Prefabricated part assembling precision regulation and control method and system based on three-dimensional scanning

Abstract

The invention relates to the technical field of building engineering prefabricated part construction, in particular to a prefabricated part assembling precision regulation and control method and system based on three-dimensional scanning, and the system comprises an assembling regulation and control center, an assembling pretreatment module, a standard building module, an assembling analysis module, a regulation and control execution module, a recording and tracing module and a rear-end response module. According to the method, establishment of the global coordinate system is a basis for achieving data unification of multiple devices, a unified standard and reference frame is provided for follow-up splicing precision control, deviation can be found and corrected in time by further monitoring and regulating the splicing precision of the prefabricated parts in real time, it is ensured that the mounting positions and sizes of the parts meet the design requirements, and the production efficiency is improved. And the structural safety and stability of the building are improved.

Description

Technical Field

[0001] This invention relates to the field of prefabricated component construction technology, and in particular to a method and system for controlling the assembly accuracy of prefabricated components based on three-dimensional scanning. Background Technology

[0002] With the rapid development of industrialized construction, prefabricated buildings have been widely used in residential and public buildings due to their advantages such as high construction efficiency, easy quality control, and green environmental protection. The assembly accuracy of prefabricated components is a key factor that determines the overall structural performance and appearance quality of prefabricated buildings. If there are deviations in the assembly process, it may lead to component connection failure, uneven structural stress, or even safety hazards.

[0003] Currently, the accuracy control of prefabricated component assembly mainly relies on traditional manual measurement methods, such as using total stations, levels, and measuring tapes to measure parameters like position, elevation, and verticality of the components. However, this method still has the following drawbacks: First, manual measurement requires data collection point by point. For prefabricated components with complex shapes or large volumes, the measurement process is time-consuming, making it difficult to meet the needs of rapid construction in large-scale prefabricated buildings. Furthermore, manual measurement has a large error margin and cannot fully obtain the three-dimensional morphological information of the component surface, making it difficult to detect minor deformations or assembly deviations in localized areas. Second, traditional measurement is usually carried out after the initial assembly of the components. If deviations are found, the assembled components need to be adjusted or disassembled, which not only increases construction costs but may also affect the construction progress. Third, it is difficult to analyze and trace the sources of interference factors for existing assembly deviations, making it difficult to make targeted improvements to equipment or operating procedures, thus increasing the rate of subsequent assembly deviations.

[0004] To address the aforementioned technical shortcomings, a solution is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for controlling the assembly accuracy of prefabricated components based on three-dimensional scanning. By integrating three-dimensional scanning technology, building information modeling (BIM) technology, coordinate transformation and registration algorithms, it achieves accurate data acquisition, real-time deviation analysis, dynamic control, and historical data traceability throughout the entire assembly process of prefabricated components. It aims to solve the problem of accuracy control in traditional construction, improve the quality and efficiency of prefabricated component assembly, reduce construction costs, and provide reliable assurance for the construction quality of building projects.

[0006] The objective of this invention can be achieved through the following technical solution: a prefabricated component assembly accuracy control system based on three-dimensional scanning, comprising an assembly control center, an assembly preprocessing module, a standard assembly module, an assembly analysis module, a control execution module, a recording and traceability module, and a back-end response module;

[0007] The pre-assembly processing module is used to perform pre-assembly calibration and offset analysis on the actual scan size and global coordinate deviation of the collected data. Based on the global coordinate deviation discrimination processing under the premise of qualified calibration, the pasting results of each target are obtained based on the offset signal or accuracy signal.

[0008] The standard assembly module is used to perform standard construction and transportation management analysis on the collected design parameters of the prefabricated components to be assembled, and to obtain the allowable deviation constraint library;

[0009] The assembly analysis module is used to analyze the assembly accuracy of the initial scanned point cloud data of the prefabricated components to be assembled and to obtain a deviation analysis report.

