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

Abstract

The present application relates to the technical field of intelligent equipment, in particular to a model-driven top mold platform intelligent vibrating equipment control method and system, based on the component BIM model-driven vibrating process planning and scheme generation algorithm and function, an intelligent vibrating control system is created. The current concrete vibrating process is not easy to control, the man-machine cooperation of vibrating equipment is missing, and the quality control of vibrating is difficult. The component BIM model-driven vibrating process planning, vibrating task auxiliary planning, operation scheme automatic generation and operation instruction quick translation function are provided, and the automatic vibrating operation of the intelligent vibrating equipment of the top mold platform of the building machine is driven.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent equipment control, and particularly relates to a model-driven top mold platform intelligent vibrating equipment control method and system. BACKGROUND

[0002] The building machine is a comprehensive equipment platform for providing industrialized construction conditions for high-rise building construction, and can provide intelligent and convenient construction assistance for main reinforcement, concrete and other engineering operations through the integration of intelligent material distribution machines, concrete leveling and other equipment. However, for the concrete engineering under the cast-in-place structure building machine system, the intelligent construction of the whole process of concrete has not been completely opened up, and the key link of concrete vibrating is still implemented and controlled by manual. The purpose of concrete vibrating is to eliminate the internal air bubble pores of concrete through vibrating and tamping, so as to make it compactly combined and improve the forming quality and strength of the concrete member. The vibrating point spacing, depth and time will affect the vibrating effect. However, the manual vibrating method cannot control the above vibrating process points, and the vibrating implementation process completely depends on the experience and professional ability of workers, which cannot be process controlled, affects the concrete vibrating effect and member forming quality, and also restricts the further play of the high-efficiency and high-quality advantages of the building machine system in the industrialized construction mode. SUMMARY

[0003] In view of the problems in the prior art, the application provides a model-driven top mold platform intelligent vibrating equipment control method and system, which creates an intelligent vibrating control system based on a component BIM model-driven vibrating process planning and scheme generation algorithm and function. The method mainly solves the problems of poor control of the current concrete vibrating process, lack of man-machine cooperation of vibrating equipment and difficulty in vibrating quality control and management, provides component BIM model-driven vibrating process planning, vibrating task auxiliary planning, automatic generation of operation scheme and rapid translation of operation instruction function, and drives the building machine top mold platform intelligent vibrating equipment to automatically complete the vibrating operation.

[0004] In the first aspect, the application provides a model-driven top mold platform intelligent vibrating equipment control method, which comprises the following steps:

[0005] Step S1, vibrating process library establishment: for the cast-in-place structure building machine construction scene, taking the BIM model of each component of the standard construction layer of the cast-in-place structure as the object, taking the geometric attribute of the component BIM model corresponding 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 vibrating process database taking the component BIM model as the basic unit is established;

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

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

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

[0009] Step S5, automatic generation of vibration operation scheme: use the job scheme generation module to match the vibration process scheme of each component according to the component BIM model number, plan the vibration route, and generate the vibration operation scheme;

[0010] Step S6, automatic vibration operation: use the vibration operation management module to translate the generated vibration operation scheme into industrial control instructions; the intelligent vibration equipment carries out vibration operation according to the industrial control instructions, and completes the automatic vibration task;

[0011] The step S2 includes: based on the overhead planar size of the component BIM model, taking the diameter of the vibration rod, the vibration influence radius and the component steel bar as inputs, and taking the highest coverage efficiency of the vibration influence range as the target, solving and operating the optimal vibration point set of the component;

[0012] The step of taking the diameter of the vibration rod, the vibration influence radius and the component steel bar as inputs, and taking the highest coverage efficiency of the vibration influence range as the target, to solve and operate the optimal vibration point set of the component includes:

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

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

[0015] In the vibration point generating area on the component plane, generate the selected point according to the preset dense spacing, and form the vibration point solution space;

[0016] According to the target 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 there should be no gaps; select the point with the smallest longitudinal coordinate in the solution space as the first row, select the point with the smallest horizontal coordinate as the starting point, and select the maximum vibration point spacing d po-max sequentially arrange a row of vibration points;

[0017] Select the point with a difference of d te-max from the original starting point as the starting point of the new row, and repeat the above steps to obtain each row of vibration points to form the initial point set of the component. po-max

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

[0019] Further, the step S3 comprises:

[0020] According to the spatial relationship of the component BIM model, the construction layer plan image is divided;

[0021] The steel bar semantic segmentation neural network model is applied to identify the steel bar pixel points in the image;

[0022] The steel bar pixel points in each component geometric boundary are sequentially clustered and analyzed, and the longitudinal steel bar pixel point set, the horizontal steel bar pixel point set and the inclined steel bar pixel point set in the image are extracted; for each steel bar pixel point set, a curve fitting method is used to obtain a steel bar line, and the curve is then extended to the farthest point in the point set in parallel to form a steel bar line frame to represent the steel bar entity occupation area; repeat the step to obtain the steel bar pixel point set and the steel bar line pattern of all components in the construction layer.

