Complex reinforcing mesh domain concrete distribution and vibration track planning method

Abstract

The invention belongs to the field of building construction, and relates to a complex reinforcing mesh domain concrete distribution and vibration track planning method which comprises the following steps: 1) constructing a reinforcing mesh of a building to be poured; 2) acquiring three-dimensional point cloud data of the reinforcing mesh in the step 1) based on a 3D sensor; 3) analyzing the three-dimensional point cloud data of the reinforcing mesh to obtain a reinforcing mesh domain; 4, the optimal path of concrete construction is formed in the reinforcing mesh domain on the basis of the step 3. According to the complex reinforcing mesh domain concrete distribution and vibration track planning method, automation of complex reinforcing mesh domain concrete construction can be achieved, and the construction quality and efficiency are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the field of building construction, specifically a construction trajectory planning method, and more particularly relates to a method for planning concrete placement and vibration trajectories in a complex steel mesh area. Background Art

[0002] In modern construction, with the increasing complexity of building structures, traditional methods of concrete construction within reinforced meshes face numerous challenges. Under traditional manual operation, concrete distribution and vibration rely heavily on the experience and proficiency of construction workers, resulting in significant issues such as low efficiency and inconsistent construction quality. The haphazard nature of manual operation leads to uneven concrete distribution, easily causing missed or over-vibration in areas with dense rebar, which in turn affects the concrete's compactness and structural strength. Furthermore, the lack of precise path planning makes it difficult for construction workers to efficiently navigate complex rebar meshes, increasing construction time and labor costs.

[0003] While existing automated construction solutions have improved efficiency to a certain extent, they are mostly designed for simple structural designs and lack the ability to accurately locate and plan paths for complex rebar mesh holes. When faced with irregular structures or areas with closely spaced rebar, automated equipment struggles to flexibly adjust the placement and vibration paths. This often leads to collisions between the vibrating rod and rebar, as well as insufficient placement, making it difficult to ensure construction quality.

[0004] Concrete construction in complex reinforced mesh areas requires extremely high precision and efficiency, which are difficult to meet with traditional manual operations and simple automation solutions. Therefore, an automated construction method that can accurately locate mesh holes, efficiently plan construction paths, and make real-time adjustments is urgently needed to address the shortcomings of existing technologies and improve the quality and efficiency of complex reinforced concrete construction. Summary of the Invention

[0005] In order to solve the above technical problems existing in the background technology, the present invention provides a complex steel mesh concrete placement and vibration trajectory planning method that can realize the automation of complex steel mesh concrete construction and significantly improve construction quality and efficiency.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A method for planning concrete placement and vibration trajectory in a complex steel mesh area, characterized in that the method comprises the following steps:

[0008] 1) Construct the steel mesh of the building to be cast;

[0009] 2) obtaining three-dimensional point cloud data of the steel mesh in step 1) based on a 3D sensor;

[0010] 3) Analyze the three-dimensional point cloud data of the steel mesh to obtain the steel mesh domain;

[0011] 4) Based on step 3), an optimal path for concrete construction is formed in the steel mesh domain.

[0012] Preferably, the specific implementation of step 3) adopted by the present invention is:

[0013] 3.1) Binarize the 3D point cloud data of the steel mesh;

[0014] 3.2) extracting the steel skeleton of the steel mesh from the binarization result obtained in step 3.1) using a 3D thinning algorithm;

[0015] 3.3) Determining the binding points of the steel skeleton using a neighborhood statistics algorithm and a least squares sphere fitting algorithm, wherein the steel skeleton and the binding points form a steel mesh;

[0016] 3.4) Mapping the steel mesh domain obtained in step 3.3) to a two-dimensional plane to obtain a two-dimensional plane image of the steel mesh domain;

[0017] 3.5) Based on the two-dimensional plan view of the steel mesh domain obtained in step 3.4), the Variignon parallelogram method is used to determine the center of the steel mesh domain hole, the connected region analysis method is used to determine the outer template of the steel mesh domain, and the radial scanning method is used to determine the inner template of the steel mesh domain; the center of the steel mesh domain hole is the geometric center of the quadrilateral formed by the intersection of the horizontal and vertical steel bars in the steel mesh domain; the outer template of the steel mesh domain is the closed outline formed by the outermost edge of the steel mesh domain; and the inner template of the steel mesh domain is the closed outline formed by the innermost edge of the steel mesh domain.

