Method for planning of complex steel mesh domain concrete placement and vibration trajectories

Abstract

The present application belongs to the field of building construction, and relates to a complex steel bar net area concrete distribution and vibration track planning method, comprising the following steps: 1) constructing a steel bar net of a building to be poured; 2) obtaining three-dimensional point cloud data of the steel bar net in step 1) based on a 3D sensor; 3) analyzing the three-dimensional point cloud data of the steel bar net to obtain a steel bar net area; and 4) forming an optimal path of concrete construction in the steel bar net area based on step 3). The present application provides a complex steel bar net area concrete distribution and vibration track planning method which can realize the automation of complex steel bar net area concrete construction and significantly improve the construction quality and efficiency.

Description

Technical Field

[0001] This invention belongs to the field of building construction, specifically a construction trajectory planning method, and more particularly relates to a method for planning the trajectory of concrete placement and vibration in complex steel mesh areas. Background Technology

[0002] In the field of modern construction, with the increasing complexity of building structures, traditional reinforced concrete construction methods face numerous severe challenges. Under traditional manual operation, concrete placement and vibration rely heavily on the experience and skill of the workers, resulting in inefficiency and inconsistent construction quality. The randomness of manual operation leads to uneven concrete placement, easily causing under-vibration or over-vibration in areas with dense reinforcement, thus affecting the concrete's density and structural strength. Simultaneously, the lack of precise path planning makes it difficult for workers to move efficiently within complex reinforced concrete mesh areas, increasing construction time and labor costs.

[0003] While existing automated construction solutions have improved construction efficiency to some extent, they are mostly designed for simple, regular structures and lack the ability to accurately locate and plan paths for complex rebar mesh openings. When faced with irregular structures or areas with small rebar spacing, automated equipment struggles to flexibly adjust the material placement and vibration path, often resulting in collisions between the vibrator and the rebar or insufficient material placement, making it difficult to guarantee construction quality.

[0004] Construction of complex reinforced concrete structures demands extremely high precision and efficiency, which traditional manual operations and simple automation solutions cannot meet. Therefore, there is an urgent need for an automated construction method capable of accurately locating rebar mesh openings, efficiently planning construction paths, and making real-time adjustments 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-mentioned technical problems in the background art, the present invention provides a method for planning the placement and vibration trajectory of concrete in complex reinforced mesh areas, which can realize the automation of concrete construction in complex reinforced mesh areas and significantly improve the construction quality and efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas, characterized in that: the method includes the following steps:

[0008] 1) Construct the steel mesh for the building to be poured;

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

[0010] 3) Analyze the 3D point cloud data of the reinforcing mesh to obtain the reinforcing mesh domain;

[0011] 4) Based on step 3), form the optimal path for concrete construction in the steel mesh area.

[0012] Preferably, the specific implementation of step 3) in this invention is as follows:

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

[0014] 3.2) The steel reinforcement skeleton of the steel mesh is extracted from the binarized result obtained in step 3.1) using a 3D thinning algorithm;

[0015] 3.3) The binding points of the reinforcing steel cage are determined by the neighborhood statistical algorithm and the least squares sphere fitting algorithm, and the reinforcing steel cage and the binding points form a reinforcing steel mesh.

[0016] 3.4) Map the reinforcement mesh domain obtained in step 3.3) onto a two-dimensional plane to obtain a two-dimensional planar diagram of the reinforcement mesh domain;

[0017] 3.5) Based on the two-dimensional planar diagram of the reinforcing mesh obtained in step 3.4), the center of the holes in the reinforcing mesh is obtained using the Warringon parallelogram method, the outer template of the reinforcing mesh is determined using the connected region analysis method, and the inner template of the reinforcing mesh is determined using the radial scan method. The center of the holes in the reinforcing mesh is the geometric center of the quadrilateral formed by the intersection of the transverse and longitudinal reinforcing bars in the reinforcing mesh. The outer template of the reinforcing mesh is the closed contour formed by the outermost edge of the reinforcing mesh. The inner template of the reinforcing mesh is the closed contour formed by the innermost edge of the reinforcing mesh.

