification group is invalid, the pixel point with the second smallest sum of horizontal and vertical coordinates is selected from the steel bar pixel points as the new starting point; the classification steps are repeated until all steel bar pixel points are traversed, and all longitudinal reinforcement pixel point sets obtained by clustering are output;

[0028] After extracting the longitudinal rib pixel points and the transverse rib pixel points of an image in turn, for the remaining pixels, the Hough transform method is used to obtain the straight line whose number of pixels passed through reaches a preset value, which is used as the potential oblique rib straight line; the pixel points passed through by the straight lines with similar slopes are classified into the same group as a oblique rib pixel point set.

[0029] Furthermore, the step S5 comprises:

[0030] According to the component BIM model number in the vibration task, the corresponding vibration process plan is matched from the process database, and the component vibration points in the vibration process plan are extracted;

[0031] Importing the steel bar plane distribution information obtained in step S3, comparing it with the vibration point coordinates of the component to be vibrated, and extracting the overlapping vibration points;

[0032] For the overlapping vibration points, solving them again through the vibration point arrangement algorithm, updating the vibration point solution space of the component, and re-screening the candidate vibration points closest to the overlapping vibration points to form a new component vibration point set;

[0033] According to the spatial position of the component relative to the current construction layer in the building structure model, the coordinate conversion equation is determined, and all the vibration points are converted into the position coordinates under the coordinate system of the building construction machine construction layer; the vibration process plans of all the components to be vibrated are converted and sorted out in sequence, and the vibration process plan of the components is integrated;

[0034] Applying a vibration movement route arrangement algorithm to connect all vibration points of the vibration task, and generating a vibration movement route for the vibration task;

[0035] Finally, the vibration process plan and vibration movement route corresponding to the vibration task are integrated to generate a vibration operation plan.

[0036] Furthermore, the step of applying a vibration movement route arrangement algorithm to connect all vibration points of the vibration task to generate a vibration movement route for the vibration task includes:

[0037] The vibration points at the northwest and southeast edges of the construction layer where the vibration task is located are used as the starting and ending vibration points. With the shortest moving path as the goal, all vibration points are connected in a preset top-down and left-right circular order to generate a vibration movement route.

[0038] Furthermore, the control method also includes step S7, operation data feedback: using the vibration operation management module to continuously collect vibration operation process data, integrating the positioning data, construction layer image, vibration operation time and vibration operation completion record collected by the vibration operation after each vibration task is completed to form an operation data packet, which is associated with the corresponding component model, and updates the concrete construction progress information to the management personnel.

[0039] In a second aspect, the present invention proposes a model-driven top mold platform intelligent vibrating equipment control system, comprising:

[0040] Model data management module, used to import component BIM models and steel bar BIM models, and simultaneously extract and store component specifications and steel bar distribution data;

[0041] The process management module is used to generate, store and transmit the vibration process data of various components and establish a vibration process database; the vibration points of the components are planned and generated through the model-driven vibration point arrangement algorithm, the vibration depth and vibration time process parameters of each vibration point are determined, and the vibration process plan of the target component is determined;

[0042] The task planning module is used to quickly generate vibration tasks including the information of the components to be vibrated and the operation time;

[0043] An operation plan generating module, used for matching the vibration process plan of each component from the vibration process database according to the component BIM model number in the vibration task, planning the vibration route, and generating a vibration operation plan; and

[0044] The vibration operation management module is used to translate the generated vibration operation plan into industrial control instructions, and send the industrial control instructions to the intelligent vibration equipment to carry out the vibration operation.

[0045] The beneficial effects of the present invention are:

[0046] The control method of the present invention realizes the automatic generation of vibration process, operation task planning and operation plan based on the BIM model of building structural components, and automatically controls the complete vibration operation of the intelligent vibration equipment of the top formwork platform of the building construction machine according to the operation plan, creates a model-driven intelligent vibration process control method for the building construction machine, strengthens the process control and efficiency improvement of the vibration operation of the cast-in-place structure concrete, promotes the intelligent upgrade of the concrete vibration operation of the building construction machine system, and opens up the whole process of the concrete engineering construction of the building construction machine;

[0047] The control system of the present invention is designed with five core modules of model data management, process management, operation task planning, operation plan generation and vibration operation management in combination with the control method, and a data transmission channel is established with the intelligent vibration equipment to create an intelligent vibration equipment central control system under the cloud-edge-end system framework. Based on the identification and analysis of the component model, the automatic generation of vibration operation plans and real-time control of vibration operations are realized, and the intelligent vibration equipment of the building construction machine is driven to automatically complete the vibration operation, creating an intelligent vibration management tool in the construction scenario of the cast-in-place structure building construction machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a structural schematic diagram of the model-driven top mold platform intelligent vibrating equipment control system of the present invention.

