An accurate pre-embedding construction method for the attachment support of a building construction machine

Abstract

The present invention relates to the field of building construction technology, and particularly to a precise pre-embedding construction method for the attachment wall support of a building construction machine. The method includes obtaining the theoretical position point set of the attachment wall support embedded parts and the actual structure point set of the already tied steel bar mesh, and aligning the spatial coordinate systems; constructing the spatial distance field between the theoretical position point set and the actual structure point set, obtaining the adjustment strategy for the theoretical position points of the attachment wall support embedded parts according to the spatial distance field, solving the collision-free adjustment path of the adjustment strategy, and adjusting the theoretical position points that have position conflicts with the actual structure point set; detecting the offset situation during the pouring process of the theoretical position points and making adjustments. Through systematic steps and innovative technologies, the present invention realizes the precise pre-embedding construction of the attachment wall support, significantly improves the construction accuracy and efficiency, enhances the safety of the construction process, and lays a good foundation for subsequent project implementation, providing a reference and exemplary model for future building construction.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and particularly to a precise pre-embedding construction method for the attachment wall support of a building construction machine. Background Art

[0002] The origin of the building construction machine is closely related to the development of building technology. As early as the beginning of the 20th century, with the progress of concrete technology and construction engineering, the construction process gradually moved towards mechanization and automation. Especially in the 1970s, with the emphasis on infrastructure construction, the emergence of large-scale building projects gave rise to the demand for building construction machines. The initial building construction machines mainly relied on simple lifting devices. With the continuous progress of technology and the increasing market demand, the building construction machines have gradually evolved into various forms and structural designs, such as tower type, bucket type, and lifting type, etc. Especially after the 1990s, with the rapid development of information technology, modern building construction machines have introduced intelligent control and sensing technologies, greatly improving the construction efficiency and safety. The use of attachment wall supports can be traced back to the rise of early concrete structure buildings. With the update of building design concepts and the progress of construction technology, attachment wall supports have become more and more common in buildings and have become an important component for connecting structures and bearing loads. The design of attachment wall supports has evolved from simple metal frames to complex pre-embedding methods, gradually forming the widely used form today.

[0003] In modern building engineering, the pre-embedding work of attachment wall supports is a key link to ensure the structural safety and stability. During the pre-embedding process of attachment wall supports, it often relies on manual measurement and blind construction. Due to the complex conditions at the building site, measurement errors are widespread, resulting in a deviation between the actual position and the designed position of the support. Such a deviation will not only affect the bearing capacity of the attachment wall support, but may even lead to structural instability. In many cases, even a slight deviation will cause serious consequences in subsequent construction, increasing the difficulty and cost of subsequent adjustment. At the same time, the pre-embedding support technology often fails to fully consider the collision problems in actual construction. Due to the lack of scientific and reasonable planning, the attachment wall support may have a spatial conflict with existing structural members. This situation not only requires additional manpower for adjustment, but may also lead to delays in the construction progress and affect the progress of the entire project. Summary of the Invention

[0004] The present invention provides a precise pre-embedding construction method for the attachment wall support of a building construction machine to solve the defects existing in the prior art.

[0005] The present invention provides a precise pre-embedding construction method for the attachment wall support of a building construction machine, including:

[0006] Obtain the theoretical position point set of the attachment wall support pre-embedded parts and the actual structure point set of the already tied steel bar mesh, and align the theoretical position point set with the actual structure point set in the space coordinate system using the improved iterative closest point algorithm.

[0007] Adjust the theoretical position points that conflict with the actual structure point set, including:

[0008] Construct the spatial distance field between the theoretical position point set and the actual structure point set.

[0009] Obtain the adjustment strategy for the theoretical position points of the embedded parts of the wall-attached supports according to the spatial distance field.

[0010] Solve the collision-free adjustment path of the adjustment strategy.

[0011] Generate the adjusted position point set of the embedded parts of the wall-attached supports.

[0012] During the pouring process, monitor the actual positions of each theoretical position point in the adjusted position point set in real time, and adjust the theoretical position points that deviate.

