Fabricated bridge member air installation positioning construction method based on BIM and unmanned aerial vehicle

Abstract

The invention relates to an assembly type bridge component air installation positioning construction method based on a BIM and an unmanned aerial vehicle, and belongs to the technical field of construction assembly, and the method comprises the steps: 1, building a BIM model, building a three-dimensional BIM model containing all bridge components according to a bridge design drawing, and completing the generation of construction data; 2, unmanned aerial vehicle system configuration: planning a flight path and a task of an unmanned aerial vehicle according to construction data generated by the BIM model; thirdly, prefabricated bridge components are prefabricated and transported; 4, the unmanned aerial vehicle monitors the bridge components according to the flight path, the ground control center fuses monitoring data collected by the unmanned aerial vehicle and the BIM model through a data matching and coordinate conversion algorithm to complete monitoring, in the process, the ground control center judges the position movement value of the unmanned aerial vehicle in the hovering process, and when the movement value exceeds a threshold value, the unmanned aerial vehicle is stopped from moving. And the ground control center sends a hovering correction instruction to the unmanned aerial vehicle and stops receiving the unmanned aerial vehicle data.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction and assembly, and specifically relates to an aerial installation and positioning construction method for prefabricated bridge components based on BIM and drones. Background Art

[0002] Against the backdrop of the current rapid development of transportation infrastructure construction, prefabricated bridges have been widely used in the field of bridge engineering due to their significant advantages such as fast construction speed, easy quality control and low environmental impact.

[0003] During the on-site installation of prefabricated components, the hoisted prefabricated components pose a certain high-altitude detection risk. Using traditional manual inspection or setting up a millimeter-level 3D laser scanner for collection, the top collection of prefabricated components is inconvenient and has certain high-altitude hazards, making it unsuitable for manual inspection. When using a 3D laser scanner, the collection accuracy will also decrease as the height increases, making it difficult to ensure the accuracy detection requirements and the integrity of the prefabricated components. To this end, Chinese patent CN119554967B discloses a method, device, electronic equipment and storage medium for key dimension detection of large prefabricated components. The method includes the following steps: S1. Constructing a BIM model of the prefabricated component based on BIM technology; S2. During the factory processing stage, constructing a millimeter-level point cloud model of the prefabricated component based on the BIM model of the prefabricated component, a drone and a 3D laser scanner to perform prefabricated component inspection and key dimension accuracy detection; S3. During the on-site installation stage, using a drone and a 3D laser scanner to construct a large-scale real-life 3D model of the overall centimeter-level and millimeter-level prefabricated component construction site, and a BIM+GIS fusion platform to automatically detect the key dimension accuracy during the on-site installation stage to ensure compliance with acceptance specifications. This application improves the efficiency and accuracy of large-scale workpiece inspection by leveraging the complementary advantages of BIM, drone aerial survey technology, and three-dimensional laser scanning technology, preventing prefabricated components from being returned to the factory for a second time and low positioning accuracy during on-site installation.

[0004] However, in the above steps, due to the inherent defects of the drone itself, such as being easily affected by the accumulated path deviation during flight, or being easily deflected by wind, the flight accuracy and coordinate accuracy of the drone cannot be compared with the BIM data of complete digital modeling. There is a probability that the BIM model coordinate system, the drone's own coordinate system, the gimbal coordinate system, and the lifting component coordinate system cannot be completely aligned, resulting in errors during use. Therefore, a method for aerial installation and positioning construction of prefabricated bridge components based on BIM and drones is needed, which takes into account cross-platform coordinate alignment and has high detection accuracy. Summary of the Invention

[0005] In order to solve the above-mentioned problems existing in the prior art, the present invention provides an aerial installation and positioning construction method for prefabricated bridge components based on BIM and drones, which has the characteristics of considering cross-platform coordinate alignment and high detection accuracy.

[0006] The purpose of the invention can be achieved through the following technical solutions: The BIM- and drone-based aerial installation and positioning construction method for prefabricated bridge components includes the following steps: Step 1: BIM model construction: Based on the bridge design drawings, a 3D BIM model including all bridge components is established to complete the generation of construction data; Step 2: Configure the UAV system. Select a UAV with an RTK differential positioning system based on your needs, install and calibrate the sensor module on the UAV, and then plan the UAV's flight path and mission in the UAV flight control system based on the construction data generated by the BIM model. Step 3: Complete the prefabrication and transportation of prefabricated bridge components; Step 4: The UAV flies according to the preset flight path and mission, monitors the bridge components being hoisted in real time, and transmits the monitoring data to the ground control center. The ground control center integrates the monitoring data collected by the UAV with the BIM model through data matching and coordinate conversion algorithms to complete the monitoring. During this process, the ground control center determines the position fluctuation value of the UAV during hovering. When the fluctuation value exceeds the threshold, the ground control center sends a hover correction instruction to the UAV and stops receiving UAV data.