[0010] The control execution module is used to retrieve the deviation analysis report and perform dynamic assembly deviation control processing. That is, based on the deviation type (plane position deviation, elevation deviation and verticality deviation) in the deviation analysis report, it controls the corresponding adjustment mechanism until a feedback signal is generated.

[0011] The recording and traceability module is used to construct an assembly dataset of prefabricated components to be assembled, and to perform assembly deviation traceability analysis based on the assembly dataset to obtain a traceability deviation list.

[0012] Preferably, the analysis process of the pre-assembly processing module is as follows:

[0013] T1: Deploy 3 3D scanners in the prefabricated component assembly area;

[0014] T2: Establish a global coordinate system based on the established benchmark control points in the assembly area;

[0015] T3: Start all 3D scanners and have each 3D scanner scan the 5 pre-pasted calibration targets to obtain the local coordinates of each target in the scanner's own coordinate system;

[0016] T4: Converts the local coordinate system of each 3D scanner into the global coordinate system using a pre-set coordinate transformation algorithm;

[0017] T5: Calibration and analysis process of a 3D scanner based on a global coordinate system;

[0018] T6: Based on the target pasting and pasting quality evaluation feedback analysis process after calibration.

[0019] Preferably, T5 further includes: selecting a standard calibration block of known size, placing the standard calibration block at the center of the assembly area, starting the 3D scanner to scan the standard calibration block, obtaining the point cloud data of the standard calibration block, obtaining the actual scan size of the standard calibration block based on the point cloud data, comparing the deviation between the actual scan size and the standard known size, if the deviation is ≤ a preset deviation threshold, the calibration is qualified; if the deviation is > a preset deviation threshold, the calibration is unqualified, and the 3D scanner is adjusted for scanning calibration until the calibration is qualified.

[0020] Preferably, T6 further includes: after calibration is qualified, retrieving the target layout density on the assembly area and the surface of the prefabricated component to be assembled from the assembly control center; pasting the target on the assembly area and the surface of the prefabricated component to be assembled based on the target layout density; identifying the same pasted target simultaneously through all scanners; obtaining the global coordinate deviation of the same target based on the target coordinates; obtaining an accurate signal or an offset signal; and obtaining the pasting result of each target based on the offset signal or the accurate signal.

[0021] Preferably, the analysis process of the standard component module is as follows:

[0022] Obtain the design parameters of the prefabricated components to be assembled, construct a standard 3D model of the components based on building information modeling technology, and build a standard model database based on the standard 3D model.

[0023] Key control points are set and marked in the standard 3D model of the prefabricated component to be assembled. The allowable deviation range of each key control point is set, and an allowable deviation constraint library is constructed based on the allowable deviation range of each key control point.

[0024] Preferably, the analysis process of the assembly analysis module is as follows:

[0025] The first prefabricated component to be assembled is hoisted onto the assembly foundation and initially fixed. Then, the initial scan point cloud data of the current state of the first prefabricated component to be assembled is obtained. The initial scan point cloud data is preprocessed and then registered with the standard 3D model.

[0026] The coordinates of key control points are extracted from the initial scanned point cloud data and compared with the theoretical coordinates of the corresponding key control points in the standard 3D model. The actual deviation value of each key control point is calculated, and the allowable deviation range of each key control point is retrieved from the allowable deviation constraint library. The actual deviation value of each key control point is judged until the assembly accuracy of all prefabricated components to be assembled is determined to be qualified, and the assembly of all prefabricated components to be assembled is completed. If the actual deviation value of any key control point exceeds the allowable deviation range, a deviation analysis report is generated.