[0018] Preferably, the specific implementation of step 4) in this invention is as follows:

[0019] 4.1) Determine the construction blocks within the steel reinforcement mesh area;

[0020] 4.2) Select material placement points and vibration points within the construction area;

[0021] 4.3) Generate the optimal path for the concrete placement point and the optimal path for the vibration point. The optimal path for the concrete placement point and the optimal path for the vibration point together constitute the optimal path for concrete construction.

[0022] Preferably, the specific implementation of step 4.1) in this invention is as follows:

[0023] 4.1.1) Obtain the spacing r between adjacent concrete placement points according to GB50666-2011 "Code for Construction of Concrete Structures";

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

[0025] Preferably, in step 4.2) of the present invention, the method of selecting the material placement point is to take the center of the hole in the middle of the construction block as the material placement point; the method of selecting the vibration point in step 4.2) is to group the centers of the holes in the steel mesh obtained in step 3.5) by row, retain the odd-numbered center of the steel mesh in the odd-numbered rows, and retain the even-numbered center of the steel mesh in the even-numbered rows, and take the retained center of the hole as the vibration point.

[0026] Preferably, the specific implementation of generating the optimal path for the material placement points in step 4.3) of the present invention is as follows: Multiple material placement points are selected according to the selection method of the material placement points. The material placement points are clustered into horizontal material placement point groups and vertical material placement point groups. The horizontal and vertical material placement point groups are uniformly divided into group 1, group 2, group 3, group 4, ..., and group N in a clockwise or counterclockwise direction. The first material placement point of group 1 is set as the start and end point, and the remaining material placement points are set as path points. The formwork outside the steel mesh and the formwork inside the steel mesh obtained in step 3.5) are set as obstacles. The nearest neighbor greedy algorithm is used to determine the access order of the path points in the order of group 1 to group N. For every two adjacent path points, the improved A* algorithm is called to calculate the path segment by segment. The path segments are connected to form the optimal path for the material placement points.

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

[0028] A building construction method based on the aforementioned complex reinforced concrete mesh 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 complex steel mesh domain concrete placement and vibration trajectory planning method described above.

[0030] 2) Based on the optimal path for concrete construction obtained in step 1), place and vibrate the concrete.

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

[0032] Preferably, the specific implementation of step 2) of the present invention is to place and vibrate the concrete in each construction block according to the optimal path of concrete construction obtained in step 1), wherein the amount of concrete used, the effective radius of the vibrator and the effective length of the vibrator are all obtained according to GB50666-2011 "Code for Construction of Concrete Structures".

[0033] Preferably, step 3) of the present invention is implemented by monitoring 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 spatiotemporal dimension, the vibration operation of that vibration point is ended, and the process moves to the next vibration point until the pouring of the building to be poured is completed.

[0034] The advantages of this invention are:

[0035] This invention provides a method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas, including: 1) constructing a reinforced mesh for the building to be poured; 2) acquiring three-dimensional point cloud data of the reinforced mesh from step 1) using a 3D sensor; 3) analyzing the three-dimensional point cloud data of the reinforced mesh to obtain the reinforced mesh area; and 4) forming the optimal path for concrete construction within the reinforced mesh area based on step 3). This invention utilizes advanced 3D sensor technology to accurately scan the reinforced mesh and locate the center positions of holes. Based on rigorous construction specifications and relevant parameters, the construction area is rationally divided, placement and vibration points are precisely selected, and a detailed map including obstacles and waypoints is constructed. Furthermore, an improved A* algorithm combined with a nearest neighbor greedy algorithm is used to efficiently generate the globally optimal path. Finally, a PLC remote control system precisely controls the construction equipment, achieving an automated operation process. This invention significantly reduces labor consumption and improves construction efficiency and concrete quality through concrete placement and vibration, making it suitable for concrete construction scenarios with complex steel reinforcement meshes. Furthermore, by integrating 3D visual positioning, improved path planning algorithms, and control technology, this invention automates concrete construction in complex steel reinforcement mesh areas. The method provided by this invention is highly efficient and reliable, significantly improving construction quality and efficiency, and has broad engineering application prospects. Attached Figure Description

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

[0037] Figure 2 This invention provides the result of locating the holes in the reinforcing steel mesh.