[0023] Further, the step of dividing the construction layer plan image according to the spatial relationship of the component BIM model comprises:

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

[0025] Convert the construction layer plan image to millimeter units, take the target calibration position as the overlapping point, overlay the construction layer component BIM model plan with the construction layer plan image at the same scale, divide the construction layer plan image according to the geometric boundary of the component BIM model to obtain the actual plan image of each component.

[0026] Further, the step of extracting the longitudinal steel bar pixel point set, the horizontal steel bar pixel point set and the inclined steel bar pixel point set in the image comprises:​

[0027] Select the pixel point with the minimum sum of horizontal and vertical coordinates of the component steel bar as the starting point, traverse the remaining steel bar pixel points, and include the pixel points with x-axis coordinate difference within the threshold range into the classification group as a potential vertical bar point set; if the previous classification group is valid, select a pixel point with the minimum sum of horizontal and vertical coordinates in the remaining steel bar pixel points as a new starting point; if the previous classification group is invalid, select a pixel point with the second minimum sum of horizontal and vertical coordinates in the steel bar pixel points as a new starting point; repeat the classification step until all steel bar pixel points are traversed, and output all vertical bar pixel point sets obtained by clustering;

[0028] After extracting the vertical bar pixel points and the horizontal bar pixel points from an image in sequence, for the remaining pixel points, a straight line with a number of pixel points passing through reaching a preset value is obtained by a Hough transform method as a potential diagonal surface bar straight line; pixel points passing through straight lines with similar slopes are classified into the same group as a diagonal bar pixel point set.

[0029] Further, the step S5 comprises:

[0030] According to the component BIM model number in the vibrating task, a corresponding vibrating process scheme is matched from a process database, and a component vibrating point position in the vibrating process scheme is extracted;

[0031] The steel bar plane distribution information obtained in the step S3 is imported, compared with the vibrating point position coordinates of the component to be vibrated, and a vibrating point position with overlap is extracted;

[0032] For the overlapping vibrating point position, the vibrating point position arrangement algorithm is used for re-solution, the vibrating point position solution space of the component is updated, and the nearest candidate vibrating point position to the overlapping vibrating point position is re-selected to form a new component vibrating point position set;

[0033] According to the spatial position of the component relative to the current construction layer in the building structure model, a coordinate conversion equation is determined, all vibrating point positions are converted into position coordinates in the coordinate system of the construction layer of the building machine, and the vibrating process schemes of all components to be vibrated are converted and arranged in sequence to form the vibrating process scheme of the component;

[0034] The vibrating mobile route arrangement algorithm is applied to connect all vibrating point positions of the vibrating task to generate the vibrating mobile route of the vibrating task;

[0035] Finally, the vibrating process scheme and the vibrating mobile route corresponding to the vibrating task are integrated to generate the vibrating operation scheme.

[0036] Further, the step of applying the vibrating mobile route arrangement algorithm to connect all vibrating point positions of the vibrating task to generate the vibrating mobile route of the vibrating task comprises:

[0037] The northwest and southeast edge vibration point of the construction layer where the vibration task is located is taken as the starting vibration point and the ending vibration point, the shortest moving path is taken as the target, all vibration points are connected in the preset top-down and left-right circulating sequence, and the vibration moving path is generated.

[0038] Further, the control method further comprises a step S7 of work data feedback: continuously collecting vibration work process data by using the vibration work management module, integrating the positioning data, the construction layer image, the vibration work time and the vibration work completion record collected in the vibration work to form a work data package each time the vibration task is completed, associating the work data package with the corresponding component model, and updating the concrete construction progress information to the management personnel.

[0039] In a second aspect, the present application provides a model-driven top die platform intelligent vibration equipment control system, which is used to implement the control method described above, and comprises:

[0040] A model data management module is configured to import the component BIM model and the steel bar BIM model, and synchronously extract and store the component specification size and the steel bar distribution data.

[0041] A process management module is configured to generate, store and transmit the vibration process data of various components, establish a vibration process database, plan and generate the component vibration point by using the model-driven vibration point arrangement algorithm, determine the vibration depth and the vibration time process parameters of each vibration point, and determine the vibration process scheme of the target component.

[0042] A work task planning module is configured to quickly generate the vibration task containing the information of the component to be vibrated and the work time.

[0043] A work scheme generation module is configured to match the vibration process scheme of each component from the vibration process database according to the component BIM model number in the vibration task, plan the vibration path, and generate the vibration work scheme.

[0044] A vibration work management module is configured to translate the generated vibration work scheme into an industrial control instruction, and send the industrial control instruction to the intelligent vibration equipment to carry out the vibration work.

[0045] The present application has the following beneficial effects:

[0046] The control method of the application realizes the generation of a vibrating process based on a building structure component BIM model, operation task planning and automatic generation of an operation scheme, and automatically controls the complete vibrating operation of the intelligent vibrating equipment of the building machine top mold platform according to the operation scheme, creates a model-driven intelligent vibrating process control method of the building machine, strengthens the process control and efficiency improvement of the cast-in-place structure concrete vibrating operation, promotes the intelligent upgrading of the concrete vibrating operation of the building machine system, and opens up the whole process of the concrete engineering construction of the building machine;

[0047] The control system of the application designs five core modules of model data management, process management, operation task planning, operation scheme generation and vibrating operation management in combination with the control method, establishes a data transmission channel with the intelligent vibrating equipment, and creates an intelligent vibrating equipment central control system under a cloud edge system framework. Based on the recognition and analysis of the component model, the automatic generation of the vibrating operation scheme and the real-time control of the vibrating operation are realized, the vibrating operation is automatically completed by the intelligent vibrating equipment of the building machine, and an intelligent vibrating management tool in the construction scene of the cast-in-place structure building machine is created. BRIEF DESCRIPTION OF DRAWINGS

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

[0049] Figure 2 It is a flowchart of the model-driven top mold platform intelligent vibrating equipment control method of the application.