[0018] Preferably, the specific implementation of step 4) adopted by the present invention is:

[0019] 4.1) Determine the construction area in the reinforcement mesh area;

[0020] 4.2) Select the material distribution points and vibration points in the construction area;

[0021] 4.3) Generate an optimal path for distribution points and an optimal path for vibration points, which together constitute an optimal path for concrete construction.

[0022] Preferably, the specific implementation of step 4.1) adopted in the present invention is:

[0023] 4.1.1) Obtain the spacing r between adjacent placement points according to GB50666-2011 "Concrete Structure Engineering Construction Code";

[0024] 4.1.2) Divide the length and width of the two-dimensional plan view of the steel mesh area based on the distance r between adjacent placement points to form construction blocks.

[0025] Preferably, the method for selecting the distribution points in step 4.2) adopted in the present invention is to use the center of the most central hole distributed in the construction block as the distribution point; the method for selecting the vibration points in step 4.2) is to group the steel mesh hole centers obtained in step 3.5) by rows, retain the odd-numbered steel mesh hole centers in odd rows, and retain the even-numbered steel mesh hole centers in even rows, and use the retained hole centers as vibration points.

[0026] Preferably, the specific implementation method of generating the optimal path of the distribution points in step 4.3) adopted by the present invention is: selecting multiple distribution points in the distribution point selection method according to the distribution point selection method, clustering the distribution points into a horizontal distribution point group and a vertical distribution point group, and uniformly dividing the horizontal distribution point group and the vertical distribution point group into the first group, the second group, the third group, the fourth group, ..., and the Nth group in a clockwise or counterclockwise direction; the first distribution point of the first group is set as the starting point and the end point, and the remaining distribution points are set as waypoints, and the outer template of the steel mesh domain and the inner template of the steel mesh domain obtained in step 3.5) are set as obstacles, and the nearest neighbor greedy algorithm is used to determine the order of visiting the waypoints in the order of the first group to the Nth group, calling the improved A* algorithm for every two adjacent waypoints, calculating the path in segments, and connecting the segments of the path to form the optimal path of the distribution points.

[0027] Preferably, the specific implementation method for generating the optimal path of the vibration points in step 4.3) adopted by the present invention is: in the same direction as the path of the material distribution points, after the material distribution of the first construction block is completed, the two vibration points with the farthest distance in the first construction block are respectively used as the starting point and the end point, and the remaining vibration points in other construction blocks are set as waypoints. The boundaries of the construction blocks are used as obstacles. The order of visiting the waypoints is determined in the order from the first construction block to the Nth construction block using the nearest neighbor greedy algorithm. For every two adjacent waypoints, the improved A* algorithm is called to calculate the path in segments, and the segments of the path are connected to form the optimal path of the vibration points.

[0028] A building construction method based on the aforementioned complex steel mesh concrete placement and vibration trajectory planning method, characterized in that: the building construction method includes:

[0029] 1) Generate the optimal path for concrete construction based on the aforementioned method for concrete placement and vibration trajectory planning in a complex steel mesh;

[0030] 2) Placing and vibrating the concrete according to the optimal path for concrete construction obtained in step 1);

[0031] 3) Monitor and adjust the vibration quality in real time until the pouring of the structure to be poured is completed.

[0032] Preferably, the specific implementation method of step 2) adopted in the present invention is to distribute and vibrate all construction blocks one by one according to the optimal path of concrete construction obtained in step 1), wherein the distribution amount, the effective radius of the vibrating rod and the effective length of the vibrating rod are all obtained according to GB50666-2011 "Concrete Structure Engineering Construction Code".