[0038] Figure 3 It is a material placement obstacle map formed based on the complex steel mesh domain concrete material placement and vibration trajectory planning method provided by this invention;

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

[0040] Figure 5 This is a schematic diagram of the concrete placement and vibration trajectory planning method for complex steel mesh areas provided by the present invention.

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

[0042] The diagram is labeled as follows:

[0043] 1-Rotating mechanism; 11-Supporting platform; 12-Rotating rod; 13-Ball screw; 2-Distributed fiber optic vibration monitoring system; 3-Fabrication device; 4-Vibration device; 5-Irregularly shaped plate; 6-3D sensor. Detailed Implementation

[0044] This invention provides a method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas. This method includes the following steps:

[0045] 1) Construct the steel mesh for the building to be poured;

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

[0047] For example, this step is achieved through Figure 1 The rotating mechanism 1 shown drives the 3D sensor to scan the reinforcing mesh, ultimately obtaining the 3D point cloud data of the reinforcing mesh. Alternatively, other methods in existing technology can also be used to drive the 3D sensor to scan the reinforcing mesh. See [link to relevant documentation]. Figure 1 The rotating mechanism 1 includes a support platform 11, a servo motor-driven rotating rod 12, and a ball screw 13; a distributed fiber optic vibration monitoring system 2 is evenly arranged within the reinforcing mesh; a material placement device 3 and a vibrating device 4 are fixed on a shaped plate 5, rotating via the rotating rod 12 and moving radially via the ball screw 13, covering the entire area with rotation and radial movement; a hydraulic cylinder controls the vertical lifting and lowering of the vibrating rod, and a rack and pinion matched with the servo motor realize the lifting and lowering adjustment of the material placement tube; a 3D sensor 6 is installed below the ball screw 13, with a data interface and lens that meet current mainstream standards, ensuring that the monitoring range effectively covers the reinforcing mesh; a three-dimensional schematic diagram of the overall structure of the test device is shown below. Figure 1 As shown;

[0048] 3) Analyze the 3D point cloud data of the reinforcing mesh to obtain the reinforcing mesh domain. For example, the specific implementation of step 3) is as follows:

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

[0050] 3.2) The steel reinforcement skeleton of the steel mesh is extracted from the binarized result obtained in step 3.1) using a 3D thinning algorithm;

[0051] 3.3) The binding points of the steel reinforcement cage are determined by the neighborhood statistical algorithm and the least squares sphere fitting algorithm. The steel reinforcement cage and the binding points form a steel reinforcement mesh.

[0052] 3.4) Map the reinforcement mesh domain obtained in step 3.3) onto a two-dimensional plane to obtain a two-dimensional planar diagram of the reinforcement mesh domain;

[0053] 3.5) Based on the two-dimensional planar diagram of the reinforcing mesh obtained in step 3.4), the center of the hole in the reinforcing mesh is obtained by using the Warringon parallelogram method, the outer template of the reinforcing mesh is determined by using the connected region analysis method, and the inner template of the reinforcing mesh is determined by using the radial scan method. The center of the hole in the reinforcing mesh is the geometric center of the quadrilateral formed by the intersection of the transverse and longitudinal reinforcing bars in the reinforcing mesh. The outer template of the reinforcing mesh is the closed contour formed by the outermost edge of the reinforcing mesh. The inner template of the reinforcing mesh is the closed contour formed by the innermost edge of the reinforcing mesh.