[0049] Figure 2 It is a flow chart of the model-driven top mold platform intelligent vibrating equipment control method of the present invention.

[0050] Figure 3 It is a schematic diagram of the principle of the vibration point arrangement algorithm of the present invention.

[0051] Figure 4 It is a schematic diagram of the arrangement of the vibration movement route of the present invention. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0053] The intelligent vibration equipment of this embodiment includes: a track mechanism, a track travel mechanism, an equipment trolley, a control device, a collection and positioning device, and a vibration device;

[0054] The track mechanism is installed in an upside-down manner under the top formwork platform of the building construction machine, and is attached to the top formwork platform of the building construction machine to provide a support carrier for the intelligent vibrating equipment to move on the construction working surface;

[0055] The track travel mechanism cooperates with the track mechanism and moves on the track mechanism;

[0056] The equipment trolley is connected to the track travel mechanism and moves along with the track travel mechanism; the equipment trolley includes a lifting rod; the lifting rod is connected to the vibrating device and is used to adjust the height of the vibrating device;

[0057] The acquisition and positioning device includes a positioning device and an image acquisition device, which are respectively installed on the track mechanism and the equipment trolley, and are connected to the control device to transmit and update the acquisition and monitoring data; the positioning device includes horizontal, longitudinal and vertical laser ranging sensors, which locate the position of the intelligent vibration equipment by measuring the distance between the vibration device and the top formwork platform of the building construction machine; the image acquisition device covers the vibration device and the working surface downward, and is used to collect the construction layer image of the building construction machine and the image progress image of the concrete working surface;

[0058] Based on the received instructions, the control device controls the movement of the track walking mechanism and the lifting and lowering of the lifting rod, and moves the vibrating device to the target vibration point to perform the vibration operation.

[0059] like Figure 1 As shown, the model-driven top mold platform intelligent vibration equipment control system of the present invention includes: a model data management module, a process management module, an operation task planning module, an operation plan generation module and a vibration operation management module.

[0060] The model data management module has the functions of model import, model database and construction layer coordinate system calibration. It supports the import of component BIM models (also called component models) and steel bar BIM models (also called steel bar models) of the main model of the building structure (also called structural model or architectural model or building structure model), and the simultaneous extraction and storage of component specifications and dimensions and steel bar distribution data. On the other hand, it has the function of coordinate system calibration, which can input the calibration data of the acquisition and positioning device of the intelligent vibration equipment to adjust the coordinate correction function, and correct the ranging and positioning data of the intelligent vibration equipment to the position coordinates under the construction layer coordinate system of the building construction machine.

[0061] The process management module is mainly used to generate, store and transmit the vibration process data of cast-in-place structural beams, slabs, walls and columns. First, the component BIM model and number are used as the process data index to establish a vibration process database for structured storage and rapid matching of vibration processes, which mainly includes process parameters such as vibration points, vibration depth and vibration time for components of different specifications; secondly, the vibration point arrangement algorithm is applied to quickly generate the vibration points of each component, and the vibration depth and vibration time parameters are designed in combination with the component BIM model geometric size data, and a vibration process plan containing vibration points, vibration depth and vibration time is generated based on the component.

[0062] The task planning module is mainly used to assist the construction site of the building machine to quickly determine the components to be vibrated and generate vibration tasks. The task planning module has developed a visual interactive function for the cast-in-place structure model. By directly clicking on the model graphics of the components to be vibrated on the construction layer, a new vibration task can be quickly created, making it convenient for on-site personnel to log in to the system through mobile devices to suggest operations; the vibration task data includes the component model, number and completion time covered by the construction layer, which can be used to match and analyze the corresponding component model and vibration operation plan.

