Fabricated building component intelligent docking system and method based on BIM model

Abstract

The invention provides a prefabricated building component intelligent docking system based on a BIM model, and the system comprises a BIM model processing module which is used for importing the BIM model of a prefabricated building, and extracting the three-dimensional model information, geometric parameters and preset docking position information of each prefabricated component; the component sensing module is used for collecting actual position information and space attitude information of the to-be-butted component in real time; the data processing and analysis module is used for performing comparative analysis on the actual position information and the space attitude information of the to-be-docked component and preset docking position information in the BIM model, and calculating position deviation and attitude deviation; and the docking control module is used for generating an adjusting instruction according to the position deviation and the attitude deviation. According to the invention, precision limitation of traditional manual docking is broken through, intelligent management and control of the component docking process are realized, and docking precision and efficiency are improved.

Description

Technical Field

[0001] This invention belongs to the field of prefabricated building component docking technology, specifically relating to an intelligent docking system and method for prefabricated building components based on BIM models. Background Technology

[0002] Prefabricated construction, with its advantages of high construction efficiency, environmental friendliness, and controllable quality, has become an important direction for the transformation and upgrading of the modern construction industry. Its core lies in the standardized production of prefabricated components in factories, followed by precise docking and assembly at the construction site. The accuracy and efficiency of component docking directly determine the overall quality of the building and the construction progress. However, traditional docking relies on manual measurement and experience-based adjustments, which are easily affected by environmental interference and human error, leading to deviations in component docking exceeding specifications and requiring multiple reworks. Key aspects such as the positioning and attitude adjustment of building components depend on manual control by hoisting equipment operators, resulting in low docking efficiency and safety risks. Furthermore, the key data such as the position and attitude of building components during docking are not recorded in a closed loop, making it difficult to trace construction quality issues and providing data support for subsequent operation and maintenance. Summary of the Invention

[0003] The main objective of this invention is to provide an intelligent docking system and method for prefabricated building components based on BIM models. Through the deep integration of BIM models with on-site perception, data processing, and automatic control, the docking of building components is made intelligent, precise, and efficient.

[0004] To achieve the above objectives, this invention provides an intelligent docking system for prefabricated building components based on a BIM model. This system includes: a BIM model processing module for importing the BIM model of the prefabricated building and extracting the 3D model information, geometric parameters, and preset docking position information of each prefabricated component; a component sensing module, including a positioning unit and an attitude sensing unit mounted on the prefabricated component, for real-time acquisition of the actual position information and spatial attitude information of the component to be docked; a data processing and analysis module, connected to both the BIM model processing module and the component sensing module, for comparing and analyzing the actual position information and spatial attitude information of the component to be docked with the preset docking position information in the BIM model, and calculating positional and attitude deviations; a docking control module, connected to the data processing and analysis module, for generating adjustment commands based on the positional and attitude deviations; and a human-computer interaction module for displaying BIM model information, the actual status information of the component to be docked, and deviation data, and providing an operation interface.

[0005] The aforementioned intelligent docking system for prefabricated building components based on BIM models breaks through the accuracy limitations of traditional manual docking, realizes intelligent control of the component docking process, and improves docking accuracy and efficiency.

[0006] In one possible implementation, the BIM model processing module further includes a collision detection unit, used to simulate the component docking process in a virtual environment, detect potential collision risks in advance, and issue early warnings. This moves collision risk assessment from the construction site to the virtual environment, reducing work stoppages and rework caused by component interference, lowering construction safety hazards, and shortening docking operation time.