[0050] Figure 3 It is a principle schematic diagram of the vibrating point arrangement algorithm of the application.

[0051] Figure 4 It is a schematic diagram of the vibrating moving route arrangement of the application. DETAILED DESCRIPTION

[0052] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0053] The intelligent vibrating equipment of the embodiment includes a track mechanism, a track walking mechanism, an equipment trolley, a control device, a collection positioning device and a vibrating device.

[0054] The track mechanism is installed in a hanging manner under the building machine top mold platform, and provides a support carrier for the intelligent vibrating equipment to move on the construction operation surface.

[0055] The track walking mechanism moves on the track mechanism in cooperation with the track mechanism.

[0056] The equipment trolley is connected with the track walking mechanism and moves with the track walking mechanism. The equipment trolley includes a lifting rod, which is connected with the vibrating device and used to adjust the height of the vibrating device.

[0057] The acquisition positioning device comprises a positioning device and an image acquisition device, which are respectively installed on the track mechanism and the equipment trolley, and are connected with the control device to transmit updated acquisition monitoring data; the positioning device comprises transverse, longitudinal and vertical laser ranging sensors, which position the position of the intelligent vibrating device by measuring the distance of the vibrating device relative to the top die platform of the building machine; the image acquisition device covers the vibrating device and the working surface downward, and is used for acquiring the building machine construction layer image and the concrete working surface image progress image;

[0058] The control device controls the movement of the track walking mechanism and the lifting of the lifting rod based on the received instructions, and moves the vibrating device to the target vibrating point for vibrating operation.

[0059] As shown in Figure 1 The model-driven top die platform intelligent vibrating device control system of the present application comprises a model data management module, a process management module, a task planning module, a work scheme generation module and a vibrating work management module.

[0060] The model data management module has a model import, a model database and a construction layer coordinate system calibration function, supports the import of component BIM models (also known as component models) and reinforcement BIM models (also known as reinforcement models) of building structure main models (also known as structure models or building models or building structure models), synchronously extracts and stores component specification size and reinforcement distribution data; on the other hand, it has a coordinate system calibration function, which can record the calibration data of the acquisition positioning device of the intelligent vibrating device to adjust the coordinate correction function, and correct the ranging positioning data of the intelligent vibrating device to the position coordinates under the coordinate system of the building machine construction layer.

[0061] The process management module is mainly used for generating, storing and transmitting the vibrating process data of cast-in-place structure beams, plates, walls and columns. First, the component BIM model and number are used as the index of the process data to establish a vibrating process database for structured storage and fast matching of vibrating process, mainly including vibrating point, vibrating depth and vibrating time of different specifications of components; secondly, the vibrating point arrangement algorithm is applied to quickly generate the vibrating point of each component, and the vibrating depth and vibrating time parameters are designed in combination with the geometric size data of the component BIM model to generate the vibrating process scheme containing the vibrating point, vibrating depth and vibrating time of the component.

[0062] The operation task planning module is mainly used for assisting the construction layer site of the building machine to quickly determine the to-be-vibrated component and generate a vibrating task. The operation task planning module has a visual interactive function for the cast-in-place structure model, directly selects the model graph of the to-be-vibrated component of the construction layer, can quickly create a vibrating task, and is convenient for the site personnel to log in to the system to suggest operation through a mobile device; the vibrating task data contains the component model, number and completion time covered by the construction layer, and can be used to match and analyze the corresponding component model and the vibrating operation scheme.

[0063] The operation scheme generation module is used for planning, generating and integrating and issuing the vibrating operation scheme. In the vibrating task, the component model number is automatically matched with the corresponding vibrating process scheme from the process database, and the vibrating points are corrected to the position coordinates in the coordinate system of the construction layer of the building machine through a coordinate correction function; the vibrating route arrangement algorithm is applied to connect all the vibrating points to generate a vibrating moving route, and the vibrating points, vibrating depth, vibrating time and vibrating moving route are integrated to generate the vibrating operation scheme of the vibrating task.

[0064] The vibrating operation management module provides vibrating operation industrial control instruction compiling and issuing, vibrating operation real-time control and construction real-time monitoring functions. The industrial control instruction compiling is to translate the vibrating operation scheme into an implementable equipment industrial control instruction data packet according to the control signal data format of the intelligent vibrating equipment, and transmit the data packet to the control device of the intelligent vibrating equipment through the field Internet of Things to drive the automatic operation of the intelligent vibrating equipment; the vibrating operation real-time control function provides a tool for the site personnel to temporarily control the intelligent vibrating equipment, which can combine the control device of the intelligent vibrating equipment to control the movement and transportation of the intelligent vibrating equipment; the construction real-time monitoring function establishes a data transmission channel with the intelligent vibrating equipment, receives the collected data records such as construction layer images, equipment positioning coordinates and operation instructions, and updates the vibrating operation progress and quality records of the current construction layer through data preprocessing.