[0063] The operation plan generation module is used for planning, generating, integrating and issuing vibration operation plans. According to the component model number in the vibration task, the corresponding vibration process plan is automatically matched from the process database, and each vibration point is corrected to the position coordinate under the construction layer coordinate system of the building machine through the coordinate correction function; the vibration route arrangement algorithm is applied to connect all vibration points, generate a vibration movement route, and integrate the vibration points, vibration depth, vibration time and vibration movement route to generate the vibration operation plan for the vibration task;

[0064] The vibration operation management module provides the functions of compiling and issuing industrial control instructions for vibration operations, real-time control of vibration operations, and real-time monitoring of construction. Among them, the industrial control instruction compilation is to translate the vibration operation plan into an implementable equipment industrial control instruction data packet according to the control signal data format of the intelligent vibration equipment, and transmit it to the control device of the intelligent vibration equipment through the on-site Internet of Things to drive its automatic operation; the real-time control function of vibration operations is to provide on-site personnel with a tool for temporary control of intelligent vibration equipment, which can be combined with the control device of the intelligent vibration equipment to control the movement and transportation of the intelligent vibration equipment through instructions; the real-time monitoring function of construction establishes a data transmission channel with the intelligent vibration equipment, receives the collected construction layer image, equipment positioning coordinates, operation instructions and other data records, and updates the vibration operation progress and quality records of the current construction layer through data preprocessing.

[0065] Based on the same inventive concept, the present invention also proposes a model-driven top mold platform intelligent vibrating equipment control method. Figure 3 Schematic diagram of the principle of the vibration point arrangement algorithm of the present invention, where L1 is a conventional beam component BIM model, d po The spacing requirement of vibration points, d te is the margin between the vibration point and the template. The selected vibration points represented by the gray points in the figure are densely arranged, forming the solution space of the algorithm. A is the set of all vibration points obtained by the algorithm. Figure 4 It is a schematic diagram of the arrangement of the vibration movement route of the present invention, wherein etc. are the vibration points of component L1 generated by the vibration point arrangement algorithm, R A0110-01 The vibration movement route generated to connect all vibration points.

[0066] like Figure 2 The model-driven top mold platform intelligent vibrating equipment control method shown includes the following steps:

[0067] Step S1, establish a vibration process database. Aiming at the construction scene of cast-in-place structure building machine, take the BIM model of cast-in-place structure standard construction layer beam, slab, wall, column component as the object, correspond the geometric attributes of the component BIM model to the spatial position of the cast-in-place structure, and use the number of the component BIM model as the identification code to establish a cast-in-place structure vibration process database based on the component BIM model.

[0068] Step S2, generating a vibration process plan. Extract the component size and steel bar distribution data from the building structure component BIM model and the steel bar BIM model respectively, and then plan and generate the component vibration points by applying the vibration point arrangement algorithm according to the structural characteristics of each type of component. Taking beams and slabs as an example, combined with the following examples, Figure 4 The top view of the beam component model L1 is shown. The dimensions of the component and the distribution spacing and length of the steel bars at the construction layer are extracted and solved to generate the vibration point set of the component.

[0069] According to the requirements of the component height and concrete construction specifications, the vibration time is generally required to be no more than 30 seconds, the single-layer vibration depth is no more than 0.75 times the rod length, and the layered vibration depth should be inserted into the lower layer of concrete for at least 50mm. Vibration depth Vibration time process Parameters, determine the vibration process plan for target component L1

[0070]

[0071] Further complete the vibration process plan for standard building components such as floor plates, walls and columns Etc., and establish an associated mapping relationship with the corresponding component BIM model to improve the vibration process database;

[0072] The vibration point arrangement algorithm in step S2 is to quickly generate a set of vibration points for the component, so as to completely cover the cast-in-place component with as few vibration points as possible, and guide the efficient vibration of the concrete component. Taking component L1 as an example, the algorithm is based on the top view of the component model for solution calculation, such as Figure 3 As shown, the specific process is as follows:

[0073] Step S21. Determine the vibration influence radius r and the vibration point spacing d po and the distance d between the vibration point and the template te .

[0074] Before solving the points, the initial parameters are determined according to the performance of the vibrating rod. The influence radius r of the vibrating rod is generally 8-9 times the radius of the rod head; the spacing d between the vibration points ispo It is required to be no greater than 1.4 times of the vibration influence radius r, and the maximum d po The value range [d po-min ,d po-max ]; Distance between vibration point and formwork d te It is required to be no greater than 0.5 times of the vibration influence radius r, where the template position is determined by the boundary of the top view of the component model, and the maximum d te The value range [d te-min ,d te-max ].

[0075] Taking a vibrating rod with a diameter of 50 mm as an example, the vibration influence radius r range is [200 mm, 225 mm], and the vibration point spacing d is determined. po The value range is [280mm, 315mm], and the vibration point is located at the template spacing d te The value range is [100mm,112.5mm].

[0076] Step S22: Generate vibration point solution space.