[0007] In one possible implementation, the component sensing module further includes a visual recognition unit. This unit uses a high-definition camera to capture feature images of the components to be docked, and combines this with an image recognition algorithm to obtain precise positional information of the components. This solution overcomes the insufficient accuracy of traditional positioning units in complex construction sites, achieving millimeter-level positional perception through visual feature recognition, thus improving the spatial positioning accuracy of component docking. In one possible implementation, the wireless communication module uses 5G or WiFi technology to achieve data transmission between the component sensing module, the data processing and analysis module, and the docking control module. This solution ensures high-speed, low-latency transmission of large-scale real-time data, adapts to the communication needs of complex construction site environments, and ensures the real-time coordinated response of various system modules. Based on the above system, this invention also provides a BIM model-based intelligent docking construction method for prefabricated building components. The method includes the following steps: Step S1: Establish a BIM model of the prefabricated building, preset docking parameters and installation paths for each prefabricated component in the model, and import the BIM model into the intelligent docking system; Step S2: Install positioning units and attitude sensing units on the prefabricated components to be hoisted, and transport the components to the docking operation area using hoisting equipment; Step S3: Activate the component sensing module to collect the actual position information and spatial attitude information of the components to be docked in real time, and transmit them to the data processing and analysis module; Step S4: The data processing and analysis module compares the actual position information and spatial attitude information with the preset docking parameters in the BIM model, and calculates the position deviation and attitude deviation; Step S5: The docking control module generates adjustment instructions based on the deviation data, controlling the hoisting equipment or adjustment device to fine-tune the position and attitude of the components to be docked; Step S6: Repeat steps S3 to S5 until the position deviation and attitude deviation of the components to be docked are within the preset allowable range, completing the component docking and fixing.

[0008] By following the above steps, the construction process for connecting prefabricated components is standardized, the randomness of manual operation is reduced, the accuracy of component connection meets the preset standards, and the stability of construction quality is improved.

[0009] In one possible implementation, step S1 further includes: assigning a unique identifier to each prefabricated component in the BIM model, and associating the identifier with the component's attribute information, including material, dimensions, and weight. This solution facilitates the traceability of component production information and installation history, providing data support for quality control during construction and subsequent operation and maintenance, and improving the level of building lifecycle management.

[0010] In one possible implementation, in step S4, the data processing and analysis module uses a three-dimensional coordinate transformation algorithm to convert the actually collected location information into data in a coordinate system consistent with the BIM model, and then performs deviation calculation. This solution addresses the system differences between the theoretical coordinates of the BIM model and the actual coordinates collected on site, ensuring the accuracy of deviation calculation, avoiding adjustment errors caused by coordinate system inconsistencies, and improving the reliability of the system's data analysis.

[0011] In one possible implementation, the generation of adjustment instructions also incorporates an optimization algorithm based on historical docking data. This algorithm automatically adjusts the fine-tuning speed and accuracy according to the component type and docking environment. This approach enables the system to have self-learning capabilities, iteratively optimizing the adjustment strategy through historical docking data, and dynamically adapting fine-tuning parameters for different component types and environments, thereby improving adjustment efficiency and accuracy.

[0012] In one possible implementation, following step S6, a step S7 is also included: after the component docking is completed, the actual docking position information and attitude information are fed back to the BIM model to update the component installation status in the BIM model and form a construction record. This solution achieves dynamic synchronization between the BIM model and the construction site, enabling the model to accurately reflect the actual state of the building and providing an accurate basis for subsequent process handover, completion acceptance, and operation and maintenance management. In one possible implementation, in step S3, when the data collected by the component sensing module is abnormal or the signal is interrupted, the system automatically issues an alarm signal and prompts the operator for manual intervention through the human-machine interaction module. This solution improves the system's fault tolerance and security, provides timely warnings when sensing data is abnormal or communication is interrupted, avoids system misoperation, ensures the stability of the docking process through human-machine collaboration, and reduces construction risks. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a method for intelligent docking of prefabricated building components based on a BIM model, provided by the present invention. Detailed Implementation

[0014] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0015] In the description of this application, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0016] In the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0017] This invention provides an intelligent docking system for prefabricated building components based on a BIM model. The system includes: The BIM model processing module is used to import BIM models of prefabricated buildings and extract the 3D model information, geometric parameters and preset docking position information of each prefabricated component. Autodesk Revit software was used to create a full-discipline BIM model for the prefabricated building. The model includes the 3D geometric parameters (such as dimensions and hole locations), material properties, and preset docking coordinates (accuracy up to ±1mm) of each prefabricated component. The module has a built-in collision detection unit, and virtual docking simulation is performed using Navisworks software: before the component is hoisted, the BIM models of the component to be installed and the installed structure are imported, a collision threshold is set (e.g., a distance <50mm is considered a risk), the hoisting path is simulated, and a collision warning report is generated (e.g., potential interference between the component and the scaffolding).