[0065] Based on the same inventive concept, the application also provides a model-driven top die platform intelligent vibrating equipment control method, Figure 3 The principle diagram of the vibrating point arrangement algorithm of the application is shown in the figure, wherein L1 is a conventional beam component BIM model, d po is the vibrating point spacing requirement, d te is the vibrating point and the formwork margin, the to-be-selected vibrating points represented by the gray points in the figure are densely arranged, which form the solution space of the algorithm, and A is the set of all vibrating points obtained by the algorithm. Figure 4 The schematic diagram of the vibrating moving route arrangement of the application is shown in the figure, wherein are the vibrating points of the component L1 generated by the vibrating point arrangement algorithm, R A0110-01 is the vibrating moving route generated by connecting all the vibrating points.

[0066] AsFigure 2 The model-driven top mold platform intelligent vibration equipment control method shown comprises the following steps:

[0067] Step S1, establish a vibration process database. Facing the cast-in-place structure building machine construction scene, taking the standard construction layer beam, slab, wall and column component BIM model of cast-in-place structure as the object, taking the geometric properties of the component BIM model corresponding 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.

[0068] Step S2, vibration process scheme generation. Extract component size and reinforcement distribution data from building structure component BIM model and reinforcement BIM model, then according to the structural characteristics of various components, generate component vibration points by applying vibration point arrangement algorithm. Taking horizontal components such as beams and slabs as examples, combined with Figure 4 the beam component model L1 top view shown, analyze and extract the component size specifications and reinforcement distribution spacing, length and other data of the construction layer, and solve the vibration point set of the component ;

[0069]

[0070] According to the component height and concrete construction specification requirements, generally the vibration time is required to be not more than 30s, the single-layer vibration depth is required to be not more than 0.75 times the rod length, and the layered vibration depth should be inserted into the lower layer concrete at least 50mm, to determine the vibration depth and vibration time process parameters of each vibration point , to determine the vibration process scheme of the target component L1 ;

[0071]

[0072] Further complete the vibration process scheme of each standard component of the building standard layer slab, wall and column , , , etc., and establish a correlation mapping relationship with the corresponding component BIM model to perfect the vibration process database;

[0073] The vibration point arrangement algorithm of step S2 is to generate a group of vibration points for the component to cover the cast-in-place component as completely as possible with as few vibration points as possible, and guide efficient vibration of the concrete component. Taking component L1 as an example, the algorithm is based on the component model top view for solving operation, as shown in Figure 3 , the specific process is as follows:

[0074] Step S21. Determine the vibration influence radius r and the vibration point spacing dpo and the spacing d between the vibrating point and the formwork te .

[0075] Solving the point position before determining the initial parameters according to the performance of the vibrating rod, the vibrating rod influence radius r is generally 8-9 times the radius of the rod head; the vibrating point spacing d po is required to be not more than 1.4 times the vibrating influence radius r, and the maximum d is determined po The value interval [d po-min , d po-max ] is determined; the vibrating point spacing d te is required to be not more than 0.5 times the vibrating influence radius r, wherein the formwork position is determined by the boundary of the component model top view, and the maximum d te The value interval [d te-min , d te-max ] is determined.

[0076] Select a vibrating rod with a diameter of 50mm as an example, the vibrating influence radius r value interval is [200mm, 225mm], and the vibrating point spacing d po The value interval is [280mm, 315mm], and the vibrating point spacing d te The value interval is [100mm, 112.5mm].

[0077] Step S22. Generate the vibrating point solution space.

[0078] With the component steel distribution position (extracting component steel distribution from the steel BIM model), the vibrating rod and formwork distance requirement d te (to improve the vibrating efficiency, d te The maximum value of the interval is taken), and the formwork position is determined by the geometric boundary of the component BIM model, the area region (as shown in Figure 3 , the steel occupying area and the component formwork boundary inward d te region) on the current component plane which cannot generate vibrating points is determined, and the vibrating point solution set space is optimized.

[0079] In the component plane vibrating point generating area, vibrating point solution space is generated according to the dense spacing 2mm, and each candidate vibrating point is expressed as the plane coordinate of the original coordinate system with the leftmost and uppermost edge intersection point of the component as the origin.

[0080] Step S23. Determine the vibrating point arrangement mode.

[0081] The vibrating point arrangement rule is divided into two modes of quadrilateral arrangement and triangular arrangement, and under the premise that there is no gap in the influence range of adjacent vibrating points, the maximum spacing of vibrating points arranged in quadrilateral should be , wherein r is the vibrating rod influence radius, and the maximum spacing of vibrating points arranged in triangular should be However, actual specifications require that the spacing between vibration points not exceed 1.4 times the vibration influence radius; aiming for the highest coverage efficiency of the vibration influence range, i.e., minimizing the overlap area of ​​the vibration influence range of adjacent points and eliminating gaps, a quadrilateral arrangement is chosen, with a vibration point spacing d. po Value d po-max =1.4r, distance d between vibration point and formwork te Value d te-max =0.5r.