[0077] The distribution position of the component reinforcement (extract the component reinforcement distribution from the reinforcement BIM model), the distance between the vibrator and the template d te (To improve the vibration efficiency, d te The maximum value of the interval is taken as input, and the template position is confirmed by the geometric boundary of the component BIM model. The area where the vibration point cannot be generated on the current component plane is determined (such as Figure 3 As shown, the reinforcement area and the component formwork boundary are inward d te area), optimize the vibration point solution space.

[0078] In the area where vibration points can be generated on the component plane, the vibration point solution space is generated with a dense spacing of 2mm. Each vibration point to be selected is represented by the plane coordinates of the coordinate system with the intersection of the leftmost and uppermost edge lines of the component as the origin.

[0079] Step S23: Determine the arrangement of vibration points.

[0080] The vibration point arrangement rules are divided into two types: quadrilateral arrangement and triangular arrangement. Under the premise that there is no gap in the influence range of adjacent vibration points, the maximum spacing between vibration points arranged in a quadrilateral should be Where r is the influence radius of the vibrating rod, and the maximum spacing between the triangularly arranged vibrating points should be The actual specification requires that the spacing between vibration points should not be greater than 1.4 times the vibration influence radius; the goal is to maximize the coverage efficiency of the vibration influence range, that is, to reduce the overlapping area of ​​the vibration influence range of adjacent points without any gaps. The quadrilateral arrangement method is chosen, and the spacing between vibration points d po Value dpo-max =1.4r, the distance between the vibration point and the template d te Value d te-max =0.5r.

[0081] Step S24: Arrange vibration points and generate a vibration point solution.

[0082] Select the vertical coordinate difference d from the top edge of the component from the top view plane of the component BIM model te-max As the first filter row, select the x-axis coordinate difference d from the leftmost boundary of the component te-max As the starting point, along the x-axis direction, at intervals d po-max Arrange the vibration points of this row in sequence; when the x-axis coordinate of the latest arranged point exceeds the boundary of the component, determine and select the last vibration point of this row:

[0083] If the difference between the coordinates of the previous point and the x-axis coordinates of the component boundary is less than d te-max , then discard the latest point and correct the x-axis coordinate of the previous point to the distance d from the component boundary. te-max , and serves as the final vibration point of the bank;

[0084] If the difference between the coordinates of the previous point and the x-axis coordinates of the component boundary is not greater than 0.7r, the latest point is discarded and the previous point is used as the last vibration point of this line;

[0085] If the difference between the coordinates of the previous point and the x-axis coordinates of the component boundary is greater than the vibration influence radius 0.7r, the x-axis coordinates of the latest point are corrected to be within the component range and the distance d from the component boundary. te-max , and serves as the final vibration point of the bank;

[0086] After arranging and obtaining a row of vibration points, select the x-axis coordinate below the original starting point and the difference between it and the left boundary of the component is d te-max , distance d from the original starting point po-max As the starting point of a new row, repeat the above steps to obtain the vibration points of each row in turn; until the y-axis coordinate of the new filtered row exceeds the ordinate of the bottom boundary of the component, the last filtered row is selected:

[0087] If the difference between the coordinates of the starting point of the previous line and the y-axis coordinates of the component boundary is less than d te-max , then the latest point is discarded, and the y-axis coordinates of all vibration points of the previous point are corrected to the distance d from the component boundary te-max , and used as the vibration point of the last row;

[0088] If the difference between the coordinates of the starting point of the previous point and the y-axis coordinates of the component boundary is not greater than 0.7r, the latest point is discarded and the vibration points of the previous row are used as the vibration points of the last row;

[0089] If the difference between the coordinates of the starting point of the previous row and the y-axis coordinates of the component boundary is greater than the vibration influence radius 0.7r, the y-axis coordinates of the starting point of the latest row are corrected to be within the component range and the distance d from the component boundary. te-max , rearrange the vibration points of this row and use them as the vibration points of the last row;

[0090] Step S25. According to the vibration point arrangement structure, an initial point set A0 of the component is integrated; the initial point set is compared with the vibration point solution space, and the candidate vibration points closest to the initial points are screened and extracted in turn to generate an optimized vibration point set A.