[0018] The component sensing module includes a positioning unit and an attitude sensing unit set on the prefabricated component, which are used to collect the actual position information and spatial attitude information of the component to be docked in real time. The component sensing module uses positioning units to install UWB (Ultra-Wideband) positioning tags at the four corners of the top of the precast wall panel, in conjunction with four UWB base stations deployed on the construction site, to collect the three-dimensional coordinates of the component in real time. A six-axis IMU (Inertial Measurement Unit) is installed at the center of gravity of the component to collect data such as pitch angle, roll angle, and yaw angle. A 20-megapixel industrial camera is installed at the end of the hoisting machine boom to capture AR codes and feature points (such as reserved bolt holes) on the surface of the component. The SIFT algorithm is used to match the image features and calculate the fine positional deviation.

[0019] The data processing and analysis module is connected to the BIM model processing module and the component perception module respectively. It is used to compare and analyze the actual position information and spatial posture information of the component to be docked with the preset docking position information in the BIM model, and calculate the position deviation and posture deviation. Using an edge computing gateway as the core processing unit, data processing is achieved through the following steps: receiving the preset docking coordinates of the BIM model; receiving real-time data from the sensing module; fusing multi-source data using Kalman filtering; converting the on-site collected data to the BIM model coordinate system using a three-dimensional coordinate transformation algorithm; and calculating the deviation value.

[0020] The docking control module is connected to the data processing and analysis module and is used to generate adjustment commands based on the position deviation and attitude deviation. It communicates with the frequency conversion control system and boom hydraulic device of the tower crane, and generates adjustment commands based on deviation data: for example, when the position deviation is >50mm, it controls the movement of the crane trolley / crane; when the attitude deviation is >1°, it controls the boom to rotate or extend; and when the deviation is <20mm, it switches to slow mode.

[0021] The human-computer interaction module displays BIM model information, the actual status information and deviation data of the components to be connected, and provides an operation interface. A touchscreen is deployed to display a real-time view of the BIM model, dynamic curves of deviation data, operation buttons, etc.

[0022] The aforementioned intelligent docking system for prefabricated building components based on BIM models breaks through the accuracy limitations of traditional manual docking, realizes intelligent control of the component docking process, and improves docking accuracy and efficiency.

[0023] In one possible implementation, the BIM model processing module further includes a collision detection unit, used to simulate the component docking process in a virtual environment, detect potential collision risks in advance, and issue early warnings. This moves collision risk assessment from the construction site to the virtual environment, reducing work stoppages and rework caused by component interference, lowering construction safety hazards, and shortening docking operation time.

[0024] In one possible implementation, the component sensing module further includes a visual recognition unit. This unit uses a high-definition camera to capture feature images of the components to be docked, and combines this with an image recognition algorithm to obtain precise positional information of the components. This solution overcomes the insufficient accuracy of traditional positioning units in complex construction sites, achieving millimeter-level positional perception through visual feature recognition, thus improving the spatial positioning accuracy of component docking. In one possible implementation, the wireless communication module uses 5G or WiFi technology to achieve data transmission between the component sensing module, the data processing and analysis module, and the docking control module. This solution ensures high-speed, low-latency transmission of large-scale real-time data, adapts to the communication needs of complex construction site environments, and ensures the real-time coordinated response of various system modules. Based on the above system, the present invention also provides a construction method for intelligent docking of prefabricated building components based on BIM model. The method includes the following steps: Step S1: Establish a BIM model of prefabricated building, preset docking parameters and installation paths of each prefabricated component in the model, and import the BIM model into the intelligent docking system. Step S2: Install positioning units and attitude sensing units on the prefabricated components to be hoisted, and transport the components to the docking operation area using hoisting equipment; Step S3: Activate the component sensing module to collect the actual position and spatial attitude information of the component to be docked in real time and transmit it to the data processing and analysis module; Step S4: The data processing and analysis module compares the actual location information and spatial attitude information with the preset docking parameters in the BIM model, and calculates the position deviation and attitude deviation. Step S5: The docking control module generates adjustment instructions based on the deviation data, and controls the hoisting equipment or adjustment device to fine-tune the position and attitude of the component to be docked; Step S6: Repeat steps S3 to S5 until the positional and orientation deviations of the components to be docked are within the preset allowable range, and complete the docking and fixing of the components.