[0027] Preferably, the control processing procedure of the control execution module is as follows:

[0028] Based on the deviation analysis report, a deviation control plan is obtained. During the control process, the 3D scanner continuously scans the prefabricated components to be assembled, and acquires the scanned point cloud data after control in real time. The coordinates of the key control points in the scanned point cloud data after control are compared with the theoretical coordinates of the corresponding key control points in the standard 3D model in real time. The actual deviation value of each key control point is calculated and the actual deviation value is judged and processed until the deviation value of all key control points meets the allowable deviation requirements. Then, a feedback signal is generated. When the feedback signal is generated, the control execution equipment responds to the feedback signal and stops the control, and the prefabricated components to be assembled are finally fixed.

[0029] Preferably, the analysis process of the recording and tracing module is as follows:

[0030] The scanning data, deviation analysis report, control plan and final assembly accuracy data are associated with the unique identifier of the prefabricated component to be assembled and stored to form an assembly dataset.

[0031] The input filtered query data is obtained, and the assembly data of the corresponding prefabricated components to be assembled is obtained from the assembly dataset based on the filtered query data;

[0032] Obtain the deviation direction from the deviation analysis report in the assembly data, obtain the factory inspection report of the prefabricated component to be assembled based on the deviation direction, retrieve the test results corresponding to the deviation direction in the factory inspection report, the test results include qualified and unqualified, and obtain the assembly deviation and component deviation based on the test results;

[0033] Based on the assembly deviation, the control scheme is obtained, and the number of control times within the control period of the prefabricated component to be assembled (the time between the start of control in the deviation direction and the generation of the feedback signal) is obtained. If the number of control times is greater than or equal to the preset control number threshold, it is determined to be a control defect.

[0034] When a control defect is identified, the control environment wind speed of the prefabricated component to be assembled is obtained, and the control environment wind speed is compared with the preset construction assembly wind speed to obtain the main interference factors.

[0035] A traceability deviation list is constructed based on component deviations or assembly deviations and major interference factors.

[0036] The beneficial effects of this invention are as follows:

[0037] (1) In this invention, establishing a global coordinate system is the basis for achieving data unification of multiple devices. That is, no matter which angle the scanning is performed from, the acquired data can be accurately positioned and analyzed under this global coordinate system, providing a unified standard and reference framework for subsequent assembly accuracy control. Furthermore, by real-time monitoring and control of the assembly accuracy of prefabricated components, deviations can be detected and corrected in a timely manner, ensuring that the installation position and size of the components meet the design requirements, improving the structural safety and stability of the building, solving the precision control problem in traditional construction, improving the quality and efficiency of prefabricated component assembly, reducing construction costs, and providing a reliable guarantee for the construction quality of building projects.

[0038] (2) The present invention also accurately determines whether the deviation is caused by the component itself, the assembly operation or the environmental interference by comparing data such as the factory inspection report, the number of adjustments, and the ambient wind speed, thus clarifying the responsibility. This helps to improve the equipment and operation process in a targeted manner by reviewing the causes of the deviation, thereby reducing the subsequent assembly deviation rate. Attached Figure Description

[0039] The invention will now be further described with reference to the accompanying drawings;

[0040] Figure 1 This is a flowchart of the system of the present invention;

[0041] Figure 2 This is a reference diagram of the method of the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments;

[0044] Example 1: Please refer to Figures 1 to 2As shown, the present invention is a prefabricated component assembly accuracy control system based on three-dimensional scanning, including an assembly control center, an assembly preprocessing module, a standard assembly module, an assembly analysis module, a control execution module, a recording and traceability module, and a back-end response module. The assembly control center and the assembly preprocessing module are bidirectionally connected, and the assembly control center is unidirectionally connected to the standard assembly module, the recording and traceability module, and the control execution module. The standard assembly module is unidirectionally connected to the assembly analysis module, the assembly analysis module is unidirectionally connected to the assembly control center, and the assembly preprocessing module and the recording and traceability module are unidirectionally connected to the back-end response module.