[0082] Step S24. Arrange the vibration points and generate the vibration point solution.

[0083] Select the difference d between the top view plane of the component's BIM model and the vertical coordinate of the component's uppermost boundary. te-max As the first filter row, select the difference d between the x-axis coordinate of the component and its leftmost boundary. te-max Taking the point as the starting point, along the x-axis, at intervals d po-max Arrange the vibration points in the current row sequentially; when the x-axis coordinate of the newly arranged point exceeds the component boundary, determine and select the last vibration point in the current row:

[0084] If the difference between the coordinates of the previous point and the x-axis coordinate of the component boundary is less than d te-max Then discard the latest point position and correct the x-axis coordinate of the previous point position to the distance d from the component boundary. te-max And serve as the final tremor point for this bank;

[0085] 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, then the latest point is discarded and the previous point is taken as the last vibration point of this row;

[0086] 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 of 0.7r, the x-axis coordinates of the latest point will be corrected to be within the component range and at a distance d from the component boundary. te-max And serve as the final tremor point for this bank;

[0087] After arranging and obtaining a row of vibration points, select a value d below the original starting point where the difference between the x-axis coordinate and the left boundary of the component is d. te-max Distance d from the original starting point po-max Using the point as the starting point of a new row, repeat the above steps to obtain the vibration points for each row; until the y-axis coordinate of the new row of filters exceeds the ordinate of the lowest boundary of the component, then select the last row of filters:

[0088] If the difference between the starting coordinate of the previous row and the y-axis coordinate of the component boundary is less than d te-max If the latest point is discarded, the y-axis coordinates of all vibration points from the previous point are corrected to the distance d from the component boundary. te-max And serve as the vibration point for the last row;

[0089] If the difference between the starting point coordinate and the component boundary y-axis coordinate is not greater than 0.7r, the latest point is discarded, and the last row of the last row of the last row is used as the last row of the last row of the last row.

[0090] If the difference between the starting point coordinate and the component boundary y-axis coordinate is greater than the vibration influence radius 0.7r, the y-axis coordinate of the starting point of the latest row is corrected to be within the component range and the distance d from the component boundary te-max , rearrange the vibration point position of this row, and use it as the last row of the last row of the last row of the last row;

[0091] Step S25. According to the arrangement structure of the vibration point position, the initial point position set of the component is integrated ; compare the initial point position set with the vibration point position solution space, and sequentially filter and extract the nearest candidate vibration point position from the initial point position, to generate an optimized vibration point position set .

[0092] Step S3, reverse modeling of the construction layer of the building machine. First, establish a building machine construction layer coordinate system with the building machine top mold equipment platform as the reference surface, Z axis vertically downward. The relative distance between the intelligent vibration equipment of the present application and the cast-in-place components of the construction layer is extracted by laser ranging, image scanning identification and other technologies. The spatial position of the equipment, components, steel bars and the like is represented by three-dimensional coordinates (X, Y, Z);

[0093] Among them, the intelligent vibration equipment controlled by the present application has the functions of horizontal, vertical and vertical laser ranging, and can support the positioning of intelligent vibration equipment and concrete working surface in the building machine construction layer coordinate system by combining three direction ranging data and laser ranging sensor position calibration data.

[0094] Secondly, in order to deal with the actual construction process of steel bar binding operation error, and the practical problem of not meeting the design drawing, it is necessary to scan again to obtain the construction layer plane scanning image and identify the construction layer plane steel bar distribution information. The intelligent vibration equipment is equipped with a near-focus 2.8mm, 200 million pixel image acquisition device. After the equipment is installed, the camera calibration of the image acquisition device will be carried out; before pouring concrete in the construction layer of the building machine, all component steel bar images are collected, combined with camera calibration and image distortion correction parameters to correct the image, and through image stitching to form a complete construction layer plane scanning image; on the basis of this image, the plane distribution information of the component steel bars in the current construction layer is obtained by applying the steel bar recognition algorithm.

[0095] The steel bar recognition algorithm in step S3 includes two parts: steel bar pixel point extraction based on image recognition and component steel bar pixel cluster analysis. It includes the following steps:

[0096] Step S31. According to the spatial relationship of the cast-in-place component model, the construction layer plane scanning image is divided.

[0097] The intelligent vibration equipment is provided with an image acquisition device and a vertical laser ranging sensor, which is fixedly installed on a track thereof, and needs to be calibrated in combination with a 1000mm long scale target before being put into use, and an image scaling ratio of a construction layer plane is obtained according to a ratio of an actual distance (obtained by laser ranging) of the calibrated square target and the image acquisition device to a camera focal length;

[0098] Before applying a steel bar recognition algorithm, the construction layer plane image is converted into millimeter units according to the above-mentioned scaling ratio, a target calibration position is taken as an overlapping point, a construction layer component model plane image is overlaid with the construction layer plane image at the same scale, and the construction layer plane image is segmented according to a component model geometric boundary to obtain an actual plane image of each component;