[0033] Preferably, the specific implementation method of step 3) adopted in the present invention is to monitor the concrete vibration signal through a distributed optical fiber vibration monitoring system. When the vibration signal of a certain vibration point meets the concrete compaction requirements in the time and space dimensions, the vibration operation of the vibration point is terminated and the next vibration point is turned to until the pouring of the building to be poured is completed.

[0034] The advantages of the present invention are:

[0035] The present invention provides a method for planning concrete placement and vibration trajectories within a complex steel mesh domain, comprising: 1) constructing a steel mesh for a structure to be cast; 2) obtaining three-dimensional point cloud data of the steel mesh in step 1) using a 3D sensor; 3) analyzing the three-dimensional point cloud data of the steel mesh to obtain a steel mesh domain; and 4) forming an optimal path for concrete construction within the steel mesh domain based on step 3). This method utilizes advanced 3D sensor technology to precisely scan the steel mesh and locate the center of holes. Based on rigorous construction specifications and relevant parameters, the construction area is rationally divided, placement points and vibration points are accurately selected, and a detailed map containing obstacles and path points is constructed. Furthermore, an improved A* algorithm is combined with a nearest neighbor greedy algorithm to efficiently generate a globally optimal path. Finally, a PLC remote control system is used to precisely control the construction equipment, achieving an automated operation process. The present invention significantly reduces manpower consumption through material distribution and vibration, improves construction efficiency and concrete quality, and is suitable for concrete construction scenarios with complex steel meshes. The present invention realizes the automation of concrete construction in complex steel meshes by integrating 3D visual positioning, improved path planning algorithms and control technologies. The method provided by the present invention is efficient and reliable, significantly improves construction quality and efficiency, and has broad engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the test device used in the method for planning concrete placement and vibration trajectory in a complex reinforced mesh area provided by the present invention;

[0037] Figure 2 This is the result of the present invention positioning the holes in the steel mesh;

[0038] Figure 3 The laying obstacle map is formed based on the complex steel mesh concrete laying and vibration trajectory planning method provided by the present invention;

[0039] Figure 4 A vibration obstacle map is formed based on the complex steel mesh concrete placement and vibration trajectory planning method provided by the present invention;

[0040] Figure 5 This is a schematic diagram of the placement path planning formed based on the complex steel mesh concrete placement and vibration trajectory planning method provided by the present invention;

[0041] Figure 6 This is a schematic diagram of vibration path planning formed based on the complex steel mesh concrete placement and vibration trajectory planning method provided by the present invention;

[0042] The figure is labeled as follows:

[0043] 1-rotating mechanism; 11-support platform; 12-rotating rod; 13-ball screw; 2-distributed fiber optic vibration monitoring system; 3-material distribution device; 4-vibrating device; 5-special-shaped plate; 6-3D sensor. DETAILED DESCRIPTION

[0044] The present invention provides a method for planning concrete distribution and vibration trajectories in a complex steel mesh area, the method comprising the following steps:

[0045] 1) Construct the steel mesh of the building to be cast;

[0046] 2) Obtain the three-dimensional point cloud data of the steel mesh in step 1) based on the 3D sensor.

[0047] Exemplarily, this step is performed by Figure 1 The rotating mechanism 1 shown drives the 3D sensor to scan the steel mesh and finally obtains the three-dimensional point cloud data of the steel mesh. Of course, other methods in the prior art can also be used to drive the 3D sensor to scan the steel mesh. Figure 1 The rotating mechanism 1 includes a supporting platform 11, a rotating rod 12 driven by a servo motor, and a ball screw 13; the distributed optical fiber vibration monitoring system 2 is evenly arranged in the steel mesh; the material distribution device 3 and the vibrating device 4 are fixed on the special-shaped plate 5, and the rotating rod 12 rotates and the ball screw 13 moves radially, covering the entire area with the rotation and radial movement; the hydraulic cylinder controls the vertical lifting of the vibrating rod, and the rack is matched with the servo motor to realize the lifting and lowering adjustment of the material distribution pipe; the 3D sensor 6 is installed under the ball screw 13, and the data interface and lens meet the current mainstream models to ensure that the monitoring range effectively covers the steel mesh; the overall structure of the test device is shown in the three-dimensional schematic diagram. Figure 1 As shown;