[0045] The pre-assembly processing module is used to perform pre-assembly calibration and offset analysis on the actual scanned dimensions and global coordinate deviations. The specific pre-assembly processing module process is as follows:

[0046] T1: At least three 3D scanners shall be deployed in the prefabricated component assembly area to ensure that the scanning range of the 3D scanners covers the entire assembly area and all surfaces of the prefabricated components to be assembled.

[0047] T2: Establish a global coordinate system based on the established benchmark control points in the assembly area (such as the axis control points reserved during civil construction);

[0048] T3: Start all 3D scanners and have each 3D scanner scan the 5 pre-pasted calibration targets to obtain the local coordinates of each target in the scanner's own coordinate system;

[0049] T4: By using a pre-set coordinate transformation algorithm (such as the least squares method), the local coordinate system of each 3D scanner is converted into a global coordinate system, thereby achieving coordinate unification among multiple devices;

[0050] T5: Calibration and analysis process of a 3D scanner based on a global coordinate system;

[0051] T51: Select a standard calibration block of known size and place it in the center of the assembly area to ensure that all scanners can scan the standard calibration block;

[0052] T52: Start the 3D scanner to scan the standard calibration block, obtain the point cloud data of the standard calibration block, and obtain the actual scanning size of the standard calibration block based on the point cloud data;

[0053] T53: Compare the deviation between the actual scanned size and the standard known size. If the deviation is ≤ the preset deviation threshold, the calibration is qualified. If the deviation is > the preset deviation threshold, the calibration is unqualified. Adjust the 3D scanner scanning calibration until the calibration is qualified.

[0054] T6: Analysis process based on target pasting and pasting quality evaluation feedback after calibration;

[0055] T61: After calibration, retrieve the target density on the assembly area and the surface of the prefabricated component to be assembled from the assembly control center. Based on the target density, paste the target on the assembly area and the surface of the prefabricated component to be assembled. The target is used for the positioning of the 3D scanner and the stitching of the scanning data.

[0056] T62: By simultaneously identifying the same pasted target with all scanners, the coordinates of the target in the global coordinate system are obtained. Based on the target's coordinates, the global coordinate deviation of the same target is obtained. If the global coordinate deviation is less than or equal to the preset global coordinate deviation threshold, an accurate signal is generated.

[0057] If the global coordinate deviation is greater than the preset global coordinate deviation threshold, an offset signal is generated;

[0058] The pasting results of each target are obtained based on the offset signal or the accuracy signal;

[0059] The backend response module is used to respond to the pasting results and display them immediately, so that the target corresponding to the offset signal can be adjusted based on the pasting results, which helps to lay the foundation for subsequent complete splicing of prefabricated component scanning data and accurate deviation analysis;

[0060] By performing the above preparation steps, it can be ensured that the 3D scanning device can acquire data stably and accurately, providing reliable support for subsequent real-time scanning, deviation analysis, and dynamic control, and ultimately achieving efficient control of the assembly accuracy of prefabricated components.

[0061] Example 2: The standard assembly module is used to perform standard construction and transportation management analysis on the collected design parameters of the prefabricated components to be assembled. The specific standard construction and transportation management analysis process is as follows:

[0062] Obtain the design parameters of the prefabricated components to be assembled (including component size, shape, material, connection node location, etc.), construct a standard 3D model of the components based on Building Information Modeling (BIM) technology, and construct a standard model database based on the standard 3D model;

[0063] In the standard 3D model of the prefabricated component to be assembled, key control points (such as component corners, connection hole centers, embedded part positions, etc.) are set and marked. The allowable deviation range of each key control point is set (determined according to component type and construction specifications, such as plane position deviation ≤2mm, elevation deviation ≤1mm, verticality deviation ≤0.5‰). Based on the allowable deviation range of each key control point, an allowable deviation constraint library is constructed and sent to the assembly analysis module for storage.