[0099] Step S32. A steel bar category semantic segmentation neural network model is applied to recognize steel bar pixel points in the image. The steel bar category semantic segmentation neural network model is based on a VGG16 neural network model, and model training is completed based on cast-in-place structure longitudinal bars, transverse bars, inclined bars and stirrup images, and there are 300 labeled images for each type of steel bar;

[0100] The trained complete steel bar category semantic segmentation neural network model is used to recognize and process the construction layer plane scanning image, and steel bar pixel points in the image are extracted;

[0101] Step S33. According to the component segmentation result of step S31, steel bar pixel points in each component geometric boundary are sequentially analyzed, and longitudinal bar pixel point sets, transverse bar pixel point sets and inclined bar pixel point sets in the image are extracted;

[0102] The longitudinal bar pixel point set is extracted by selecting a pixel point with the smallest sum of horizontal and vertical coordinates of component steel bar pixel points as a starting point, traversing the remaining steel bar pixel points, and including a pixel point with a difference in x-axis coordinates from the starting point within a threshold range (10 pixel points) into a classification group as a potential longitudinal bar point set, discarding the classification group if the steel bar pixel points in the classification group are less than 10, selecting a pixel point with the second smallest sum of horizontal and vertical coordinates as a new starting point in the remaining steel bar pixel points if the previous classification group is valid, selecting a pixel point with the second smallest sum of horizontal and vertical coordinates as a new starting point in the steel bar pixel points if the previous classification group is invalid, repeating the classification step until all steel bar pixel points are traversed, and outputting all longitudinal bar pixel point sets obtained by clustering;

[0103] The transverse bar pixel point set is extracted by classifying the steel bar pixel points according to the difference in y-axis coordinates from the starting point, similar to the above-mentioned longitudinal bar pixel point classification method;

[0104] Diagonal rib pixel set extraction: After extracting the vertical and horizontal rib pixels in sequence for a component image, for the remaining pixels, the Hough transform method is used to obtain the straight line that passes through 5 or more pixels, which is taken as the potential diagonal rib straight line; the pixels passed through by the straight line with similar slope are classified into the same group as a diagonal rib pixel set, and the pixel set containing less than 10 pixels is discarded.

[0105] Step S34. For each set of rebar pixels, use curve fitting to obtain the rebar lines, and then extend the curves parallel to the farthest point in the set to form a rebar line frame to represent the area occupied by the rebar entity.

[0106] Step S35. Repeat steps S33-S34 to obtain the set of steel reinforcement pixel points and steel reinforcement line graphics for all components in the construction layer.

[0107] Step S4, Vibration Task Planning. After the building construction machine completes the concrete pouring of the construction layer components, taking the components L1, L2, B1, B2, and Q1 of the 10th floor above ground of Building 1 in Project A as an example, on-site personnel log into the control system using mobile devices. Through the visual interactive function of the task planning module, they select and confirm the cast-in-place components to be vibrated, and the vibration task is automatically generated. The vibration task data should include the information of the components to be vibrated and the operation time.

[0108] Step S5: Automatic generation of vibration operation plan. Using the vibration operation plan generation module of the control system of this invention, the vibration process plan for each component is matched according to the component BIM model number. , , , ;

[0109] Based on the component BIM model number in the vibration task, the system automatically matches the corresponding vibration process plan from the process database and extracts the component vibration points contained in the vibration process plan. ;

[0110] Import the planar distribution information of the reinforcing bars obtained in step S3 (including the set of pixel points of the reinforcing bars with location attributes and the graphic of the reinforcing bar lines), and compare it with the coordinates of the vibration points of the component to be vibrated. Extract vibration points that overlap with the rectangular area of ​​the reinforcing bars from the image of the reinforcing bar lines. ;

[0111] For vibration points that repeatedly conflict with the reinforcing bars The solution should be obtained again using the vibration point layout algorithm. Combined with the rectangular data of the reinforcing bars obtained from the scan, the solution space of vibration points in the plane of the component should be updated, and conflicting points should be re-selected. The nearest candidate vibration points are used to form a new set of vibration points for the component. ;

[0112] According to the spatial position of the beam member L1 relative to the current construction layer in the building model, a coordinate conversion equation is determined , all vibration points are converted into position coordinates in the construction layer coordinate system of the building machine ; the vibration process scheme of all to-be-vibrated component beams L1, L2, plates B1, B2, walls Q1, etc. is converted and arranged in turn 、 、 、 , and the vibration process scheme of the component beams L1, L2, plates B1, B2, walls Q1 of the 10th floor of the No. 1 building of Project A is integrated to form ;

[0113]

[0114]

[0115]

[0116]

[0117] wherein is the coordinate conversion equation of the beam member L1 in the construction layer, wherein is the x-axis difference of the origin of the component L1 coordinate system relative to the x-axis of the building machine construction layer coordinate system, is the y-axis difference of the origin of the component L1 coordinate system relative to the y-axis of the building machine construction layer coordinate system, is the z-axis difference of the origin of the component L1 coordinate system relative to the z-axis of the building machine construction layer coordinate system;

[0118] Further, all vibration points of the vibration task are connected by using a vibration moving route arrangement algorithm to generate a vibration moving route of the vibration task . Wherein, the initial default vibration moving route arrangement takes the northwest and southeast edge vibration points of the construction layer where the vibration task is located as the starting vibration point and the terminal vibration point, takes the shortest moving path as the target, connects all vibration points in the preset top-down and left-right cyclic order, and generates a vibration moving route ;

[0119] Finally, the vibration process scheme corresponding to the vibration task and the vibration moving route are integrated to generate a vibration operation scheme : .