[0007] As a preferred technical solution of the present invention, the method further includes step five: after the construction is completed, all monitoring data collected by the drone during the entire construction process are sorted and analyzed, and the installation position data, posture data and construction process images are integrated from the monitoring data.

[0008] As a preferred technical solution of the present invention, step four also includes: the drone monitors the wind speed and transmits it to the ground control center, the ground control center determines whether the wind speed exceeds the threshold, and when it exceeds the threshold, the ground control center corrects the coordinate values ​​displayed by the collected monitoring data according to the wind speed.

[0009] As a preferred technical solution of the present invention, step 2 also includes: collecting historical prefabricated bridge component installation deviation data and corresponding construction condition data; cleaning the data, removing noise and outliers and discovering missing values, filling the missing values ​​with interpolation, and unifying the data scale through normalization.

[0010] As a preferred technical scheme of the present application, the step five further comprises: for the part that fails to pass the bridge acceptance, the unmanned aerial vehicle is used to monitor and adjust again during the rectification process.

[0011] As a preferred technical scheme of the present application, the step two further comprises: performing mechanical simulation on the BIM model; and the step four further comprises: correcting the monitoring data according to the mechanical simulation data.

[0012] As a preferred technical scheme of the present application, the step one further comprises: during the construction of the BIM model, one or more parts on the surface in each component are pre-set as feature points; and the step four further comprises: during the real-time monitoring of the hoisted bridge component, the coordinates of the feature points are identified, the position deviation of the feature points relative to the BIM model is calculated, and an alarm is issued when the position deviation is too large, wherein the position deviation comprises a distance difference and an angle difference.

[0013] As a preferred technical scheme of the present application, the step four further comprises: during the judgment of the too large position deviation, whether the distance difference is too large is judged by a pre-set distance threshold value, whether the angle difference is too large is judged by a pre-set angle threshold value, then whether the difference between the distance difference and the distance threshold value or the interpolation value between the angle difference and the angle threshold value exceeds a preset value is judged, when one of the judgment results is yes, the size of the other threshold value is reduced and secondary judgment is performed.

[0014] The present application has the following beneficial effects: The ground control center judges the position deviation value during the hovering of the unmanned aerial vehicle, when the deviation value exceeds a threshold value, the ground control center sends a hovering correction instruction to the unmanned aerial vehicle and stops receiving the data of the unmanned aerial vehicle, thereby avoiding the collection of data with large errors when the monitoring precision is low due to the low flight precision of the unmanned aerial vehicle, and improving the detection precision. When judging whether the wind speed exceeds a threshold value, the ground control center corrects the coordinate value displayed by the collected monitoring data according to the wind speed, thereby reducing the influence of environmental factors on the monitoring data and further improving the monitoring precision. By correcting the threshold value of the monitoring data according to the mechanical simulation data, the judgment standard is improved when the requirements for prestress and other parameters are higher in some parts and the requirements for the installation part are more stringent, thereby further improving the detection precision. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to facilitate the understanding of those skilled in the art, the present application will be further described below with reference to the accompanying drawings.