[0013] According to a precise pre-embedding construction method for the wall-attached supports of a building construction machine provided by the present invention, the process of obtaining the theoretical position point set includes:

[0014] Extract the theoretical three-dimensional coordinates and normal vector directions of the embedded parts of the wall-attached supports from the building information model, and establish the theoretical position point set of the embedded parts of the wall-attached supports.

[0015] According to a precise pre-embedding construction method for the wall-attached supports of a building construction machine provided by the present invention, the process of obtaining the actual structure point set includes:

[0016] Use the phase-type three-dimensional laser scanning technology to obtain the point cloud data of the already tied steel bar mesh, and perform noise reduction and filtering processing on the point cloud data to generate the actual structure point set.

[0017] According to a precise pre-embedding construction method for the wall-attached supports of a building construction machine provided by the present invention, the process of aligning the spatial coordinate systems of the theoretical position point set and the actual structure point set using the improved iterative closest point algorithm includes:

[0018] Calculate the centroids of the theoretical position point set and the actual structure point set, and perform preliminary translation. The formula for calculating the preliminary translation amount is expressed as:

[0019]

[0020]

[0021]

[0022] In the formula, represents the i-th theoretical position point in the theoretical position point set N represents the total number of theoretical position points, represents the centroid related to the theoretical position point set, Denote the set of actual structure points The i-th actual structure point in, M represents the total number of actual structure points, Denote the centroid related to the set of actual structure points, Denote the preliminary translation amount.

[0023] Initialize the rotation matrix R as the identity matrix, and initialize the translation vector t as the preliminary translation amount.

[0024] Obtain the nearest neighbor points of each point in the theoretical position point set in the actual structure point set to get the corresponding point pairs.

[0025] Set the objective function, which is expressed by the formula:

[0026]

[0027] In the formula, R represents the rotation matrix, t represents the translation vector, Denote the theoretical position point set, Denote the set of actual structure points, Denote the minimum distance threshold between the embedded part and the steel bar, Denote the conflict penalty coefficient, Denote the distance between the embedded part and the steel bar Less than the minimum distance threshold Trigger the avoidance mechanism when.

[0028] Minimize the objective function to complete the alignment of the space coordinate system.

[0029] According to a precise pre-embedding construction method for the attached wall support of a building construction machine provided by the present invention, the process of constructing the spatial distance field includes:

[0030] Calculate the Euclidean distance between each pair of embedded part position points and steel bar structure points between the theoretical position point set and the actual structure point set to form a distance field, which is expressed by the formula:

[0031]

[0032] In the formula, Denote the embedded part position point And the steel bar structure point The distance between them.

[0033] According to the Euclidean distance formula, we can get:

[0034]

[0035] In the formula, , , Respectively denote the three-dimensional coordinates of the embedded part position point , , , Represents the steel structure points The three-dimensional coordinates of .

[0036] Construct the distance field matrix D, where the elements of D are , and obtain the spatial distance field.

[0037] According to a construction method for accurately pre-embedded wall supports of a building construction machine provided by the present invention, the process of obtaining an adjustment strategy for theoretical position points of pre-embedded wall supports includes:

[0038] The minimum distance between each embedded part position point in the theoretical position point set and the nearest steel structure point is determined based on the spatial distance field.

[0039] Set the minimum safety distance and define the potential energy function, the formula is expressed as:

[0040]

[0041] Where P represents the current position of the point to be optimized in the theoretical position point set. represents the ideal position of the point to be optimized, represents the position convergence weight, represents the obstacle avoidance strength coefficient, Represents the parameters that control the range of obstacle avoidance. represents the actual structure point set, represents the position convergence term, Represents an obstacle avoidance item.

[0042] According to a precise pre-embedded construction method for a wall support attached to a building construction machine provided by the present invention, the process of solving the collision-free adjustment path of the adjustment strategy includes calculating the gradient of the potential energy function and updating the position of the point to be optimized according to the total gradient of the potential energy function.