[0054] Specifically, step 3) can be achieved as follows: The 3D point cloud data of the steel mesh acquired by the 3D sensor is binarized, with the steel reinforcement value set to 1 and the background value set to 0, to facilitate subsequent 3D thinning algorithm processing; the 3D thinning algorithm is used to skeletalize the 3D point cloud data of the steel mesh to obtain the steel mesh skeleton structure. The core idea of ​​the 3D thinning algorithm, namely constructing an octree data structure and iterative thinning process, is used to extract the skeleton structure of the steel mesh; taking any point in the skeletalized image as the center of a sphere, a certain radius (the length needs to be adjusted according to the actual point cloud image) is used to refine the sphere. The search is performed using the radius (which is the neighborhood length, i.e., the search range) of the neighborhood statistical method. The set of rebar intersection points is determined by the neighborhood statistical algorithm (the determination process is that if the number of points in the neighborhood of a point exceeds a certain limit, it can be determined as an intersection point). The binding points are located using the least squares method. A sphere with each set of points as its edge is fitted using the least squares circle fitting algorithm, and the center of the fitted sphere is determined as the binding point. After mapping the binding points to a two-dimensional plane, the center position of the holes in the annular region of the rebar mesh is located using the Warrington parallelogram method. The location results of the rebar mesh holes are as follows: Figure 2As shown. When identifying the inner and outer templates, the 3D point cloud data of the steel mesh is mapped to a 2D plane and binarized and skeletonized. The boundary of the largest connected region is extracted through connected component analysis (e.g., in the binarized result, 1s connected to 1s or 0s connected to 0s), which is the outer edge, i.e., the outer template. A ray is emitted radially from the image center of the 2D plane, and the first point with a pixel value of 1 is recorded. Outliers are filtered based on the interquartile range rule, and after polar angle sorting, a closed polygon is forced; this polygon is the inner edge, i.e., the inner template. For example, step 3) can also be performed using other existing methods.

[0055] 4) Based on step 3), the optimal path for concrete construction is formed within the reinforcing mesh domain. Specifically, step 4) is implemented as follows:

[0056] 4.1) Determine the construction blocks within the steel reinforcement mesh area, specifically:

[0057] 4.1.1) Obtain the spacing r between adjacent concrete placement points according to GB50666-2011 "Code for Construction of Concrete Structures";

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

[0059] 4.2) Select material placement points and vibration points within the construction area;

[0060] The selection method for concrete placement points involves using the center of the holes in the central part of the construction block as the placement point. The selection method for vibration points involves grouping the centers of the holes in the reinforcing mesh obtained in step 3.5) by row, retaining the odd-numbered center of the hole in odd-numbered rows and the even-numbered center of the hole in even-numbered rows, and using these retained center points as vibration points. It should be noted that the selection of placement points is based on construction specifications and relevant concrete parameters, calculated to ensure even distribution while ensuring that the height of the block formed after placement meets the required vibration depth. The vibration points are selected in a staggered pattern to ensure sufficient and uniform vibration of the entire concrete.

[0061] For example, the number of concrete placement points is calculated as follows: M is the wall thickness of the building to be poured, B is the transverse width of the building to be poured, L is the longitudinal width of the building to be poured, r is the spacing between concrete placement points, s is the clear spacing between reinforcing bars, 2s is the spacing between vibration points, and the construction block is a rectangle of 2r*r.

[0062] To facilitate the division of construction areas and the arrangement of material placement points, M = 2r, meaning that the material placement points are all distributed on the central group of holes (pre-placement points) at the midpoint of the horizontal and vertical tower walls of the building to be poured.

[0063] To facilitate the division of construction blocks, the design designates the pre-placement points at both ends of the horizontal direction as placement points and arranges them as semi-conical volumes. After removing the construction blocks at both ends, the middle section is decorated with a concrete placement point every r intervals, meaning that a placement point is arranged horizontally on each tower wall. Each fabric point. Similarly, each tower wall is arranged longitudinally. There are several cloth points. N is a number, N B N is the number of horizontal rows; L It represents the number of items in the vertical direction.

[0064] 4.3) Generate the optimal path for the concrete placement point and the optimal path for the vibration point. The optimal path for the concrete placement point and the optimal path for the vibration point together constitute the optimal path for concrete construction.