[0120] Step S6, automatic vibration operation. The object of the control method of the present application is a model-driven top mold platform intelligent vibration equipment, which is installed with a control device as the control core of the whole equipment; through the vibration operation management module of the control system of the present application, the generated vibration operation scheme is translated into industrial control instructions; the intelligent vibration equipment control device receives the industrial control instructions, controls the corresponding motor, collects the positioning device and the vibration device to carry out the vibration operation according to the instruction signal, and completes the automatic vibration task;

[0121] Step S7, operation data feedback. During the vibration operation process, the vibration operation management module of the control system of the present application continuously collects the vibration operation process data, integrates the positioning data, the construction layer image, the vibration operation time and the vibration operation completion record collected in this vibration operation to form an operation data package after each vibration task is completed, associates with the corresponding component model, updates the concrete vibration operation progress of the construction layer in the system, and helps the item manager to master the construction progress of each layer of concrete in real time.

[0122] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the idea of the present application shall be considered as falling within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and decorations without departing from the principle of the present application shall also be considered as falling within the protection scope of the present application.

Claims

1. A model-driven top die platform intelligent vibration equipment control method, characterized in that, The method comprises the following steps: Step S1, vibration process library establishment: facing the cast-in-place structure building machine construction scene, taking the BIM model of each type of component of the standard construction layer of the cast-in-place structure as the object, taking the geometric attribute of the component BIM model corresponding 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 is established based on the component BIM model as the basic unit; Step S2, vibration process scheme generation: extracting component specification size and steel distribution data from the component BIM model and the steel BIM model of the building structure model respectively, planning and generating component vibration points according to the structural characteristics of each type of component by applying a vibration point arrangement algorithm, determining the vibration depth and vibration time process parameters of each vibration point, and determining the vibration process scheme of the target component; Step S3, building machine construction layer reverse modeling: establishing a building machine construction layer coordinate system, scanning the current construction layer to obtain a complete construction layer plan image, and applying a steel recognition algorithm to obtain the plan distribution information of the component steel in the current construction layer; Step S4, vibration task planning: using the task planning module to point the component BIM model to quickly generate a vibration task containing component information to be vibrated and work time; Step S5, automatic generation of vibration operation scheme: using the operation scheme generation module to match the vibration process scheme of each component according to the component BIM model number, planning the vibration route, and generating the vibration operation scheme; Step S6, automatic vibration operation: using the vibration operation management module to translate the generated vibration operation scheme into industrial control instructions; The intelligent vibration equipment carries out vibration operation according to the industrial control instructions and completes the automatic vibration task; The step S2 comprises: Based on the component BIM model planar size, taking the vibration rod diameter, the vibration influence radius and the component steel as inputs, and taking the highest vibration influence range coverage efficiency as the target, the optimal vibration point set of the component is solved and operated; The step of taking the vibration rod diameter, the vibration influence radius and the component steel as inputs, and taking the highest vibration influence range coverage efficiency as the target to solve and operate the optimal vibration point set of the component comprises: With the influence radius of the vibrating rod as input, the interval [d po-min , d po-max ] of the vibrating point spacing and the interval [d te-min , d te-max ] of the vibrating point template distance are determined. po-min , d po-max ] of the vibrating point spacing and the interval [d te-min , d te-max ] of the vibrating point template distance are determined. According to the component steel bar distribution data, the distance d between the vibrating rod and the formwork te , determine the area region on the current component plane that cannot generate a vibrating point, and reduce the vibrating point solution set space; In the component planar vibration point area, the selected point is generated according to the preset dense interval, and the vibration point solution space is formed; According to the target requirement of the highest coverage efficiency of the vibrating influence range, adjacent vibrating points should minimize the overlapping area of the vibrating influence range and have no gaps; select the point with the minimum vertical coordinate in the solution space as the first row, select the point with the minimum horizontal coordinate as the starting point, and select the maximum vibrating point spacing d po-max The vibrating points in a row are arranged in sequence. Select the point with the x-axis coordinate difference d from the left boundary of the component as the new starting point below the original starting point te-max , and repeat the above steps to obtain the vibration point position of each row to form the initial point set of the component po-max . The initial point set is compared with the vibration point solution space, and the nearest selected vibration point in the solution space is sequentially filtered and extracted from the initial point, and the optimized vibration point set is generated.

2. The model-driven top form platform smart vibrating equipment control method of claim 1, wherein, The step S3 comprises: According to the spatial relationship of the component BIM model, the construction layer plan image is divided; A steel type semantic segmentation neural network model is applied to identify the steel pixel points in the image; The steel pixel points in each component geometric boundary are sequentially clustered and analyzed, and the longitudinal steel pixel point set, the horizontal steel pixel point set and the oblique steel pixel point set in the image are extracted; for each steel pixel point set, a curve fitting method is used to obtain a steel line, and the curve is then extended to the farthest point in the point set in parallel to form a steel line frame to represent the steel entity occupation area; the step is repeated to obtain the steel pixel point set and the steel line pattern of all components in the construction layer.