[0064] The assembly analysis module is used to analyze the assembly accuracy of the initial scanned point cloud data of the prefabricated components to be assembled. The specific assembly accuracy analysis process is as follows:

[0065] S1: Hoist the first prefabricated component to be assembled onto the assembly foundation. After initial fixation, start all 3D scanners to perform the first 3D scan of the first prefabricated component to be assembled and obtain the initial scan point cloud data of the current state of the first prefabricated component to be assembled.

[0066] S2: Preprocess the initial scanned point cloud data, including denoising (removing invalid point clouds caused by environmental interference and scanning noise), filtering (smoothing point cloud data using Gaussian filtering algorithm), and stitching (stitching scan data from multiple scanners into a complete component point cloud model based on target coordinates).

[0067] S3: Register the preprocessed initial scan point cloud data with the standard 3D model (using the Iterative Closest Point (ICP) algorithm to achieve accurate alignment between the point cloud model and the standard model);

[0068] S4: Extract the coordinates of key control points from the initial scanned point cloud data, compare them with the theoretical coordinates of the corresponding key control points in the standard 3D model, and calculate the actual deviation value of each key control point.

[0069] S5: Retrieve the allowable deviation range for each key control point from the allowable deviation constraint library, and determine the actual deviation value of each key control point:

[0070] If the actual deviation values ​​of all key control points are within the allowable deviation range, the current component assembly accuracy is deemed qualified, and the assembly process of the next prefabricated component to be assembled is initiated. This involves obtaining the assembly sequence of the prefabricated component to be assembled, hoisting the next prefabricated component to be assembled according to the assembly sequence, performing a three-dimensional scan on the next prefabricated component to be assembled after the initial assembly of the next prefabricated component to be assembled, and implementing steps S3-S5 until all prefabricated components to be assembled are assembled.

[0071] If the actual deviation of a critical control point exceeds the allowable deviation range, a deviation analysis report will be generated. The report will include the location of the out-of-tolerance control point, the out-of-tolerance value, and the direction of the deviation (such as positive deviation in the X-axis direction, negative deviation in the Y-axis direction, and elevation deviation in the Z-axis direction).

[0072] The deviation analysis report is sent to the assembly and control center for storage;

[0073] The control execution module is used to retrieve the deviation analysis report and perform dynamic assembly deviation control processing. The specific dynamic assembly deviation control processing procedure is as follows:

[0074] Based on the deviation analysis report, a deviation control plan is obtained; that is, if the deviation is a planar position deviation, the control and control execution equipment controls the horizontal adjustment mechanism (such as hydraulic push rod, electric screw) on the assembly platform to push the prefabricated component to be assembled to move in the opposite direction of the deviation until the deviation value drops to the allowable range.

[0075] If the deviation is an elevation deviation (such as the component shifting in height along the Z-axis), the control and regulation execution equipment controls the lifting and adjusting mechanism (such as lifting jacks or electric lifting columns) on the assembly platform to adjust the height of the prefabricated component to be assembled until the deviation value is reduced to within the allowable range.

[0076] If the deviation is a verticality deviation (such as the tilt of the precast component to be assembled), the control and regulation execution equipment controls the tilt adjustment mechanism (such as the inclined hydraulic rod) on the assembly platform to adjust the tilt angle of the precast component to be assembled until the deviation value is reduced to the allowable range.

[0077] During the control process, the 3D scanner continuously scans the prefabricated components to be assembled, acquiring the scanned point cloud data after control in real time. The coordinates of key control points in the scanned point cloud data after control are compared with the theoretical coordinates of the corresponding key control points in the standard 3D model in real time. The actual deviation value of each key control point is calculated and the actual deviation value is judged and processed until the deviation value of all key control points meets the allowable deviation requirements. Then, a feedback signal is generated. When the feedback signal is generated, the control execution equipment responds to the feedback signal and stops the control, and the prefabricated components to be assembled are finally fixed.