[0091] Step S3, reverse modeling of the building machine construction layer. First, a coordinate system of the building machine construction layer is established with the building machine top formwork equipment platform as the reference plane and the Z axis vertically downward. The relative distance between the intelligent vibration equipment of the present invention and the cast-in-place components of the construction layer is extracted through laser ranging, image scanning and recognition and other technologies, and the spatial position of the equipment, components, steel bars, etc. is expressed in three-dimensional coordinates (X, Y, Z);

[0092] Among them, the intelligent vibrating equipment controlled by the present invention has the laser ranging function in multiple directions, namely horizontal, longitudinal and vertical, and can support the positioning of the intelligent vibrating equipment and the concrete working surface in the construction layer coordinate system of the building construction machine by combining the ranging data in the three directions and the position calibration data of the laser ranging sensor itself;

[0093] Secondly, in order to deal with the practical problems of errors in steel bar binding operations and discrepancies with design drawings during actual construction, it is necessary to scan again to obtain the plane scan image of the construction layer and identify the steel bar distribution information of the construction layer. The intelligent vibrating equipment is equipped with a 2.8mm close-focus, 2-megapixel image acquisition device. After the equipment is installed, the camera of the image acquisition device will be calibrated. Before pouring concrete on the construction layer of the building machine, all component steel bar images will be collected, and the images will be corrected by combining the camera calibration and image distortion correction parameters, and a complete plane scan image of the construction layer will be formed through image stitching. Based on this image, the steel bar recognition algorithm is used to obtain the plane distribution information of the steel bars of the components in the current construction layer.

[0094] The steel bar recognition algorithm described in step S3 includes two parts: steel bar pixel extraction based on image recognition and component steel bar pixel clustering analysis. Specifically, it includes the following steps:

[0095] Step S31: Slice the construction layer plane scan image according to the spatial relationship of the cast-in-place component model.

[0096] The intelligent vibrating equipment is equipped with an image acquisition device and a vertical laser ranging sensor, which are fixedly installed on its track. Before being put into use, the camera needs to be calibrated in combination with a 1000mm long ruler target. The image scaling ratio of the construction layer plane is obtained based on the actual distance between the calibrated square target and the image acquisition device (obtained by laser ranging) and the camera focal length ratio;

[0097] Before applying the steel bar recognition algorithm, the construction layer plane image is converted into millimeter units according to the above ratio, and the target calibration position is used as the overlapping point. The construction layer component model plane image and the construction layer plane image are overlapped at the same ratio, and the construction layer plane image is segmented according to the component model geometric boundary to obtain the actual plane image of each component;

[0098] Step S32. Apply the steel bar category semantic segmentation neural network model to identify steel bar pixels in the image. The steel bar category semantic segmentation neural network model is based on a VGG16 neural network model, and the model training is completed based on the images of cast-in-place longitudinal reinforcement, transverse reinforcement, oblique reinforcement, and stirrup reinforcement. There are 300 annotated images of each type of steel bar;

[0099] The present invention adopts a well-trained neural network model for semantic segmentation of steel bar categories to perform recognition processing on the processed plane scanning image of the construction layer and extract the steel bar pixel points in the image;

[0100] Step S33. According to the component segmentation result of step S31, cluster analysis is performed on the steel bar pixel points within the geometric boundary of each component in turn to extract the longitudinal bar pixel point set, the transverse bar pixel point set and the oblique bar pixel point set in the image;

[0101] Among them, the longitudinal reinforcement pixel point set extraction: select the pixel point with the smallest sum of horizontal and vertical coordinates of the component reinforcement pixel points as the starting point, traverse and scan the remaining reinforcement pixel points, and include the pixel points with the x-axis coordinate difference with the starting point within the threshold range (10 pixel points) into the classification group as a potential longitudinal reinforcement point set. If there are less than 10 reinforcement pixel points in the classification group, the classification group is abandoned; if the previous classification group is valid, reselect the pixel point with the smallest sum of horizontal and vertical coordinates from the remaining reinforcement pixel points as the new starting point; if the previous classification group is invalid, select the pixel point with the second smallest sum of horizontal and vertical coordinates from the reinforcement pixel points as the new starting point; repeat the classification steps until all reinforcement pixel points are traversed, and output all longitudinal reinforcement pixel point sets obtained by clustering;

[0102] Extraction of transverse reinforcement pixel point set: Similar to the above classification method of longitudinal reinforcement pixel points, classification is performed based on the difference between the y-axis coordinates of the reinforcement pixel points and the starting point;

[0103] Extraction of oblique rib pixel points: After extracting the longitudinal rib and transverse rib pixel points in sequence for a component image, for the remaining pixels, the Hough transform method is used to obtain the straight lines that pass through 5 pixels as potential oblique rib straight lines; the pixels passed by the straight lines with similar slopes are classified into the same group as an oblique rib pixel point set, and the pixel point sets containing less than 10 pixels are discarded;

[0104] Step S34. For each steel bar pixel point set, a curve fitting method is used to obtain steel bar lines, and then the curves are extended in parallel to the farthest points in the point set to form a steel bar line frame to represent the steel bar entity footprint;

[0105] Step S35. Repeat steps S33-S34 to obtain the steel bar pixel point set and steel bar line graphics of all components of the construction layer.