3. The model-driven top form platform smart vibrating equipment control method of claim 2, wherein, The step of cutting the construction layer planar image according to the component BIM model spatial relationship 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 a target, and a construction layer planar image scaling ratio is acquired; The construction layer planar image is converted into millimeter units, a target calibration position is taken as an overlap point, a component BIM model planar image of the construction layer is proportionally superimposed on the construction layer planar image, the construction layer planar image is cut according to a component BIM model geometric boundary, and an actual planar image of each component is acquired.

4. The model-driven top form platform smart vibrating equipment control method of claim 2, wherein, The step of extracting a longitudinal reinforcement pixel point set, a transverse reinforcement pixel point set and an oblique reinforcement pixel point set in the image comprises: A pixel point with the smallest sum of transverse and longitudinal coordinates of a component reinforcement pixel point is selected as a starting point, and the remaining reinforcement pixel points are scanned, and when a difference in an x-axis coordinate of the starting point is within a threshold range, the starting point is included in a classification group as a potential longitudinal reinforcement point set; if a previous classification group is valid, a pixel point with the smallest sum of transverse and longitudinal coordinates of the remaining reinforcement pixel points is selected as a new starting point; if the previous classification group is invalid, a pixel point with the second smallest sum of transverse and longitudinal coordinates of the reinforcement pixel points is selected as the new starting point; the classification step is repeated until all the reinforcement pixel points are scanned, and all the longitudinal reinforcement pixel points obtained by clustering are output; After a longitudinal reinforcement pixel point and a transverse reinforcement pixel point are extracted from an image, for the remaining pixel points, a straight line with a preset number of pixel points passing through the straight line is obtained as a potential oblique surface reinforcement straight line by using a Hough transform method; pixel points passing through straight lines with similar slopes are classified into the same group as an oblique reinforcement pixel point set.

5. The model-driven top form platform smart vibrating equipment control method of claim 1, wherein, The step S5 comprises: A component BIM model number in the vibrating task is matched with a corresponding vibrating process scheme from a process database, and a component vibrating point position in the vibrating process scheme is extracted; Steel reinforcement planar distribution information obtained in the step S3 is imported, and the steel reinforcement planar distribution information is compared with a vibrating point position coordinate of a component to be vibrated, and a vibrating point position with overlap is extracted; For the vibrating point position with overlap, the vibrating point position arrangement algorithm is used to solve again, the vibrating point position solution space of the component is updated, and a nearest vibrating point position to be selected is reselected from the vibrating point position with overlap, and a new component vibrating point position set is formed; According to a spatial position of a component in a building structure model relative to a current construction layer, a coordinate conversion equation is determined, all the vibrating point positions are converted into position coordinates in a construction layer coordinate system of a building machine, vibrating process schemes of all the components to be vibrated are converted and arranged in sequence, and the vibrating process schemes of the components are integrated; A vibrating moving route arrangement algorithm is applied to connect all the vibrating point positions of the vibrating task, and a vibrating moving route of the vibrating task is generated. Finally, a vibrating process scheme and a vibrating moving route corresponding to the vibrating task are integrated, and a vibrating operation scheme is generated.

6. The model-driven top form platform smart vibrating equipment control method of claim 5, wherein, The step of applying the vibrating moving route arrangement algorithm to connect all the vibrating point positions of the vibrating task, and generating the vibrating moving route of the vibrating task comprises: The northwest and southeast edge vibration points of the construction layer where the vibration task is located are taken as the starting vibration point and the ending vibration point, the shortest moving path is taken as the target, all vibration points are connected in the preset top-down and left-right cyclic order, and the vibration moving route is generated.

7. The model-driven top form platform smart vibrating equipment control method of claim 1, wherein, The control method further comprises a step S7 of work data feedback: the vibration work management module is used to continuously collect vibration work process data, positioning data, construction layer images, vibration work time and vibration work completion records collected in this vibration work are integrated to form a work data package after each vibration task is completed, the work data package is associated with the corresponding component model, and the management personnel is updated with concrete construction progress information.

8. A model-driven intelligent vibration compaction equipment control system for a top formwork platform, characterized in that, The control system is used to implement the control method according to claim 1, and the control system comprises: a model data management module configured to import the component BIM model and the steel bar BIM model, and synchronously extract and store component specifications, sizes and steel bar distribution data; a process management module configured to generate, store and transmit vibration process data of various components, establish a vibration process database, plan and generate component vibration points by using a model-driven vibration point arrangement algorithm, determine vibration depth and vibration time process parameters of each vibration point, and determine a vibration process scheme of a target component; a work task planning module configured to quickly generate a vibration task containing component information to be vibrated and work time; a work scheme generation module configured to match vibration process schemes of each component from the vibration process database according to component BIM model numbers in the vibration task, plan a vibration route, and generate a vibration work scheme; and a vibration work management module configured to translate the generated vibration work scheme into an industrial control instruction, and send the industrial control instruction to intelligent vibration equipment to carry out vibration work.

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