[0043] Among them, calculating the gradient of the potential energy function includes:

[0044] The position convergence term is derived, and the formula is expressed as:

[0045]

[0046] In the formula, represents the gradient of the position convergence term, P represents the current position of the point to be optimized in the theoretical position point set, represents the ideal position of the point to be optimized, represents the position convergence weight;

[0047] The obstacle avoidance term is derived and the formula is expressed as:

[0048]

[0049]

[0050] In the formula, represents the gradient of the obstacle avoidance term, P represents the current position of the point to be optimized in the set of theoretical position points, represents the position convergence weight, represents the set of actual structure points, represents the parameter for controlling the obstacle avoidance action range, represents the obstacle avoidance intensity coefficient.

[0051] According to the gradient of the position convergence term and the gradient of the obstacle avoidance term, obtain the total gradient of the potential energy function, which is expressed by the formula:

[0052]

[0053] In the formula, represents the gradient of the convergence term, represents the gradient of the obstacle avoidance term, represents the total gradient of the potential energy function.

[0054] According to a precise pre-embedding construction method of the attached wall support of a building construction machine provided by the present invention, the formula for updating the position of the point to be optimized is expressed as:

[0055]

[0056] In the formula, represents the optimized position of the point to be optimized, P represents the current position of the point to be optimized, represents the learning rate, represents the total gradient of the potential energy function.

[0057] According to a precise pre-embedding construction method of the attached wall support of a building construction machine provided by the present invention, the process of generating the adjusted position point set of the attached wall support embedded part includes:

[0058] Put each unadjusted theoretical position point and each adjusted theoretical position point into a new point set.

[0059] Calculate whether the distance field between each adjusted theoretical position point and the set of actual structure points is less than the minimum safety distance. If so, regenerate the adjustment strategy for position adjustment until the distance fields between all adjusted theoretical position points and the set of actual structure points are greater than the minimum safety distance, and obtain the adjusted position point set.

[0060] According to a precise pre-embedding construction method of the attached wall support of a building construction machine provided by the present invention, the process of adjusting the deviated theoretical position points includes:

[0061] During the pouring process, monitor the three-dimensional coordinates of each theoretical position point in the adjusted position point set in real time.

[0062] Calculate the offset between the real-time position and the theoretical position of each theoretical position point, and compare it with the preset allowable offset threshold.

[0063] If the offset is greater than the allowable offset threshold, record the offset and the offset direction, and use a piezoelectric ceramic drive platform for adjustment.

[0064] A precise pre-embedding construction method for the wall-attached support of a building construction machine provided by the present invention obtains a set of theoretical position points of the wall-attached support through a building information model, and accurately obtains the position and direction of each support. By using laser scanning technology to obtain the actual structure point set of the already tied steel bar mesh, the alignment of the theoretical position points and the actual structure points is realized by combining the improved iterative closest point algorithm. It enables real-time comparison of the theoretical position and the actual position during construction, and timely adjustment in case of deviation. The feedback mechanism of real-time monitoring effectively avoids potential structural safety hazards caused by position deviation. By constructing the spatial distance field between the theoretical position point set and the actual structure point set, possible spatial conflicts are systematically identified and processed. By precisely adjusting the theoretical position points that have position conflicts with the actual structure points, it is ensured that the setting of each support will not collide with the steel bars that have been fixed during the concrete pouring process. It enhances the flexibility of construction and maximizes the construction efficiency on site. According to the adjustment strategy of the wall-attached support embedded parts obtained from the spatial distance field, a path planning algorithm is used to solve the collision-free adjustment path. It not only improves the safety of construction operations, but also provides clear operation guidance for construction personnel, making the adjustment process smooth. By giving priority to safety and efficiency, the entire construction process becomes more scientific and standardized. Brief Description of the Drawings

[0065] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0066] Figure 1 It is a schematic flowchart of a precise pre-embedding construction method for the wall-attached support of a building construction machine provided by an embodiment of the present invention;

[0067] Figure 2 It is a schematic diagram of the pre-embedding height of the wall-attached support embedded parts in this embodiment. Detailed Embodiment

[0068] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0069] The following combines Figure 1 - Figure 2 to describe a precise pre-embedding construction method for the wall-attached support of a building construction machine of the present invention.