[0048] 3) Analyze the three-dimensional point cloud data of the steel mesh to obtain the steel mesh domain. For example, the specific implementation method of step 3) is:

[0049] 3.1) Binarize the 3D point cloud data of the steel mesh;

[0050] 3.2) extracting the steel skeleton of the steel mesh from the binarization result obtained in step 3.1) using a 3D thinning algorithm;

[0051] 3.3) Determine the binding points of the steel skeleton using a neighborhood statistics algorithm and a least squares sphere fitting algorithm. The steel skeleton and the binding points form a steel mesh.

[0052] 3.4) Mapping the steel mesh domain obtained in step 3.3) to a two-dimensional plane to obtain a two-dimensional plane image of the steel mesh domain;

[0053] 3.5) Based on the two-dimensional plan view of the reinforcement mesh domain obtained in step 3.4), the Variignon parallelogram method is used to determine the center of the reinforcement mesh domain hole, the connected region analysis method is used to determine the outer template of the reinforcement mesh domain, and the radial scanning method is used to determine the inner template of the reinforcement mesh domain; the center of the reinforcement mesh domain hole is the geometric center of the quadrilateral formed by the intersection of the horizontal and vertical reinforcements in the reinforcement mesh domain; the outer template of the reinforcement mesh domain is the closed outline formed by the outermost edge of the reinforcement mesh domain; and the inner template of the reinforcement mesh domain is the closed outline formed by the innermost edge of the reinforcement mesh domain.

[0054] Specifically, step 3) can be achieved by the following methods: binarizing the three-dimensional point cloud data of the steel mesh collected by the 3D sensor, where the steel bar value is 1 and the background is 0, so as to facilitate the subsequent 3D refinement algorithm processing; using the 3D refinement algorithm to skeletonize the three-dimensional point cloud data of the steel mesh to obtain the skeleton structure of the steel mesh, and through the core key idea of ​​the 3D refinement algorithm, that is, constructing an octree data structure and iterative refinement process, extracting the skeleton structure of the steel mesh; taking any point of the skeletonized image as the center of the sphere, with a certain radius (the length should be adjusted according to the actual point cloud image) The radius is the neighborhood length of the domain statistics method, that is, the search range) and the intersection point set of the steel bars is determined by the neighborhood statistics algorithm (the determination process is that when the points in the neighborhood of a point exceed a certain limit, it can be determined as an intersection point); the least squares method is used to fit the binding points, and the sphere with each set of points as the edge is fitted by the least squares circle fitting algorithm, and the center of the fitted sphere is determined as the binding point; after the binding points are mapped to the two-dimensional plane, the center position of the hole of the steel mesh in the annular area of ​​the steel mesh domain is located by the Varignon parallelogram method; the steel mesh hole positioning result is as follows Figure 2As shown. When identifying the internal and external templates, the three-dimensional point cloud data of the steel mesh is mapped to a two-dimensional plane and binarized and skeletonized. The boundary of the largest connected area is extracted as the outer edge, i.e., the outer template, through the analysis of the connected area (for example, in the binarization result, 1 and 1 are connected or 0 and 0 are connected). Rays are emitted radially from the center of the image on the two-dimensional plane, and the first point with a pixel value of 1 encountered is recorded. Outliers are filtered based on the interquartile range rule, and the polygon is forced to be closed after the extreme angle is sorted. The polygon is the inner edge, i.e., the inner template. Exemplarily, step 3) can also be performed by other existing methods.

[0055] 4) Based on step 3), an optimal path for concrete construction is formed in the steel mesh domain, wherein the specific implementation of step 4) is:

[0056] 4.1) Determine the construction area in the reinforcement mesh, specifically:

[0057] 4.1.1) Obtain the spacing r between adjacent placement points according to GB50666-2011 "Concrete Structure Engineering Construction Code";

[0058] 4.1.2) Divide the length and width of the two-dimensional plan view of the steel mesh area based on the distance r between adjacent placement points to form construction blocks.