[0025] By following the above steps, the construction process for connecting prefabricated components is standardized, the randomness of manual operation is reduced, the accuracy of component connection meets the preset standards, and the stability of construction quality is improved.

[0026] For example, a BIM model of the exterior wall panel can be created using Revit, with preset docking parameters: installation elevation 8.3m, joint width with adjacent wall panels 10mm±2mm, and verticality deviation ≤5mm. Then, a unique ID (e.g., WQ-3F-05) is assigned to the wall panel, and relevant attribute information is associated. Afterward, a UWB tag and IMU sensor are installed on the top of the wall panel, and three AR feature codes are affixed to the surface. A tower crane is used for lifting, and the wall panel is transported to the installation area with manual assistance. In step S3, the base station collects 10 data points per second. For the next step, the IMU outputs attitude data 20 times per second, and the industrial camera captures one frame of image every 0.5 seconds. In step S4, the edge gateway converts the UWB positioning data to the BIM coordinate system and calculates the comprehensive deviation based on the visual recognition results. Then, in step S5, the docking control module calls the historical database to generate optimization and adjustment strategies, such as sending control commands to the crane: the trolley moves 18mm to the left (0.3m / s), the crane moves 25mm backward (0.2m / s), and the boom is fine-tuned to reduce the verticality deviation to 0.3°. Steps S3-S5 are repeated until the deviation meets the requirements. After the operator confirms through the human-machine interface, the wall panel is slowly lowered to complete the grouting sleeve docking and temporary fixation.

[0027] In one possible implementation, step S1 further includes: assigning a unique identifier to each prefabricated component in the BIM model, and associating the identifier with the component's attribute information, including material, dimensions, and weight. This solution facilitates the traceability of component production information and installation history, providing data support for quality control during construction and subsequent operation and maintenance, and improving the level of building lifecycle management.

[0028] In one possible implementation, in step S4, the data processing and analysis module uses a three-dimensional coordinate transformation algorithm to convert the actually collected location information into data in a coordinate system consistent with the BIM model, and then performs deviation calculation. This solution addresses the system differences between the theoretical coordinates of the BIM model and the actual coordinates collected on site, ensuring the accuracy of deviation calculation, avoiding adjustment errors caused by coordinate system inconsistencies, and improving the reliability of the system's data analysis.

[0029] In one possible implementation, the generation of adjustment instructions also incorporates an optimization algorithm based on historical docking data. This algorithm automatically adjusts the fine-tuning speed and accuracy according to the component type and docking environment. This approach enables the system to have self-learning capabilities, iteratively optimizing the adjustment strategy through historical docking data, and dynamically adapting fine-tuning parameters for different component types and environments, thereby improving adjustment efficiency and accuracy.

[0030] In one possible implementation, following step S6, a step S7 is also included: after the component docking is completed, the actual docking position information and attitude information are fed back to the BIM model to update the component installation status in the BIM model and form a construction record. This solution achieves dynamic synchronization between the BIM model and the construction site, enabling the model to accurately reflect the actual state of the building and providing an accurate basis for subsequent process handover, completion acceptance, and operation and maintenance management. In one possible implementation, in step S3, when the data collected by the component sensing module is abnormal or the signal is interrupted, the system automatically issues an alarm signal and prompts the operator for manual intervention through the human-machine interaction module. This solution improves the system's fault tolerance and security, provides timely warnings when sensing data is abnormal or communication is interrupted, avoids system misoperation, ensures the stability of the docking process through human-machine collaboration, and reduces construction risks.