[0070] Figure 1 is a schematic flow chart of a precise pre-embedding construction method for the wall-attached support of a building construction machine provided by an embodiment of the present invention.

[0071] As Figure 1 shown, a precise pre-embedding construction method for the wall-attached support of a building construction machine provided by an embodiment of the present invention includes:

[0072] Obtain the theoretical position point set of the wall-attached support embedded parts and the actual structure point set of the already tied steel bar mesh, and align the theoretical position point set with the actual structure point set in the space coordinate system using the improved iterative closest point algorithm.

[0073] The process of obtaining the theoretical position point set includes:

[0074] Extract the theoretical three-dimensional coordinates and normal vector directions of the embedded parts from the building information model, and establish the theoretical position point set of the wall-attached support embedded parts.

[0075] Obtain the building information model from the building design stage to ensure that the model contains detailed information about the wall-attached support. Obtain the preliminary design parameters of all the embedded parts on the design drawings, including their positions, dimensions and normal vector directions. Use the API or script function of the BIM software to extract the coordinate information of the embedded parts. For each embedded part, record its three-dimensional coordinates: P t =(x t , y t , z t ).

[0076] Extract the normal vector direction from the building information model, represented by a three-dimensional vector: N i = (n x , n y , n z ). Combine all the extracted theoretical three-dimensional coordinates and normal vectors to form the theoretical position point set P T . Use Excel or database software to record the index, coordinates and normal vectors of each embedded part.

[0077] The process of obtaining the actual structure point set includes:

[0078] Phase-controlled three-dimensional laser scanning technology is used to obtain the point cloud data of the tied steel mesh, and the actual structure point set is generated by performing noise reduction and filtering on the point cloud data.

[0079] Select phase-controlled 3D laser scanning equipment, such as Leica RTC360 or FARO Focus, and set scanning parameters, including resolution and scanning range, according to the environmental conditions of the construction site.

[0080] Scan the same area from multiple viewpoints in the construction area of ​​the embedded parts to ensure that all details of the reinforcement mesh are captured. Set the scanning point spacing to achieve the required point density and accuracy.

[0081] Use the control software that comes with the scanning device to save the scan results in a standard file format. Use the point cloud processing software to select a noise reduction algorithm. Calculate the neighborhood points of each point and remove points that are far away from the surrounding points. By calculating the mean of the neighborhood points, replace the coordinate position of the target point and smooth the point cloud surface.

[0082] The necessary points are extracted from the denoised point cloud by point cloud processing software to form a new data set as the actual structural point set P A .

[0083] The process of aligning the theoretical position point set with the actual structure point set in the spatial coordinate system using the improved iterative closest point algorithm includes:

[0084] Calculate the centroid of the theoretical position point set and the actual structure point set, and perform preliminary translation. The formula for calculating the preliminary translation amount is expressed as:

[0085]

[0086]

[0087]

[0088] In the formula, Represents the theoretical position point set The ith theoretical position point in , N represents the total number of theoretical position points, represents the centroid associated with the theoretical position point set, Represents the actual structure point set The i-th actual structure point in , M represents the total number of actual structure points, represents the centroid of the actual structural point set, Indicates the initial translation amount.

[0089] Initialize the rotation matrix R as the unit matrix and the translation vector t as the initial translation.

[0090] Obtain the nearest neighbor points of each point in the theoretical position point set in the actual structure point set to obtain the corresponding point pairs.

[0091] Set the objective function, which is expressed by the formula:

[0092]

[0093] In the formula, R represents the rotation matrix, t represents the translation vector, represents the theoretical position point set, represents the actual structure point set, represents the minimum distance threshold between the embedded part and the steel bar, represents the conflict penalty coefficient, represents the distance between the embedded part and the steel bar less than the minimum distance threshold triggers the avoidance mechanism when.

[0094] Minimize the objective function to complete the alignment of the spatial coordinate system.