[0059] 4.2) Select the material distribution points and vibration points in the construction area;

[0060] The placement point is selected by locating the center of the most central hole in the construction area. The vibration point is selected by grouping the rebar mesh hole centers obtained in step 3.5) by row, retaining the odd-numbered rebar mesh hole centers for odd-numbered rows and the even-numbered rebar mesh hole centers for even-numbered rows, with the remaining hole centers serving as the vibration points. It should be noted that the placement points are selected based on construction specifications and concrete parameters. Calculation ensures uniform placement and ensures that the height of the resulting block meets the required vibration depth. Vibration points are selected in a plum blossom formation to ensure sufficient and uniform vibration across the entire concrete.

[0061] For example, the number of distribution points is calculated as follows: M is the wall thickness of the building to be cast, B is the horizontal width of the building to be cast, L is the vertical width of the building to be cast, r is the spacing between distribution points, s is the clear distance between steel bars, 2s is the spacing between vibration points, and the construction block is a rectangle of 2r*r.

[0062] In order to facilitate the division of construction areas and the arrangement of distribution points, M = 2r, that is, the distribution points are distributed on the center group of holes (pre-distribution points) in the middle of the horizontal and vertical tower walls of the building to be cast.

[0063] In order to match the division of construction blocks, the design sets the pre-placement points at both ends of the horizontal direction as the placement points and arranges the semi-conical volume, i.e. After removing the construction blocks at both ends, a distribution point is arranged at every r distance in the middle part, that is, each tower wall is arranged horizontally. Similarly, each tower wall is arranged vertically fabric points. N is a number, N B is the horizontal number; N L Is the vertical number.

[0064] 4.3) Generate the optimal path of the distribution points and the optimal path of the vibration points. The optimal path of the distribution points and the optimal path of the vibration points together constitute the optimal path of concrete construction.

[0065] Among them, the specific implementation method of generating the optimal path of the distribution points in step 4.3) is: according to the distribution point selection method, multiple distribution points are selected in the distribution point selection method, the distribution points are clustered into a horizontal distribution point group and a vertical distribution point group, and the horizontal distribution point group and the vertical distribution point group are uniformly divided into the first group, the second group, the third group, the fourth group, ..., and the Nth group in a clockwise or counterclockwise direction; the first distribution point of the first group is set as the starting point and the end point, and the remaining distribution points are set as the waypoints, and the template outside the steel mesh domain and the template inside the steel mesh domain obtained in step 3.5) are set as obstacles. The distribution obstacle map is as follows: Figure 3 As shown in the figure, the order of visiting the waypoints is determined by using the nearest neighbor greedy algorithm in the order of the 1st group to the Nth group. The improved A* algorithm is called for every two adjacent waypoints to calculate the path in segments. The segments are connected to form the optimal path for the distribution points. The schematic diagram of the distribution path planning is shown in the figure. Figure 5 shown.

[0066] The specific implementation method of generating the optimal path of vibration points in step 4.3) is as follows: in the same direction as the path of the material distribution points, after the material distribution of the first construction block is completed, the two vibration points with the farthest distance in the first construction block are used as the starting point and the end point respectively, and the remaining vibration points in other construction blocks are set as passing points. The boundaries of the construction blocks are obstacles. The vibration obstacle map is as follows: Figure 4 As shown in the figure, the order of visiting the waypoints is determined from the first construction block to the Nth construction block using the nearest neighbor greedy algorithm. For every two adjacent waypoints, the improved A* algorithm is called to calculate the path in segments. The segments are connected to form the optimal path for the vibration points. The vibration path planning diagram is shown in the figure. Figure 6 shown.

[0067] It should be noted that the improved A* algorithm uses Euclidean distance as the heuristic function and the eight-neighborhood moving rule; the nearest neighbor greedy algorithm is used to determine the order of visiting waypoints, which includes starting from the starting point and selecting the nearest unvisited waypoint as the next visit point each time until all waypoints are visited.