[0106] Step S4, vibration task planning. After the building machine completes the pouring of the construction layer components, taking the 10th floor beam L1, beam L2, slab B1, slab B2, and wall Q1 of Building 1 of Project A as an example, the on-site personnel log in to the control system with the help of a mobile device, and through the visual interactive function of the operation task planning module, click to confirm the cast-in-place components to be vibrated, and automatically generate the vibration task; the vibration task data should include the information of the components to be vibrated and the operation time;

[0107] Step S5: Automatically generate a vibration operation plan. The vibration operation plan generation module of the control system of the present invention is used to match the vibration process plan of each component according to the component BIM model number.

[0108] Automatically match the corresponding vibration process plan from the process database according to the component BIM model number in the vibration task, and extract the component vibration points contained in the vibration process plan

[0109] Import the steel bar plane distribution information obtained in step S3 (including steel bar pixel point set with position attributes and steel bar line graphics) and compare the vibration point coordinates of the component to be vibrated Extract the vibration points that overlap with the steel bar rectangular area from the steel bar line image

[0110] For vibration points that have repeated conflicts with steel bars The vibration point arrangement algorithm should be used to solve the problem again, and the reinforcement rectangle data obtained by scanning should be combined to update the vibration point solution space in the component plane, and re-screen the conflicting points. The nearest candidate vibration point forms a new component vibration point set

[0111] Determine the coordinate transformation equation based on the spatial position of beam component L1 relative to the current construction layer in the building model Convert all vibration points into position coordinates in the construction layer coordinate system of the building construction machine Convert and sort out the vibration process plans of all components to be vibrated, such as beam L1, beam L2, plate B1, plate B2, wall Q1, etc. Integrate to form the vibration process plan F for the 10th floor beam L1, beam L2, slab B1, slab B2, and wall Q1 of Building 1 of Project A A0110-01 ;

[0112]

[0113] Among them, H L1 is the coordinate transformation equation of the beam component L1 at this construction layer, where is the x-axis difference between the origin of the component L1 coordinate system and the construction layer coordinate system of the building construction machine, is the y-axis difference between the origin of the component L1 coordinate system and the construction layer coordinate system of the building construction machine, The z-axis difference between the origin of the component L1 coordinate system and the construction layer coordinate system of the building construction machine;

[0114] Furthermore, the vibration movement route arrangement algorithm is applied to connect all the vibration points of the vibration task to generate the vibration movement route R of the vibration task. A0110-01 Among them, the initial default arrangement of the vibration movement route is to use the northwest and southeast edge vibration points of the construction layer where the vibration task is located as the starting and ending vibration points, and to take the shortest movement path as the goal, and connect all vibration points in a preset top-down and left-right circular order to generate the vibration movement route R A0110-01 ;

[0115] Finally, the vibration process plan F corresponding to the vibration task is integrated A0110-01 and vibration moving route R A0110-01 , generate the vibration operation plan W A0110-01 :W A0110-01 ={F A0110-01 , R A0110-01}.

[0116] Step S6, automatic vibration operation. The object of the control method of the present invention is the model-driven top mold platform intelligent vibration equipment, in which a control device is installed as the control core of the whole equipment; through the vibration operation management module of the control system of the present invention, the generated vibration operation plan W A0110-01 Translate into industrial control instructions; the intelligent vibration equipment control device receives the industrial control instructions, controls the corresponding motor, acquisition and positioning device, and vibration device according to the instruction signal to carry out the vibration operation and complete the automatic vibration task;

[0117] Step S7, operation data feedback. During the vibration operation, the vibration operation management module of the control system of the present invention continuously collects vibration operation process data. After each vibration task is completed, the positioning data, construction layer image, vibration operation time and vibration operation completion record collected during the vibration operation are integrated to form an operation data packet, which is associated with the corresponding component model, and the concrete vibration operation progress of the construction layer in the system is updated, so as to assist the project management personnel to grasp the concrete construction progress of each layer in real time.