[0078] Example 3: The recording and traceability module is used to construct an assembly dataset of prefabricated components to be assembled, and to perform assembly deviation traceability analysis based on the assembly dataset. The specific assembly deviation traceability analysis process is as follows:

[0079] The scanning data, deviation analysis report, control plan and final assembly accuracy data of each precast component to be assembled are obtained. The scanning data, deviation analysis report, control plan and final assembly accuracy data are associated with the unique identifier of the precast component to be assembled (such as the component number) and stored to form an assembly dataset, which is convenient for subsequent quality traceability and construction optimization.

[0080] The input filtered query data is obtained, which includes component number (a unique identifier of the prefabricated component to be assembled), selected assembly date, etc.

[0081] Based on the filtered query data, the assembly data of the corresponding prefabricated components to be assembled is obtained from the assembly dataset;

[0082] Obtain the deviation direction from the deviation analysis report in the assembly data, obtain the factory inspection report of the prefabricated component to be assembled based on the deviation direction, retrieve the test results corresponding to the deviation direction in the factory inspection report, the test results include qualified and unqualified. If the test result is qualified, it is determined to be an assembly deviation; if the test result is unqualified, it is determined to be a component deviation.

[0083] Based on the assembly deviation, the control scheme is obtained, and the number of control times within the control period of the prefabricated component to be assembled (the time between the start of control in the deviation direction and the generation of the feedback signal) is obtained. If the number of control times is greater than or equal to the preset control number threshold, it is determined to be a control defect.

[0084] When a control defect is identified, the control environment wind speed of the prefabricated component to be assembled is obtained, and the control environment wind speed is compared with the preset construction assembly wind speed. If the control environment wind speed is less than the preset construction assembly wind speed, the control defect is identified as the main interference factor. If the control environment wind speed is greater than or equal to the preset construction assembly wind speed, the control environment wind speed is identified as the main interference factor.

[0085] A traceability deviation list is constructed based on component deviations or assembly deviations and major interference factors;

[0086] The backend response module is used to respond to and immediately display the traceability deviation list, so as to intuitively understand the reasons for the assembly deviation of the prefabricated components to be assembled. That is, to clarify the responsibility of each link such as operation / environment / component through data, avoid shirking responsibility after quality problems occur, and help to improve equipment and operation processes in a targeted manner by reviewing the reasons for deviations, thereby reducing the subsequent assembly deviation rate.

[0087] Example 4: This invention also proposes a method for controlling the assembly accuracy of prefabricated components based on three-dimensional scanning, including the following steps:

[0088] Step 1: Establish a global coordinate system, and based on the global coordinate system, implement the calibration analysis of the 3D scanner, the pasting of the target, and the feedback analysis of the pasting quality evaluation.

[0089] Step 2: The process of constructing the standard model database and setting the allowable deviation constraint library;

[0090] Step 3: Analyze and determine the allowable deviation range of each key control point in the prefabricated component to be assembled using a progressive information approach, and output a deviation analysis report;

[0091] Step 4: Implement dynamic assembly deviation control and processing of prefabricated components to be assembled based on the deviation analysis report;

[0092] Step 5: Construction of the assembly dataset and traceability analysis of assembly deviations of the prefabricated components to be assembled;

[0093] In summary, establishing a global coordinate system is fundamental to achieving data unification across multiple devices. Regardless of the scanning angle, the acquired data can be accurately located and analyzed within this global coordinate system. This provides a unified standard and reference framework for subsequent assembly accuracy control. Furthermore, real-time monitoring and control of prefabricated component assembly accuracy allows for timely detection and correction of deviations, ensuring that the installation position and dimensions of components meet design requirements. This improves the structural safety and stability of buildings, solving the precision control challenges in traditional construction, enhancing the quality and efficiency of prefabricated component assembly, reducing construction costs, and providing reliable assurance for building construction quality. Moreover, by comparing factory inspection reports, control frequency, and ambient wind speed data, it is possible to accurately determine whether deviations originate from the component itself, assembly operations, or environmental interference, clarifying responsibility. This helps to identify the root causes of deviations and make targeted improvements to equipment and operating procedures, reducing subsequent assembly deviation rates.