[0068] The present invention provides a method for planning concrete placement and vibration trajectories in a complex reinforced mesh as described above, and also provides a building construction method based on the planning method. The building construction method includes the following steps:

[0069] 1) Generate the optimal path for concrete construction based on the previous method for planning concrete placement and vibration trajectories in a complex steel mesh;

[0070] 2) Placing and vibrating concrete according to the optimal concrete construction path obtained in step 1), specifically: Placing and vibrating concrete in all construction blocks one by one according to the optimal concrete construction path obtained in step 1), wherein the amount of concrete used, the effective radius of the vibrating rod, and the effective length of the vibrating rod are all obtained according to GB50666-2011 "Code for Construction of Concrete Structures".

[0071] In this step, the optimal path for concrete construction obtained in step 1) can be decomposed into a target point sequence in a polar coordinate system. According to the device design, the vibrating device and the material distribution device are controlled by PLC to move along the planned path, that is, the material distribution and vibration are carried out according to the optimal path. Decomposing the global path into a target point sequence in a polar coordinate system includes: determining the origin and parameters of the polar coordinate system, including taking the geometric center of the bearing in the rotating mechanism 1 as the origin of the polar coordinate system, that is, the image center. The angle (α) is the circumferential rotation angle of the rotating rod 12 driven by the servo motor with the origin as the rotation center, ranging from 0° to 360°. Radius is the radial movement distance of the material distribution device 3 and the vibrating device 4 along the ball screw 13, ranging from 0 to M (M is the length of the ball screw). The target point coordinates of the optimal path obtained in step 4) are the position (x, y) in the Cartesian coordinate system and converted to polar coordinates

[0072]

[0073] The PLC controls the movement of the material distribution device 3 and the vibrating device 4, including: the servo motor drives the rotating rod 12 to rotate to the target angle α at the rotation angle θ, adopting PID closed-loop control, the encoder feedbacks the real-time angle, and adjusts the servo motor speed. At the radial position r, the servo motor drives the ball screw 12 to move the special-shaped plate 5 radially to the target radius. A linear encoder provides position feedback with an accuracy of ±0.1mm. A hydraulic cylinder moves the vibrator 4 vertically according to the target hole depth, while a pressure sensor ensures constant contact force. A servo motor, coupled with a rack, raises and lowers the material distribution device 3 according to the target hole depth. A linear encoder provides position feedback with an accuracy of ±0.1mm.

[0074] The fabric operation includes: a total of N = 2N B +2NL cloth points, due to N B and N L To meet the actual planned pouring volume of each layer, the amount of each distribution point is rounded up. Mass concrete.

[0075] From M = 2r, we can simplify to

[0076] The cloth time of the cloth points at both ends of the horizontal and vertical directions is:

[0077]

[0078] The cloth duration of the remaining cloth points is:

[0079]

[0080] Among them, t is the time of laying, H is the height of single layer pouring, and v is the concrete flow rate, the unit is m 3 / h, η is the correction coefficient (1.0 for moderate slump, 0.7-0.9 for low slump, 1.1-1.2 for high slump).

[0081] Among them, the selection of the vibrating rod requires that its effective radius and effective length meet the following requirements:

[0082] 2s≤1.4R

[0083] 0.5s≤0.5R

[0084] H≤1.25l

[0085] According to GB50666-2011, the Code for Construction of Concrete Structures, the spacing between vibrating points should not exceed 1.4 times the effective radius of the vibrator, the distance between the vibrator and the formwork should not exceed 0.5 times the effective radius of the vibrator, and the maximum thickness of concrete layered vibration is 1.25 times the effective length of the vibrator. Here, s is the spacing between rebars, R is the effective radius of the vibrator, 2s is the spacing between adjacent lower points (i.e., the spacing between vibrating points), 0.5s is the distance between the vibrator and the formwork, H is the single-layer pouring height, and l is the effective length of the vibrator.

[0086] The solution is l≥0.8H. On the basis of satisfying this equation, in most cases, the effective radius R of the vibrator in the area with dense steel bars is selected to be 150mm~250mm.