[0118] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A model-driven top mold platform intelligent vibrating equipment control method, characterized in that: The following steps are involved: Step S1, establishing a vibration process library: Aiming at the construction scene of cast-in-place structure building machine, taking the BIM models of various components of the standard construction layer of the cast-in-place structure as the object, corresponding the geometric attributes of the component BIM model to the spatial position of the cast-in-place structure, and taking the number of the component BIM model as the identification code, a cast-in-place structure vibration process database based on the component BIM model is established; Step S2, generating a vibration process plan: extracting component specifications and steel bar distribution data from the component BIM model and steel bar BIM model of the building structure model respectively, planning and generating component vibration points by applying a vibration point arrangement algorithm according to the structural characteristics of various components, determining the vibration depth and vibration time process parameters of each vibration point, and determining the vibration process plan of the target component; Step S3, reverse modeling of the building construction layer: establish a building construction layer coordinate system, scan the current construction layer to obtain a complete construction layer plane image, and apply a steel bar recognition algorithm to obtain the plane distribution information of the steel bars of the components in the current construction layer; Step S4, vibration task planning: using the task planning module to select the component BIM model, quickly generate a vibration task including the component information to be vibrated and the operation time; Step S5, automatic generation of vibration operation plan: using the operation plan generation module, matching the vibration process plan of each component according to the component BIM model number, planning the vibration route, and generating the vibration operation plan; Step S6, automated vibration operation: using the vibration operation management module, the generated vibration operation plan is translated into industrial control instructions; the intelligent vibration equipment performs the vibration operation according to the industrial control instructions to complete the automatic vibration task.

2. The model-driven top mold platform intelligent vibrating equipment control method according to claim 1 is characterized in that: The step S2 comprises: Based on the top-view plane dimensions of the component BIM model, with the diameter of the vibrating rod, the vibration influence radius and the component reinforcement as input, and with the highest efficiency in covering the vibration influence range as the goal, the optimal set of vibration points for the component is solved and calculated.

3. The model-driven top mold platform intelligent vibrating equipment control method according to claim 2 is characterized in that: The step of solving the optimal vibration point set of the component with the vibration rod diameter, the vibration influence radius and the component reinforcement as input and the vibration influence range coverage efficiency as the highest as the goal includes: Taking the vibration influence radius of the vibrating rod as input, determine the interval between vibration points [d po-min ,d po-max ] and the distance interval between the template and the vibration point [d te-min ,d te-max ]; According to the distribution data of steel bars of the component, the distance d between the vibrator and the template te , determine the area where vibration points cannot be generated on the current component plane, and reduce the solution set space of vibration points; In the area where vibration points can be generated on the component plane, the points to be selected are generated according to the preset dense spacing to form a vibration point solution space; According to the goal requirement of the highest coverage efficiency of the vibration influence range, adjacent vibration points should minimize the overlapping area of ​​the vibration influence range and no gaps should appear; select the point with the smallest ordinate in the solution space as the first row, the point with the smallest abscissa as the starting point, and the point with the largest vibration point spacing d as the starting point. po-max Arrange the vibration points in a row in sequence; Select the x-axis coordinate below the original starting point and the difference between it and the left boundary of the component is d te-max , distance d from the original starting point po-max The point is taken as the starting point of a new row, and the above steps are repeated to obtain the vibration points of each row in turn to form the initial point set of the component; Compare the initial point set with the vibration point solution space, select and extract the candidate vibration points closest to the initial points in the solution space in turn, and generate an optimized vibration point set.

4. The model-driven top mold platform intelligent vibrating equipment control method according to claim 1 is characterized in that: The step S3 comprises: Divide the construction layer plane image according to the spatial relationship of the component BIM model; Apply the rebar category semantic segmentation neural network model to identify rebar pixels in the image; Cluster analysis is performed on the steel bar pixel points within the geometric boundary of each component in turn to extract the longitudinal bar pixel point set, transverse bar pixel point set and oblique bar pixel point set in the image; for each steel bar pixel point set, the curve fitting method is used to obtain the steel bar line, and then the curve is extended in parallel to the farthest point in the point set to form a steel bar line frame to represent the area occupied by the steel bar entity; this step is repeated to obtain the steel bar pixel point set and steel bar line graphics of all components in the construction layer.

5. The model-driven top mold platform intelligent vibrating equipment control method according to claim 4 is characterized in that: The step of segmenting the construction layer plane image according to the spatial relationship of the component BIM model comprises: According to the image acquisition device and the laser ranging sensor configured by the intelligent vibrating equipment, the image acquisition device is calibrated in combination with the target to obtain the scaling ratio of the construction layer plane image; The construction layer plane image is converted into millimeter units, and the target calibration position is used as the overlapping point. The construction layer component BIM model plan and the construction layer plane image are overlapped in the same proportion, and the construction layer plane image is segmented according to the component BIM model geometric boundary to obtain the actual plane image of each component.