[0016] Figure 1 The flowchart of the present application. DETAILED DESCRIPTION

[0017] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0018] See also Figure 1 A method for aerial installation and positioning of prefabricated bridge components based on BIM and drones includes the following steps: Step 1: BIM model construction: Based on the bridge design drawings, a 3D BIM model including all bridge components is established to complete the generation of construction data; Step 2: Configure the UAV system. Select a UAV with an RTK differential positioning system based on your needs, install and calibrate the sensor module on the UAV, and then plan the UAV's flight path and mission in the UAV flight control system based on the construction data generated by the BIM model. Step 3: Complete the prefabrication and transportation of prefabricated bridge components; Specifically, when establishing a BIM model, professional BIM software such as Revit and Bentley is used to create a three-dimensional BIM model of all bridge components, including piers, beams, and connectors, based on the bridge design drawings. During the modeling process, the geometric dimensions, material properties, installation locations, and connection relationships of each component are first entered. Subsequently, the terrain, landforms, and surrounding environments of the bridge construction site are modeled to form a complete BIM model of the construction scene, providing a data foundation for subsequent construction simulation and positioning. Subsequently, model optimization and collision checking were carried out: using the collision checking function of the BIM software, collision detection was performed on the bridge component model to check whether there were any spatial interference issues between components. The BIM software was then used to simulate the construction process to identify potential problems in the construction process in advance, such as lifting path conflicts and insufficient installation space, and to make corresponding optimization adjustments. Finally, construction data related to the installation and positioning of prefabricated bridge components is extracted from the optimized BIM model, including information such as the components' three-dimensional coordinates, elevation, inclination angle, and installation sequence. This data is then organized and classified and exported in specific data formats, such as CSV and XML, to facilitate subsequent data interaction and processing with the drone system.

[0019] Regarding drone selection: In this embodiment, a drone equipped with an RTK differential positioning system and a camera function is preferred, such as the DJI M300 RTK drone, which can meet the high-precision requirements for aerial installation and positioning of bridge components, while also having a long flight time and a large load capacity, and can carry a variety of sensor equipment; Subsequently, the flight path should cover all areas where bridge components need to be installed, ensuring that the drone can safely and stably obtain the required monitoring data during flight. Simultaneously, the drone's flight parameters, such as altitude, speed, and hovering time, should be set to meet the monitoring needs of different construction phases. Furthermore, a communication link should be established between the drone and the ground control center to ensure that the drone can transmit monitoring data in real time and receive instructions from the ground control center. In actual use, drones are easily affected by cumulative path deviations during flight or are easily deflected by wind. The flight accuracy and coordinate accuracy of drones cannot be compared with the fully digitally modeled BIM data. There is a probability that the BIM model coordinate system, the drone's own coordinate system, the gimbal coordinate system, and the hanging component coordinate system will not be completely aligned, resulting in errors during use. To this end, the fourth step is also included: the drone flies according to the preset flight path and mission, monitors the bridge components under installation in real time, and transmits the monitoring data to the ground control center. The ground control center integrates the monitoring data collected by the drone with the BIM model through data matching and coordinate conversion algorithms to complete the monitoring; Specifically, the drone collects the coordinates of existing surrounding environmental factors at the construction site in advance through monitoring. For example, if the top of a hill near the construction site exists in the BIM model, the drone monitors the hill on-site and compares the hill's location data with the location of the hill model in the BIM model to complete data matching and coordinate conversion. Subsequently, the ground control center calculates the distance based on the coordinate difference between the hill location data and the location of the hill modeling in the BIM model. The distance is expressed as Euclidean distance, and the ground control center has pre-inputted a coordinate difference threshold. When the distance exceeds the coordinate difference threshold, the coordinate difference is subtracted from the monitoring data obtained in the subsequent monitoring process; When the distance is lower than the coordinate difference threshold, half of the coordinate difference is subtracted from the monitoring data obtained in the subsequent monitoring process; At this point, the integration of monitoring data and BIM model is completed; In actual use, although drones are equipped with positioning systems that can monitor their own positions in real time and infer the positions of monitored components based on their own positions to complete component positioning during construction, drones are usually equipped with hovering stabilization algorithms to offset the shaking caused by wind speed, thereby avoiding excessive shaking caused by wind during hovering. For example, in some cases, the local wind speed may suddenly increase, affecting the hovering stability of the drone and, in turn, affecting the position measurement of the monitored components; To this end, step 4 also includes: during the drone monitoring process, the ground control center determines the position fluctuation value of the drone during the hovering process. When the fluctuation value exceeds a threshold, the ground control center sends a hovering correction instruction to the drone and stops receiving drone data; Specifically, to determine whether a sudden increase in local wind speed occurs, the wind speed is collected in real time and the speed of wind speed increase is determined. When the speed of wind speed increase exceeds a threshold, it is determined that a sudden increase in local wind speed occurs. The ground control center determines the position fluctuation value of the drone during hovering. When the fluctuation value exceeds the threshold, the ground control center sends a hovering correction instruction to the drone and stops receiving drone data. This avoids the collection of data with large errors when the monitoring accuracy is low due to the low flight accuracy of the drone, thereby improving the detection accuracy.