[0087] The method of distributing material is as follows: According to the static angle principle, after the concrete stops flowing, its natural accumulation shape follows the static equilibrium of the granular material, forming a fixed accumulation angle (θ). At this time, the relationship between the height (h) of the concrete cone and the radius (r) of the concrete cone is:

[0088]

[0089] For ordinary concrete (slump 150-200mm), θ is usually 30°-40°, corresponding to h / r≈0.58-0.84

[0090] The spacing between each distribution point is r, and the overlapping length between adjacent concrete cones is r. The construction block is divided into a 2r*r rectangle. The total amount of concrete poured in the construction block area is the sum of the volumes of the two half cones, that is, Here π is considered as 3, so the total amount of concrete poured is approximately hr 2 .

[0091] The planned pouring area in the construction block is a cube of 2r*r*H, where H is the pouring height of a single layer, that is, the planned total volume is 2r 2 H.

[0092] The amount of concrete poured in the area is equal to the planned amount of concrete, that is:

[0093] hr 2 =2r 2 H

[0094] It can be solved that h=2H.

[0095] Then h must satisfy the insertion depth of the vibrator. According to GB50666-2011 Concrete Structure Engineering Construction Code, the thickness of concrete layered pouring should not be greater than 500mm, and the spacing between distribution points should not be greater than 10m, that is, H≤500mm, h≤1000mm, r≤10m.

[0096] 3) Real-time monitoring and adjustment of vibration quality until the pouring of the structure is complete. For example, a distributed fiber-optic vibration monitoring system monitors the concrete vibration signal. When the vibration signal at a particular vibration point meets the concrete density requirements in both time and space, the vibration operation at that point is terminated and the next vibration point is moved on until the pouring of the structure is complete.

[0097] The method for planning concrete placement and vibration trajectories in complex steel mesh areas provided by the present invention can significantly reduce labor cost investment, effectively improve construction efficiency, and at the same time ensure the stability and improvement of concrete quality. It is suitable for concrete construction scenarios in complex steel mesh areas and brings a new construction solution to the construction industry.

Claims

1. A method for planning concrete placement and vibration trajectories in a complex reinforced mesh area, characterized by: The method for planning concrete placement and vibration trajectory in a complex steel mesh area includes the following steps: 1) Construct the steel mesh of the building to be cast; 2) obtaining three-dimensional point cloud data of the steel mesh in step 1) based on a 3D sensor; 3) Analyze the three-dimensional point cloud data of the steel mesh to obtain the steel mesh domain; 4) Based on step 3), an optimal path for concrete construction is formed in the steel mesh domain.

2. The method for planning concrete placement and vibration trajectory in a complex reinforced mesh area according to claim 1 is characterized by: The specific implementation of step 3) is: 3.1) Binarize the 3D point cloud data of the steel mesh; 3.2) extracting the steel skeleton of the steel mesh from the binarization result obtained in step 3.1) using a 3D thinning algorithm; 3.3) Determining the binding points of the steel skeleton using a neighborhood statistics algorithm and a least squares sphere fitting algorithm, wherein the steel skeleton and the binding points form a steel mesh; 3.4) Mapping the steel mesh domain obtained in step 3.3) to a two-dimensional plane to obtain a two-dimensional plane image of the steel mesh domain; 3.5) Based on the two-dimensional plan view of the steel mesh domain obtained in step 3.4), the Variignon parallelogram method is used to determine the center of the steel mesh domain hole, the connected region analysis method is used to determine the outer template of the steel mesh domain, and the radial scanning method is used to determine the inner template of the steel mesh domain; the center of the steel mesh domain hole is the geometric center of the quadrilateral formed by the intersection of the horizontal and vertical steel bars in the steel mesh domain; the outer template of the steel mesh domain is the closed outline formed by the outermost edge of the steel mesh domain; and the inner template of the steel mesh domain is the closed outline formed by the innermost edge of the steel mesh domain.

3. The method for planning concrete placement and vibration trajectory in a complex reinforced mesh area according to claim 2 is characterized by: The specific implementation of step 4) is: 4.1) Determine the construction area in the reinforcement mesh area; 4.2) Select the material distribution points and vibration points in the construction area; 4.3) Generate an optimal path for distribution points and an optimal path for vibration points, which together constitute an optimal path for concrete construction.