[0065] The specific implementation of generating the optimal path for the material placement points in step 4.3) is as follows: Multiple material placement points are selected based on the selection method. These points are then clustered into horizontal and vertical groups. Both groups are further divided into groups 1, 2, 3, 4, ..., and N, in a clockwise or counter-clockwise direction. The first material placement point in group 1 is set as the start and end point, and the remaining points are set as waypoints. The formwork outside and inside the steel mesh area obtained in step 3.5) is set as obstacles. The material placement obstacle map is shown below. Figure 3 As shown; following the order of groups 1 to N, the nearest neighbor greedy algorithm is used to determine the visiting order of the waypoints. For every two adjacent waypoints, the improved A* algorithm is called to calculate the path in segments. The paths are then connected to form the optimal path for the material placement point. The schematic diagram of the material placement path planning is shown below. Figure 5 As shown.

[0066] The specific implementation method for generating the optimal path of the vibration points in step 4.3) is as follows: following the same direction as the path of the material placement points, after the material placement of the first construction block is completed, the two vibration points that are furthest apart in the first construction block are taken as the start and end points, respectively. The remaining vibration points in other construction blocks are set as waypoints, and the boundaries of the construction blocks are considered as obstacles. The vibration obstacle map is shown below. Figure 4 As shown; following the order of the first to the Nth construction block, the nearest neighbor greedy algorithm is used to determine the visiting order of the waypoints. For every two adjacent waypoints, the improved A* algorithm is called to calculate the path in segments. The paths are then connected to form the optimal path for the vibration points. The vibration path planning diagram is shown below. Figure 6 As shown.

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

[0068] This invention provides, while offering the method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas as described above, a building construction method based on this planning method, which includes the following steps:

[0069] 1) Generate the optimal path for concrete construction based on the complex steel mesh domain concrete placement and vibration trajectory planning method described above.

[0070] 2) Based on the optimal path for concrete construction obtained in step 1), concrete is placed and vibrated. Specifically, concrete is placed and vibrated in each construction block according to the optimal path for concrete construction obtained in step 1). The amount of concrete used, the radius of action of the vibrator, and the length of action of the vibrator 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 sequence of target points in a polar coordinate system. Based on the device design, the vibrating device and the concrete placing device are controlled by a PLC to move along the planned path, i.e., to place and vibrate the concrete according to the optimal path. Decomposing the global path into a sequence of target points in a polar coordinate system includes: determining the origin and parameters of the polar coordinate system, including using the geometric center of the bearing in the rotating mechanism 1 as the origin, i.e., the image center. 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 This refers to the radial movement distance of the fabric feeding device 3 and the vibrating device 4 along the ball screw 13, ranging from 0 to M (where M is the length of the ball screw). The position (x, y) of the target point coordinates of the optimal path obtained in step 4) in the Cartesian coordinate system is converted to polar coordinates.

[0072]

[0073] The PLC-controlled movement of the fabric feeding device 3 and the vibrating device 4 includes: Rotating the rotating rod 12 to the target angle α via a servo motor, using PID closed-loop control with real-time angle feedback from the encoder to adjust the servo motor speed; and moving the shaped plate 5 radially to the target radius by driving the ball screw 12 via a servo motor to the target position r. Position feedback is provided via a linear encoder, with an accuracy of ±0.1mm. A hydraulic cylinder moves the vibrating device 4 vertically according to the target hole depth, and a pressure sensor ensures constant contact force. A servo motor, in conjunction with a rack and pinion mechanism, raises and lowers the material placing device 3 according to the target hole depth, with position feedback also provided by a linear encoder, achieving an accuracy of ±0.1mm.

[0074] The fabric work includes: a total of N = 2N B +2NL There are several fabric points, due to N B and N L All values ​​are rounded up. To ensure the actual planned pouring volume for each floor, the amount of material placed at each placement point is increased. Volume of concrete.

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

[0076] The fabric fabrication duration at both the horizontal and vertical ends is:

[0077]

[0078] The fabric duration for the remaining fabric points is:

[0079]

[0080] Where t is the concrete placement time, H is the single-layer pouring height, and v is the concrete flow rate, in meters (m³). 3 / h, η is the correction factor (1.0 for moderate slump, 0.7-0.9 for low slump, and 1.1-1.2 for high slump).