[0095] Use the building information model to obtain the theoretical position point set of the wall-attached support, and accurately obtain the position and direction of each support. Ensure the scientific nature of the foundation position during the construction process, and avoid the later repair and repetitive labor caused by position deviation. At the same time, obtain the actual structure point set of the already tied steel bar mesh by using the laser scanning technology, and realize the alignment of the theoretical position points and the actual structure points by combining the improved iterative closest point algorithm. It enables real-time comparison of the theoretical position and the actual position during the construction, and timely adjustment in case of deviation. The feedback mechanism of real-time monitoring effectively avoids the structural safety hazards caused by position deviation.

[0096] Adjust the theoretical position points that have position conflicts with the actual structure point set, including:

[0097] Construct the spatial distance field of the theoretical position point set and the actual structure point set. The process includes:

[0098] Calculate the Euclidean distance between each pair of embedded part position points and steel bar structure points between the theoretical position point set and the actual structure point set to form a distance field, which is expressed by the formula:

[0099]

[0100] In the formula, represents the embedded part position point and the steel bar structure point the distance between.

[0101] According to the Euclidean distance formula, we can get:

[0102]

[0103] In the formula, , , respectively represent the three-dimensional coordinates of the position points of the embedded parts . , , respectively represent the three-dimensional coordinates of the steel bar structure points .

[0104] Construct a distance field matrix D, where the elements of D are , and a spatial distance field is obtained.

[0105] Obtain the adjustment strategy for the theoretical position points of the embedded parts of the wall-attached supports according to the spatial distance field. The process includes:

[0106] Judge the minimum distance between each embedded part position point in the theoretical position point set and the nearest steel bar structure point according to the spatial distance field.

[0107] Set a minimum safety distance and define a potential energy function, which is expressed by the formula:

[0108]

[0109] In the formula, P represents the current position of the point to be optimized in the theoretical position point set, represents the ideal position of the point to be optimized, represents the position convergence weight, represents the obstacle avoidance intensity coefficient, represents the parameter for controlling the obstacle avoidance action range, represents the actual structure point set, represents the position convergence term, represents the obstacle avoidance term.

[0110] By constructing the spatial distance field of the theoretical position point set and the actual structure point set, possible spatial conflicts are systematically identified and processed. By precisely adjusting the theoretical position points with position conflicts with the actual structure points, it is ensured that the setting of each support will not collide with the steel bars that have been fixed during the concrete pouring process. The flexibility of construction is enhanced, and the on-site construction efficiency is maximally improved.

[0111] Solve the collision-free adjustment path of the adjustment strategy. The process includes calculating the gradient of the potential energy function and updating the position of the point to be optimized according to the total gradient of the potential energy function.

[0112] Among them, calculating the gradient of the potential energy function includes:

[0113] Take the derivative of the position convergence term, which is expressed by the formula:

[0114]

[0115] In the formula, represents the gradient of the position convergence term, P represents the current position of the point to be optimized in the theoretical position point set, represents the ideal position of the point to be optimized, represents the position convergence weight;

[0116] Derive the obstacle avoidance term, and the formula is expressed as:

[0117]

[0118]

[0119] In the formula, represents the gradient of the obstacle avoidance term, P represents the current position of the point to be optimized in the theoretical position point set, represents the position convergence weight, represents the actual structure point set, represents the parameter controlling the obstacle avoidance range of action, represents the obstacle avoidance intensity coefficient.

[0120] According to the gradient of the position convergence term and the gradient of the obstacle avoidance term, obtain the total gradient of the potential energy function, and the formula is expressed as:

[0121]

[0122] In the formula, represents the gradient of the convergence term, represents the gradient of the obstacle avoidance term, represents the total gradient of the potential energy function.

[0123] The formula for updating the position of the point to be optimized is expressed as:

[0124]

[0125] In the formula, represents the optimized position of the point to be optimized, P represents the current position of the point to be optimized, represents the learning rate, represents the total gradient of the potential energy function.

[0126] According to the adjustment strategy of the embedded parts of the wall-mounted support obtained from the spatial distance field, use the path planning algorithm to solve the collision-free adjustment path. This not only improves the safety of construction operations, but also provides clear operation guidance for construction personnel, making the adjustment process smooth. By giving priority to safety and efficiency, the entire construction process becomes more scientific and standardized.