4. The method for planning concrete placement and vibration trajectory in a complex reinforced mesh area according to claim 3 is characterized by: The specific implementation of step 4.1) is: 4.1.1) Obtain the spacing r between adjacent placement points according to GB50666-2011 "Concrete Structure Engineering Construction Code"; 4.1.2) Divide the length and width of the two-dimensional plan view of the steel mesh area based on the distance r between adjacent placement points to form construction blocks.

5. The method for planning concrete placement and vibration trajectory in a complex reinforced mesh area according to claim 4 is characterized in that: The method for selecting the distribution points in step 4.2) is to use the center of the most central hole distributed in the construction block as the distribution point; the method for selecting the vibration points in step 4.2) is to group the steel mesh hole centers obtained in step 3.5) by row, retain the odd-numbered steel mesh hole centers in odd-numbered rows, and retain the even-numbered steel mesh hole centers in even-numbered rows, and use the retained hole centers as vibration points.

6. The method for planning concrete placement and vibration trajectory in a complex reinforced mesh area according to claim 5 is characterized by: The specific implementation method of generating the optimal path of the distribution points in the step 4.3) is as follows: selecting multiple distribution points from the distribution point selection method according to the distribution point selection method, clustering the distribution points into a horizontal distribution point group and a vertical distribution point group, and uniformly dividing the horizontal distribution point group and the vertical distribution point group into the first group, the second group, the third group, the fourth group, ..., and the Nth group in a clockwise or counterclockwise direction; setting the first distribution point of the first group as the starting point and the end point, and the remaining distribution points as the waypoints, setting the outer template of the steel mesh domain and the inner template of the steel mesh domain obtained in step 3.5) as obstacles, using the nearest neighbor greedy algorithm to determine the order of visiting the waypoints in the order of the first group to the Nth group, using the A* algorithm to calculate the path in segments for every two adjacent waypoints, connecting the segments of the path to form the optimal path of the distribution points.

7. The method for planning concrete placement and vibration trajectory in a complex reinforced mesh area according to claim 5, characterized in that: The specific implementation method for generating the optimal path of the vibration points in the step 4.3) is as follows: in the same direction as the path of the material distribution points, after the material distribution of the first construction block is completed, the two vibration points farthest apart in the first construction block are respectively used as the starting point and the end point, and the remaining vibration points in other construction blocks are set as waypoints. The boundaries of the construction blocks are used as obstacles. The order of visiting the waypoints is determined in the order from the first construction block to the Nth construction block using the nearest neighbor greedy algorithm. The A* algorithm is called for every two adjacent waypoints to calculate the path in segments, and the segments of the path are connected to form the optimal path of the vibration points.

8. A building construction method based on the complex steel mesh concrete placement and vibration trajectory planning method as described in any one of 1-7, characterized in that: The building construction method comprises the following steps: 1) generating an optimal path for concrete construction based on the method for planning concrete placement and vibration trajectory in a complex steel mesh according to any one of claims 1 to 7; 2) Placing and vibrating the concrete according to the optimal path for concrete construction obtained in step 1); 3) Monitor and adjust the vibration quality in real time until the pouring of the structure to be poured is completed.

9. The building construction method according to claim 8, characterized in that: The specific implementation method of step 2) is to distribute and vibrate all construction blocks one by one according to the optimal path of concrete construction obtained in step 1), wherein the distribution amount, the effective radius of the vibrating rod, and the effective length of the vibrating rod are all obtained according to GB50666-2011 "Concrete Structure Engineering Construction Code".

10. The method for planning concrete placement and vibration trajectory in a complex reinforced mesh area according to claim 8 or 9, characterized in that: The specific implementation method of step 3) is to monitor the concrete vibration signal through a distributed optical fiber vibration monitoring system. When the vibration signal of a certain vibration point meets the concrete density requirements in the time and space dimensions, the vibration operation of the vibration point is terminated and the next vibration point is turned to until the pouring of the building to be poured is completed.

Images