[0020] In actual use, in order to facilitate subsequent construction, all collected monitoring data need to be sorted and analyzed. To this end, step five is also included: after the construction is completed, all monitoring data collected by the drone during the entire construction process are sorted and analyzed, and the installation position data, posture data and construction process images are integrated from the monitoring data.

[0021] In addition to the aforementioned situation where the local wind speed suddenly increases, when the wind speed increases slowly enough to significantly affect the measurement, no judgment will be triggered. Therefore, step four also includes: the drone monitors the wind speed and transmits it to the ground control center, which determines whether the wind speed exceeds the threshold; When the threshold is exceeded, there is a high probability that the measurement will be significantly affected. At this time, the ground control center will correct the coordinate values ​​displayed by the collected monitoring data according to the wind speed; During the correction process, the ground control center pre-inputs a correction function with wind speed as the independent variable. As the wind speed increases, the output value of the correction function is used to correct the coordinate values ​​displayed by the collected monitoring data according to the wind speed; When the wind speed is high, the output value of the correction function is high, and the monitoring data is corrected relatively significantly; When the wind speed is low, the output value of the correction function is low, and a relatively small correction is made to the monitoring data; When determining whether the wind speed exceeds the threshold, the ground control center corrects the coordinate values ​​displayed by the collected monitoring data according to the wind speed, thereby reducing the impact of environmental factors on the monitoring data and further improving the detection accuracy.

[0022] The same team usually takes the same bridge construction steps, which will lead to the same deviations. Therefore, historical prefabricated bridge component installation deviation data can be collected to correct these errors. To this end, step two also includes: collecting historical prefabricated bridge component installation deviation data and corresponding construction condition data; cleaning the data to remove noise and outliers and discover missing values. Missing values ​​are filled by interpolation and normalized to unify the data scale; Specifically, the data that has been cleaned and processed for missing values ​​is used as available deviation data. During subsequent construction, the available deviation data is used as the correction value for BIM modeling. For example, if the available deviation data shows that the span beam structure during past construction has a deviation of size a compared to the theoretical position, then during subsequent BIM modeling during the construction process, the span beam position is corrected by a size of -a. In order to supervise the rectification process of the parts of the bridge that failed the acceptance, step five also includes: for the parts of the bridge that failed the acceptance, drones are used to monitor and adjust them again during the rectification process.

[0023] Some parts have high requirements for prestressing and other factors, and the requirements for installation parts are relatively strict. General BIM modeling and its collision detection are difficult to cover potential defects. Therefore, step two also includes: mechanical simulation of the BIM model; step four also includes: correcting the monitoring data based on the mechanical simulation data; By correcting the threshold of monitoring data according to mechanical simulation data, we can improve the judgment standard and further improve the detection accuracy when the requirements for parameters such as prestressing are high in some parts and the requirements for installation parts are strict.

[0024] For monitoring, it is usually impossible to monitor the position of every part of the entire component in real time. Several reference points need to be selected to represent the construction position. To this end, step one also includes: when building the BIM model, one or more parts on the surface of each component are pre-selected as feature points, such as the bolts of the component or the fixing bars on the surface as feature points, and the theoretical position and theoretical angle of the feature points are set; Subsequently, in step 4, when real-time monitoring of the bridge component being hoisted is performed, the coordinates of the feature points are identified. In this embodiment, the positions of the bolts and the fixing bars are identified. The positional deviation of the feature points relative to the BIM model is then calculated, and an alarm is issued if the positional deviation is too large. The positional deviation includes distance difference and angle difference. In the process of judging whether the position deviation is too large, the preset distance threshold is used to judge whether the distance difference is too large, and the preset angle threshold is used to judge whether the angle difference is too large; The control system of the ground control center is provided with three constants of distance threshold value, angle threshold value and preset value. In the embodiment, when judging the bolt position, firstly, the distance difference between the bolt position and the theoretical position of the bolt in the BIM model is judged, and then the angle difference between the bolt angle and the theoretical angle in the BIM model is judged, and the angle is determined by the bolt axis; Then, whether the difference between the distance difference and the distance threshold value or the difference between the angle difference and the angle threshold value exceeds the preset value is judged. When one of the judgment results is yes, the size of the other threshold value is reduced, and secondary judgment is performed. For example, when the difference between the distance difference and the distance threshold value exceeds the preset value, it represents that the distance deviation is large. At this time, if the component further deviates in angle, the risk caused by the misplacement will be multiplied. Therefore, the standard of angle judgment needs to be improved, the angle threshold value is reduced, and it is ensured that the angle does not deviate greatly. Similarly, when the difference between the angle difference and the angle threshold value exceeds the preset value, it represents that the angle deviation is large. At this time, if the component further deviates in distance, the risk caused by the misplacement will be multiplied. Therefore, the standard of distance judgment needs to be improved, the distance threshold value is reduced, and it is ensured that the distance does not deviate greatly.