6. The model-driven top mold platform intelligent vibrating equipment control method according to claim 4 is characterized in that: The step of extracting the longitudinal rib pixel point set, the transverse rib pixel point set and the oblique rib pixel point set in the image comprises: The pixel point with the smallest sum of horizontal and vertical coordinates of the component steel bar pixel points is selected as the starting point, and the remaining steel bar pixel points are traversed and scanned, and the pixel points with the x-axis coordinate difference with the starting point within the threshold range are included in the classification group as a potential longitudinal reinforcement point set; if the previous classification group is valid, the pixel point with the smallest sum of horizontal and vertical coordinates is reselected from the remaining steel bar pixel points as the new starting point; if the previous classification group is invalid, the pixel point with the second smallest sum of horizontal and vertical coordinates is selected from the steel bar pixel points as the new starting point; the classification steps are repeated until all steel bar pixel points are traversed, and all longitudinal reinforcement pixel point sets obtained by clustering are output; After extracting the longitudinal rib pixel points and the transverse rib pixel points of an image in turn, for the remaining pixels, the Hough transform method is used to obtain the straight line whose number of pixels passed through reaches a preset value, which is used as the potential oblique rib straight line; the pixel points passed through by the straight lines with similar slopes are classified into the same group as a oblique rib pixel point set.

7. The model-driven top mold platform intelligent vibrating equipment control method according to claim 3 is characterized in that: The step S5 comprises: According to the component BIM model number in the vibration task, the corresponding vibration process plan is matched from the process database, and the component vibration points in the vibration process plan are extracted; Importing the steel bar plane distribution information obtained in step S3, comparing it with the vibration point coordinates of the component to be vibrated, and extracting the overlapping vibration points; For the overlapping vibration points, solving them again through the vibration point arrangement algorithm, updating the vibration point solution space of the component, and re-screening the candidate vibration points closest to the overlapping vibration points to form a new component vibration point set; According to the spatial position of the component relative to the current construction layer in the building structure model, the coordinate conversion equation is determined, and all the vibration points are converted into the position coordinates under the coordinate system of the building construction machine construction layer; the vibration process plans of all the components to be vibrated are converted and sorted out in sequence, and the vibration process plan of the components is integrated; Applying a vibration movement route arrangement algorithm to connect all vibration points of the vibration task, and generating a vibration movement route for the vibration task; Finally, the vibration process plan and vibration movement route corresponding to the vibration task are integrated to generate a vibration operation plan.

8. The model-driven top mold platform intelligent vibrating equipment control method according to claim 7 is characterized in that: The step of applying a vibration movement route arrangement algorithm to connect all vibration points of the vibration task to generate a vibration movement route for the vibration task includes: The vibration points at the northwest and southeast edges of the construction layer where the vibration task is located are used as the starting and ending vibration points. With the shortest moving path as the goal, all vibration points are connected in a preset top-down and left-right circular order to generate a vibration movement route.

9. The model-driven top mold platform intelligent vibrating equipment control method according to claim 1 is characterized in that: The control method also includes step S7, operation data feedback: using the vibration operation management module to continuously collect vibration operation process data, integrating the positioning data, construction layer image, vibration operation time and vibration operation completion record collected by the vibration operation after each vibration task is completed to form an operation data packet, which is associated with the corresponding component model, and updates the concrete construction progress information to the management personnel.

10. A model-driven top mold platform intelligent vibrating equipment control system, characterized in that: include: Model data management module, used to import component BIM models and steel bar BIM models, and simultaneously extract and store component specifications and steel bar distribution data; The process management module is used to generate, store and transmit the vibration process data of various components and establish a vibration process database; the vibration points of the components are planned and generated through the model-driven vibration point arrangement algorithm, the vibration depth and vibration time process parameters of each vibration point are determined, and the vibration process plan of the target component is determined; The task planning module is used to quickly generate vibration tasks including the information of the components to be vibrated and the operation time; An operation plan generating module is used to match the vibration process plan of each component from the vibration process database according to the component BIM model number in the vibration task, plan the vibration route, and generate a vibration operation plan; as well as The vibration operation management module is used to translate the generated vibration operation plan into industrial control instructions, and send the industrial control instructions to the intelligent vibration equipment to carry out the vibration operation.

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