[0031] It is worth mentioning that those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A BIM-based intelligent docking system for prefabricated building components, characterized in that, include: The BIM model processing module is used to import BIM models of prefabricated buildings and extract the 3D model information, geometric parameters and preset docking position information of each prefabricated component. The component sensing module includes a positioning unit and an attitude sensing unit set on the prefabricated component, which are used to collect the actual position information and spatial attitude information of the component to be docked in real time. The data processing and analysis module is connected to the BIM model processing module and the component perception module respectively. It is used to compare and analyze the actual position information and spatial posture information of the component to be docked with the preset docking position information in the BIM model, and calculate the position deviation and posture deviation. The docking control module is connected to the data processing and analysis module and is used to generate adjustment commands based on the position deviation and attitude deviation. The human-computer interaction module is used to display BIM model information, actual status information and deviation data of components to be connected, and provides an operation interface.

2. The intelligent docking system for prefabricated building components based on BIM model according to claim 1, characterized in that, The BIM model processing module also includes a collision detection unit, which is used to simulate the component docking process in a virtual environment, detect potential collision risks in advance, and issue early warnings.

3. The intelligent docking system for prefabricated building components based on BIM model according to claim 2, characterized in that, The component perception module also includes a visual recognition unit, which uses a high-definition camera to capture feature identification images of the component to be docked, and combines them with an image recognition algorithm to obtain the component's fine position information.

4. The intelligent docking system for prefabricated building components based on BIM model according to claim 3, characterized in that, The wireless communication module uses 5G or WiFi technology to realize data transmission between the component sensing module, the data processing and analysis module, and the docking control module.

5. A method for intelligent docking construction of prefabricated building components based on BIM model, characterized in that, Includes the following steps: Step S1: Create a BIM model of the prefabricated building, preset the docking parameters and installation paths of each prefabricated component in the model, and import the BIM model into the intelligent docking system. Step S2: Install positioning units and attitude sensing units on the prefabricated components to be hoisted, and transport the components to the docking operation area using hoisting equipment; Step S3: Activate the component sensing module to collect the actual position and spatial attitude information of the component to be docked in real time and transmit it to the data processing and analysis module; Step S4: The data processing and analysis module compares the actual location information and spatial attitude information with the preset docking parameters in the BIM model, and calculates the position deviation and attitude deviation. Step S5: The docking control module generates adjustment instructions based on the deviation data, and controls the hoisting equipment or adjustment device to fine-tune the position and attitude of the component to be docked; Step S6: Repeat steps S3 to S5 until the positional and orientation deviations of the components to be docked are within the preset allowable range, and complete the docking and fixing of the components.

6. The intelligent docking construction method for prefabricated building components based on BIM model according to claim 5, characterized in that, Step S1 further includes: assigning a unique identifier to each prefabricated component in the BIM model, and associating the identifier with the component's attribute information, including material, size, and weight.

7. The intelligent docking construction method for prefabricated building components based on BIM model according to claim 5, characterized in that, In step S4, the data processing and analysis module uses a three-dimensional coordinate transformation algorithm to convert the actual collected location information into data in a coordinate system consistent with the BIM model, and then performs deviation calculation.

8. The intelligent docking construction method for prefabricated building components based on BIM model according to claim 5, characterized in that, In step S5, the generation of adjustment instructions also incorporates an optimization algorithm based on historical docking data. This optimization algorithm can automatically adjust the fine-tuning speed and accuracy according to the component type and docking environment.

9. The intelligent docking construction method for prefabricated building components based on BIM model according to claim 5, characterized in that, After step S6, step S7 is also included: after the component docking is completed, the actual docking position information and attitude information are fed back to the BIM model, the component installation status in the BIM model is updated, and a construction record is formed.

10. The intelligent docking construction method for prefabricated building components based on BIM model according to claim 5, characterized in that, In step S3, when the data collected by the component sensing module is abnormal or the signal is interrupted, the system automatically issues an alarm signal and prompts the operator to intervene manually through the human-machine interaction module.

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