[0081] Among them, the selection of the vibrator requires that its radius of action and length of action 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 vibrator insertion 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 each concrete layer during vibration is 1.25 times the effective length of the vibrator. Here, s represents the rebar spacing, R represents the effective radius of the vibrator, 2s represents the spacing between adjacent lower points (i.e., the vibrator insertion point spacing), 0.5s represents the distance between the vibrator and the formwork, H represents the single-layer pouring height, and l represents the effective length of the vibrator.

[0086] Solving For l≥0.8H, under the premise of satisfying this equation, in most cases, the effective radius R of the vibrator in areas with dense reinforcement should be selected as 150mm~250mm.

[0087] The method for determining the amount of concrete used is as follows: Based on the principle of static angle of repose, after the concrete stops flowing, its natural accumulation shape follows the static equilibrium of the granular material, forming a fixed angle of repose (θ). At this point, the relationship between the height (h) and radius (r) of the concrete cone is:

[0088]

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

[0090] If the spacing between each concrete placement point is r, then the overlap length between adjacent concrete cones is r. The construction block is a rectangle of 2r*r, and the total amount of concrete poured within the construction block is the sum of the volumes of the two half-cones, i.e. Here, π is considered to be 3, so the total amount of concrete poured is approximately hr. 2 .

[0091] The construction area is planned to be poured into a 2r*r*H cube, where H is the height of a single layer, meaning 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] We can solve for h = 2H.

[0095] Then h must satisfy the insertion depth of the vibrator. According to GB50666-2011 Code for Construction of Concrete Structures, the thickness of concrete layers should not exceed 500mm and the spacing between placement points should not exceed 10m, i.e., H≤500mm, h≤1000mm, r≤10m.

[0096] 3) Monitor and adjust the vibration quality in real time until the pouring of the building to be poured is completed. For example, a distributed fiber optic vibration monitoring system is used to monitor the concrete vibration signal. When the vibration signal at a certain vibration point meets the concrete compaction requirements in the spatiotemporal dimension, the vibration operation at that vibration point is ended, and the process moves to the next vibration point until the pouring of the building to be poured is completed.

[0097] The concrete placement and vibration trajectory planning method for complex steel mesh areas provided by this invention can significantly reduce labor costs, effectively improve construction efficiency, and ensure the stability and improvement of concrete quality. It is applicable to concrete construction scenarios with complex steel mesh areas and brings a brand-new construction solution to the construction industry.

Claims

1. A method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas, characterized in that: The method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas includes the following steps: 1) Construct the steel mesh for the building to be poured; 2) Acquire the three-dimensional point cloud data of the steel mesh in step 1) based on a 3D sensor; 3) Analyze the 3D point cloud data of the reinforcing mesh to obtain the reinforcing mesh domain, specifically: 3.1) Binarize the 3D point cloud data of the steel mesh; 3.2) The steel reinforcement skeleton of the steel mesh is extracted from the binarized result obtained in step 3.1) using a 3D thinning algorithm; 3.3) The binding points of the reinforcing steel cage are determined by the neighborhood statistical algorithm and the least squares sphere fitting algorithm, and the reinforcing steel cage and the binding points form a reinforcing steel mesh. 3.4) Map the reinforcement mesh domain obtained in step 3.3) onto a two-dimensional plane to obtain a two-dimensional planar diagram of the reinforcement mesh domain; 3.5) Based on the two-dimensional planar diagram of the reinforcing mesh obtained in step 3.4), the center of the holes in the reinforcing mesh is obtained using the Warringon parallelogram method, the outer template of the reinforcing mesh is determined using the connected region analysis method, and the inner template of the reinforcing mesh is determined using the radial scan method. The center of the holes in the reinforcing mesh is the geometric center of the quadrilateral formed by the intersection of the transverse and longitudinal reinforcing bars in the reinforcing mesh. The outer template of the reinforcing mesh is the closed contour formed by the outermost edge of the reinforcing mesh. The inner template of the reinforcing mesh is the closed contour formed by the innermost edge of the reinforcing mesh. 4) Based on step 3), form the optimal path for concrete construction in the steel mesh area.