[0094] The threshold is set for comparative analysis of results to determine whether they are good or bad. The value of the threshold is determined by a combination of large-scale model analysis of sample data and human experience. It can also be adjusted appropriately based on seasonal or common-sense influencing factors.

[0095] The size of the coefficient is a specific value obtained by quantifying each parameter to facilitate subsequent comparison. The size of the coefficient depends on the amount of sample data and the corresponding operating coefficient initially set by those skilled in the art for each set of sample data; as long as it does not affect the proportional relationship between the parameter and the quantified value.

[0096] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A prefabricated component assembly accuracy control system based on three-dimensional scanning, characterized in that, It includes an assembly control center, an assembly pre-processing module, a standard component module, an assembly analysis module, a control execution module, a recording and traceability module, and a back-end response module; The pre-assembly processing module is used to perform pre-assembly calibration and offset analysis on the actual scan size and global coordinate deviation of the collected data. Based on the global coordinate deviation discrimination processing under the premise of qualified calibration, the pasting results of each target are obtained based on the offset signal or accuracy signal. The standard assembly module is used to perform standard construction and transportation management analysis on the collected design parameters of the prefabricated components to be assembled, and to obtain the allowable deviation constraint library; The assembly analysis module is used to analyze the assembly accuracy of the initial scanned point cloud data of the prefabricated components to be assembled and to obtain a deviation analysis report. The control execution module is used to retrieve the deviation analysis report and perform dynamic assembly deviation control processing. That is, based on the deviation type (plane position deviation, elevation deviation and verticality deviation) in the deviation analysis report, it controls the corresponding adjustment mechanism until a feedback signal is generated. The recording and traceability module is used to construct an assembly dataset of prefabricated components to be assembled, and to perform assembly deviation traceability analysis based on the assembly dataset to obtain a traceability deviation list.

2. The prefabricated component assembly accuracy control system based on three-dimensional scanning according to claim 1, characterized in that, The analysis process of the pre-assembly processing module is as follows: T1: Deploy 3 3D scanners in the prefabricated component assembly area; T2: Establish a global coordinate system based on the established benchmark control points in the assembly area; T3: Start all 3D scanners and have each 3D scanner scan the 5 pre-pasted calibration targets to obtain the local coordinates of each target in the scanner's own coordinate system; T4: Converts the local coordinate system of each 3D scanner into the global coordinate system using a pre-set coordinate transformation algorithm; T5: Calibration and analysis process of a 3D scanner based on a global coordinate system; T6: Based on the target pasting and pasting quality evaluation feedback analysis process after calibration.

3. The prefabricated component assembly accuracy control system based on three-dimensional scanning according to claim 2, characterized in that, The T5 further includes: selecting a standard calibration block of known size, placing the standard calibration block at the center of the assembly area, starting the 3D scanner to scan the standard calibration block, obtaining the point cloud data of the standard calibration block, obtaining the actual scan size of the standard calibration block based on the point cloud data, comparing the deviation between the actual scan size and the standard known size, if the deviation is ≤ a preset deviation threshold, the calibration is qualified; if the deviation is > a preset deviation threshold, the calibration is unqualified, and the 3D scanner is adjusted for scanning calibration until the calibration is qualified.

4. The prefabricated component assembly accuracy control system based on three-dimensional scanning according to claim 1, characterized in that, The T6 further includes: after calibration, retrieving the target density on the assembly area and the surface of the prefabricated component to be assembled from the assembly control center; pasting the target on the assembly area and the surface of the prefabricated component to be assembled based on the target density; identifying the same pasted target simultaneously through all scanners; obtaining the global coordinate deviation of the same target based on the target coordinates; obtaining an accurate signal or an offset signal; and obtaining the pasting result of each target based on the offset signal or the accurate signal.