[0127] Generate the adjustment position point set of the embedded parts of the wall-mounted support. The process includes:

[0128] Put each unadjusted theoretical position point and each adjusted theoretical position point into a new point set.

[0129] Calculate whether the distance field between each adjusted theoretical position point and the actual structure point set is less than the minimum safety distance. If so, regenerate the adjustment strategy for position adjustment until the distance fields between all adjusted theoretical position points and the actual structure point set are greater than the minimum safety distance, and obtain the adjusted position point set.

[0130] During the pouring process, real-time monitor the actual positions of each theoretical position point in the adjusted position point set, and adjust the theoretical position points that deviate. The process includes:

[0131] During the pouring process, real-time monitor the three-dimensional coordinates of each theoretical position point in the adjusted position point set.

[0132] Calculate the offset between the real-time position and the theoretical position of each theoretical position point, and compare it with the preset allowable offset threshold.

[0133] If the offset is greater than the allowable offset threshold, record the offset and the offset direction, and use a piezoelectric ceramic drive platform for adjustment.

[0134] During the pouring process, the strategy of position detection for each adjusted position point makes the construction more reliable. High-precision sensors are used to real-time monitor each installation position. Once an offset is found, adjustment can be immediately implemented. This dynamic feedback mechanism ensures that construction personnel can take timely and effective measures, optimize construction operations, and accelerate the construction progress. At the same time, based on the feedback of actual data, subsequent construction plans can be continuously improved and optimized. By means of improving construction accuracy, real-time monitoring and feedback, etc., the material loss and late repair cost caused by construction mistakes are significantly reduced. In addition, since the situation of structural conflict during concrete pouring is effectively avoided, the construction risk is greatly reduced, the safety and durability of the structure are enhanced, and it helps to improve the overall economy of the project.

[0135] In the embodiment, the building construction machine is provided with 12 machine positions in total, 3 wall-attached supports for each machine position, and 6 anchor bolts for each wall-attached support (3 for each of the upper and lower rows, the left-right distance between the inner lead screws in a single row is 250 mm, and the distance between the upper and lower rows is 450 mm); all machine positions are anchored and attached by high-strength wall-piercing lead screws with a diameter of 42 mm.

[0136] Figure 2 It is a schematic diagram of the embedded height of the wall-attached support embedded part in this embodiment.

[0137] Such as Figure 2As shown, there are 5 kinds of embedded heights for each layer. At each position of the wall-attached support, the aluminum formwork needs to be drilled with φ18 holes to reserve the embedded rubber rods. The number of holes drilled at each machine position is 6 * 5 = 30, which are replaced according to different embedded heights.

[0138] Use the horizontal control at the top of the aluminum formwork as the positioning reference line, and reserve 30 φ18 small holes on the aluminum formwork. Combine with the positioning of the floor embedded support, and 6 points are used for each layer. All machine positions of the building constructor are embedded in the form of embedded rubber rods. The material selection of the embedded casing: solid embedded pipe with a diameter of 50mm; when embedding, drill holes on the formwork according to the positioning of the wall-attached seat at the machine position. When the vertical structural steel bars are tied and the formwork is closed, fix the embedded rubber rod on the outer formwork of the shear wall through M16 bolts. Before closing the formwork, complete the embedded positioning after formwork alignment. The allowable deviation of embedding is within 10mm up and down and within 10mm left and right; after the concrete is poured and the formwork is removed, take out the rubber rod. Since there are 30 embedded holes at each place, the wall bolts should be installed strictly according to the drawings.

[0139] Precautions for embedded construction:

[0140] Solid embedded pipe with a diameter of 50mm.

[0141] The accuracy requirement for the embedded position is within ±10mm.

[0142] The embedded work needs to be carried out before the formwork is closed, and the dimensions need to be rechecked after the formwork is closed and aligned.

[0143] If it is found that the embedded deviation exceeds the allowable value during the recheck, deviation correction and adjustment are required. If the formwork is misaligned during formwork closing, coordinate with the formwork construction team to adjust the formwork. If it is due to other reasons, reposition and drill holes on the formwork, and use special materials to plug the holes on the original formwork to prevent accidents such as formwork explosion during concrete pouring.