2. The method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas according to claim 1, characterized in that: The specific implementation method of step 4) is as follows: 4.1) Determine the construction blocks within the steel reinforcement mesh area; 4.2) Select material placement points and vibration points within the construction area; 4.3) Generate the optimal path for the concrete placement point and the optimal path for the vibration point. The optimal path for the concrete placement point and the optimal path for the vibration point together constitute the optimal path for concrete construction.

3. The method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas according to claim 2, characterized in that: The specific implementation method of step 4.1) is as follows: 4.1.1) Obtain the spacing r between adjacent concrete placement points according to GB50666-2011 "Code for Construction of Concrete Structures"; 4.1.2) Divide the length and width of the two-dimensional plan view of the rebar mesh area based on the spacing r between adjacent placement points to form construction blocks.

4. The method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas according to claim 3, characterized in that: In step 4.2), the material placement point is selected by taking the center of the hole in the middle of the construction block as the material placement point; in step 4.2), the vibration point is selected by grouping the center of the hole in the steel mesh obtained in step 3.5 by row, retaining the odd-numbered center of the steel mesh in odd-numbered rows and the even-numbered center of the steel mesh in even-numbered rows, and taking the retained center of the hole as the vibration point.

5. The method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas according to claim 4, characterized in that: The specific implementation of generating the optimal path for the material placement points in step 4.3) is as follows: Multiple material placement points are selected according to the selection method. These points are then clustered into horizontal and vertical groups. The horizontal and vertical groups are further divided into groups 1, 2, 3, 4, ..., and N, in a clockwise or counter-clockwise direction. The first material placement point in group 1 is set as the start and end point, and the remaining points are set as path points. The formwork outside and inside the steel mesh obtained in step 3.5) is set as obstacles. The nearest neighbor greedy algorithm is used to determine the access order of the path points in the order of groups 1 to N. For each pair of adjacent path points, the A* algorithm is used to segment and calculate the path. The paths are then connected to form the optimal path for the material placement points.

6. The method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas according to claim 4, characterized in that: The specific implementation method for generating the optimal path of the vibration points in step 4.3) is as follows: following the same direction as the path of the material placement points, after the material placement of the first construction block is completed, the two vibration points that are farthest apart in the first construction block are taken as the start point and the end point, respectively. The remaining vibration points in other construction blocks are set as waypoints, and the boundaries of the construction blocks are obstacles. The order of visiting waypoints is determined by the nearest neighbor greedy algorithm in the order of the first construction block to the Nth construction block. For every two adjacent waypoints, the A* algorithm is called to calculate the path in segments. The paths are then connected to form the optimal path of the vibration points.

7. A building construction method based on the complex reinforced concrete mesh placement and vibration trajectory planning method as described in any one of 1-6, characterized in that: The construction method for the building includes the following steps: 1) Generate the optimal path for concrete construction based on the complex reinforced mesh concrete placement and vibration trajectory planning method as described in any one of claims 1-6; 2) Based on the optimal concrete construction path obtained in step 1), place and vibrate the concrete. 3) Monitor and adjust the vibration quality in real time until the pouring of the building to be poured is completed.

8. The building construction method according to claim 7, characterized in that: The specific implementation method of step 2) is to place and vibrate the concrete in each construction block according to the optimal path of concrete construction obtained in step 1). The amount of concrete used, the effective radius of the vibrator and the effective length of the vibrator are all obtained according to GB50666-2011 "Code for Construction of Concrete Structures".

9. The method for planning the concrete placement and vibration trajectory in complex reinforced mesh areas according to claim 7 or 8, characterized in that: The specific implementation 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 compaction requirements in the spatiotemporal dimension, the vibration operation of that vibration point is ended, and the process moves to the next vibration point until the pouring of the building to be poured is completed.

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