[0025] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above, it is not intended to limit the present application. Any person skilled in the art can make slight changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, without departing from the technical solution of the present application. Any modification, change, equivalent change and modification of the above embodiments, which does not depart from the technical solution of the present application, belongs to the scope of the technical solution of the present application.

Claims

1. A method for aerial installation and positioning of prefabricated bridge components based on BIM and drones, characterized by: The following steps are involved: Step 1: BIM model construction: Based on the bridge design drawings, a 3D BIM model including all bridge components is established to complete the generation of construction data; Step 2: Configure the UAV system. Select a UAV with an RTK differential positioning system based on your needs, install and calibrate the sensor module on the UAV, and then plan the UAV's flight path and mission in the UAV flight control system based on the construction data generated by the BIM model. Step 3: Complete the prefabrication and transportation of prefabricated bridge components; Step 4: The UAV flies according to the preset flight path and mission, monitors the bridge components being hoisted in real time, and transmits the monitoring data to the ground control center. The ground control center integrates the monitoring data collected by the UAV with the BIM model through data matching and coordinate conversion algorithms to complete the monitoring. During this process, the ground control center determines the position fluctuation value of the UAV during hovering. When the fluctuation value exceeds the threshold, the ground control center sends a hover correction instruction to the UAV and stops receiving UAV data.

2. The method for aerial installation and positioning of prefabricated bridge components based on BIM and drones according to claim 1 is characterized by: It also includes step five: After the construction is completed, all monitoring data collected by the drone during the entire construction process are sorted and analyzed, and the installation position data, posture data and construction process images are integrated from the monitoring data.

3. The method for aerial installation and positioning of prefabricated bridge components based on BIM and drones according to claim 2 is characterized by: The step four also includes: the UAV monitors the wind speed and transmits it to the ground control center, the ground control center determines whether the wind speed exceeds a threshold, and when it exceeds the threshold, the ground control center corrects the coordinate values ​​displayed by the collected monitoring data according to the wind speed.

4. The method for aerial installation and positioning of prefabricated bridge components based on BIM and drones according to claim 3 is characterized by: The second step also includes: collecting historical prefabricated bridge component installation deviation data and corresponding construction condition data; cleaning the data, removing noise and outliers and discovering missing values, filling the missing values ​​with interpolation, and unifying the data scale through normalization.

5. The method for aerial installation and positioning of prefabricated bridge components based on BIM and drones according to claim 1 is characterized in that: The step five also includes: for the parts of the bridge that failed the acceptance, using drones to monitor and adjust them again during the rectification process.

6. The method for aerial installation and positioning of prefabricated bridge components based on BIM and drones according to claim 1 is characterized by: The step 2 also includes: performing mechanical simulation on the BIM model; the step 4 also includes: correcting the monitoring data according to the mechanical simulation data.

7. The method for aerial installation and positioning of prefabricated bridge components based on BIM and drones according to claim 1 is characterized by: The step one also includes: when constructing the BIM model, one or more parts located on the surface of each component are pre-selected as feature points; the step four also includes: when performing real-time monitoring of the bridge components being hoisted, identifying the coordinates of the feature points, calculating the position deviation of the feature points relative to the BIM model, and issuing an alarm when the position deviation is too large, wherein the position deviation includes distance difference and angle difference.

8. The method for aerial installation and positioning of prefabricated bridge components based on BIM and drones according to claim 7 is characterized by: The step four also includes: in the process of judging whether the position deviation is too large, judging whether the distance difference is too large by a preset distance threshold, judging whether the angle difference is too large by a preset angle threshold, and then judging whether the difference between the distance difference and the distance threshold or the interpolation of the angle difference and the angle threshold exceeds the preset value. When one of the judgment results is yes, reducing the size of the other threshold and performing a second judgment.

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