[0144] In summary, this embodiment provides a precise pre-embedding construction method for the attached wall support of a building construction machine. By obtaining the theoretical position point set of the attached wall support through a building information model, the position and direction of each support can be accurately obtained. By using laser scanning technology to obtain the actual structure point set of the already tied steel bar mesh, the alignment of the theoretical position points and the actual structure points is achieved by combining the improved iterative closest point algorithm. This enables real-time comparison of the theoretical position and the actual position during construction, and timely adjustment in case of deviation. The feedback mechanism of real-time monitoring effectively avoids potential structural safety hazards caused by position deviation. By constructing the spatial distance field between the theoretical position point set and the actual structure point set, possible spatial conflicts are systematically identified and processed. By precisely adjusting the theoretical position points that conflict with the actual structure points, it is ensured that the setting of each support will not collide with the steel bars that have been fixed during the concrete pouring process. This enhances the flexibility of construction and maximizes the construction efficiency on site. According to the adjustment strategy of the attached wall support embedded parts obtained from the spatial distance field, a path planning algorithm is used to solve the collision-free adjustment path. This not only improves the safety of construction operations but also provides clear operation guidance for construction workers, making the adjustment process smooth. By giving priority to safety and efficiency, the entire construction process becomes more scientific and standardized.

[0145] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A precise pre-embedding construction method for the attached wall support of a building construction machine, characterized in that, Including: Obtain the theoretical position point set of the embedded parts of the wall-attached support and the actual structure point set of the already tied steel bar mesh, and align the spatial coordinate systems of the theoretical position point set and the actual structure point set using the improved iterative closest point algorithm; Adjust the theoretical position points that have position conflicts with the actual structure point set, including: Construct the spatial distance field between the theoretical position point set and the actual structure point set; Obtain the adjustment strategy for the theoretical position points of the embedded parts of the wall-attached support according to the spatial distance field; Solve the collision-free adjustment path of the adjustment strategy; Generate the adjusted position point set of the embedded parts of the wall-attached support; During the pouring process, monitor the actual positions of each theoretical position point in the adjusted position point set in real time, and adjust the theoretical position points that deviate.

2. The precise pre-embedding construction method of the attached wall support of a building construction machine according to claim 1, characterized in that, The process of obtaining the theoretical position point set includes: Extract the theoretical three-dimensional coordinates and normal vector directions of the embedded parts of the wall-attached support from the building information model, and establish the theoretical position point set of the embedded parts of the wall-attached support.

3. The precise pre-embedding construction method of the attached wall support of a building construction machine according to claim 1, characterized in that, The process of obtaining the actual structure point set includes: Adopt the phase-type three-dimensional laser scanning technology to obtain the point cloud data of the already tied steel bar mesh, and perform noise reduction and filtering processing on the point cloud data to generate the actual structure point set.

4. The precise embedded construction method of the attached wall support of a building construction machine according to claim 1, characterized in that, The process of aligning the spatial coordinate systems of the theoretical position point set and the actual structure point set using the improved iterative closest point algorithm includes: Calculate the centroids of the theoretical position point set and the actual structure point set, and perform preliminary translation. The formula for calculating the preliminary translation amount is expressed as: In the formula, represents the set of theoretical position points the i-th theoretical position point in, and N represents the total number of theoretical position points, represents the centroid related to the set of theoretical position points, represents the set of actual structure points the i-th actual structure point in, and M represents the total number of actual structure points, represents the centroid related to the set of actual structure points, represents the preliminary translation amount; Initialize the rotation matrix R as the identity matrix, and initialize the translation vector t as the preliminary translation amount; Obtain the nearest neighbor points of each point in the theoretical position point set in the actual structure point set to obtain the corresponding point pairs; Set the objective function, and the formula is expressed as: wherein, R represents a rotation matrix, and t represents a translation vector, represents the set of theoretical position points, represents the set of actual structure points, represents the minimum distance threshold between the embedded part and the steel bar, represents the conflict penalty coefficient, represents the distance between the embedded part and the steel bar less than the minimum distance threshold triggers the avoidance mechanism; Minimize the objective function to complete the spatial coordinate system alignment.

5. A precise pre-embedding construction method for the attached wall support of a building construction machine according to claim 1, characterized in that The process of constructing the spatial distance field includes: Calculate the Euclidean distance between each pair of embedded part position points and steel bar structure points between the theoretical position point set and the actual structure point set to form a distance field. The formula is expressed as: In the formula, represents the position point of the embedded part and the steel bar structure point the distance therebetween; According to the Euclidean distance formula, it can be obtained that: In the formula, , , respectively represent the three-dimensional coordinates of the embedded part position points ; , , respectively represent the three-dimensional coordinates of the steel bar structure points . Construct the distance field matrix D, where the elements of D are , and obtain the spatial distance field.

6. The precise embedded construction method of the building machine attachment support according to claim 1, characterized in that, The process of obtaining the adjustment strategy for the theoretical position points of the embedded parts of the wall-attached support includes: Judge the minimum distance between each embedded part position point in the theoretical position point set and the nearest steel bar structure point according to the spatial distance field; Set the minimum safety distance and define the potential energy function. The formula is expressed as: Wherein, P represents the current position of the point to be optimized in the theoretical position point set, represents the ideal position of the point to be optimized, represents the position convergence weight, represents the obstacle avoidance intensity coefficient, represents the parameter for controlling the obstacle avoidance action range, represents the actual structure point set, represents the position convergence term, represents the obstacle avoidance term.

7. A precise pre-embedding construction method for the attached wall support of a building construction machine according to claim 1, characterized in that, The process of solving the collision-free adjustment path of the adjustment strategy includes calculating the gradient of the potential energy function and updating the position of the point to be optimized according to the total gradient of the potential energy function; Among them, calculating the gradient of the potential energy function includes: Take the derivative of the position convergence term, and the formula is expressed as: In the formula, represents the gradient of the position convergence term, P represents the current position of the point to be optimized in the theoretical position point set, represents the ideal position of the point to be optimized, represents the position convergence weight; Take the derivative of the obstacle avoidance term, and the formula is expressed as: In the formula, represents the gradient of the obstacle avoidance term, P represents the current position of the point to be optimized in the set of theoretical position points, represents the position convergence weight, represents the set of actual structure points, represents the parameter for controlling the obstacle avoidance range of action, represents the obstacle avoidance intensity coefficient; According to the gradient of the position convergence term and the gradient of the obstacle avoidance term, obtain the total gradient of the potential energy function. The formula is expressed as: wherein, represents the gradient of the convergence term, represents the gradient of the obstacle avoidance term, represents the total gradient of the potential energy function.

8. A precise pre-embedding construction method for the attached wall support of a building construction machine according to claim 7, characterized in that, The formula for updating the position of the point to be optimized is expressed as: In the formula, represents the optimized position of the point to be optimized, P represents the current position of the point to be optimized, represents the learning rate, represents the total gradient of the potential energy function.

9. The precise embedded construction method of the attached wall support of a building construction machine according to claim 1, characterized in that, The process of generating the adjusted position point set of the embedded parts of the wall-attached support includes: Put each unadjusted theoretical position point and each adjusted theoretical position point into a new point set; Calculate whether the distance field between each adjusted theoretical position point and the set of actual structure points is less than the minimum safety distance. If so, regenerate the adjustment strategy for position adjustment until the distance fields between all adjusted theoretical position points and the set of actual structure points are greater than the minimum safety distance, and obtain the set of adjusted position points.

10. The precise pre-embedding construction method of the attached wall support of a building construction machine according to claim 1, characterized in that, The process of adjusting the theoretical position points with offsets includes: During the pouring process, real-time monitor the three-dimensional coordinates of each theoretical position point in the set of adjusted position points; Calculate the offset between the real-time position and the theoretical position of each theoretical position point, and compare it with the preset allowable offset threshold; If the offset is greater than the allowable offset threshold, record the offset and the offset direction, and use a piezoelectric ceramic driving platform for adjustment.

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