5. The prefabricated component assembly accuracy control system based on three-dimensional scanning according to claim 1, characterized in that, The analysis process for the standard component module is as follows: Obtain the design parameters of the prefabricated components to be assembled, construct a standard 3D model of the components based on building information modeling technology, and build a standard model database based on the standard 3D model. Key control points are set and marked in the standard 3D model of the prefabricated component to be assembled. The allowable deviation range of each key control point is set, and an allowable deviation constraint library is constructed based on the allowable deviation range of each key control point.

6. The prefabricated component assembly accuracy control system based on three-dimensional scanning according to claim 1, characterized in that, The analysis process of the assembly analysis module is as follows: The first prefabricated component to be assembled is hoisted onto the assembly foundation and initially fixed. Then, the initial scan point cloud data of the current state of the first prefabricated component to be assembled is obtained. The initial scan point cloud data is preprocessed and then registered with the standard 3D model. The coordinates of key control points are extracted from the initial scanned point cloud data and compared with the theoretical coordinates of the corresponding key control points in the standard 3D model. The actual deviation value of each key control point is calculated, and the allowable deviation range of each key control point is retrieved from the allowable deviation constraint library. The actual deviation value of each key control point is judged until the assembly accuracy of all prefabricated components to be assembled is determined to be qualified, and the assembly of all prefabricated components to be assembled is completed. If the actual deviation value of any key control point exceeds the allowable deviation range, a deviation analysis report is generated.

7. The prefabricated component assembly accuracy control system based on three-dimensional scanning according to claim 1, characterized in that, The control processing procedure of the control execution module is as follows: Based on the deviation analysis report, a deviation control plan is obtained. During the control process, the 3D scanner continuously scans the prefabricated components to be assembled, and acquires the scanned point cloud data after control in real time. The coordinates of the key control points in the scanned point cloud data after control are compared with the theoretical coordinates of the corresponding key control points in the standard 3D model in real time. The actual deviation value of each key control point is calculated and the actual deviation value is judged and processed until the deviation value of all key control points meets the allowable deviation requirements. Then, a feedback signal is generated. When the feedback signal is generated, the control execution equipment responds to the feedback signal and stops the control, and the prefabricated components to be assembled are finally fixed.

8. The prefabricated component assembly accuracy control system based on three-dimensional scanning according to claim 1, characterized in that, The analysis process of the recording and tracing module is as follows: The scanning data, deviation analysis report, control plan and final assembly accuracy data are associated with the unique identifier of the prefabricated component to be assembled and stored to form an assembly dataset. The input filtered query data is obtained, and the assembly data of the corresponding prefabricated components to be assembled is obtained from the assembly dataset based on the filtered query data; Obtain the deviation direction from the deviation analysis report in the assembly data, obtain the factory inspection report of the prefabricated component to be assembled based on the deviation direction, retrieve the test results corresponding to the deviation direction in the factory inspection report, the test results include qualified and unqualified, and obtain the assembly deviation and component deviation based on the test results; Based on the assembly deviation, the control scheme is obtained, and the number of control times within the control period of the prefabricated component to be assembled (the time between the start of control in the deviation direction and the generation of the feedback signal) is obtained. If the number of control times is greater than or equal to the preset control number threshold, it is determined to be a control defect. When a control defect is identified, the control environment wind speed of the prefabricated component to be assembled is obtained, and the control environment wind speed is compared with the preset construction assembly wind speed to obtain the main interference factors. A traceability deviation list is constructed based on component deviations or assembly deviations and major interference factors.

9. A method for controlling the assembly accuracy of prefabricated components based on three-dimensional scanning, wherein the method is applied to the prefabricated component assembly accuracy control system based on three-dimensional scanning as described in any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Establish a global coordinate system, and based on the global coordinate system, implement the calibration analysis of the 3D scanner, the pasting of the target, and the feedback analysis of the pasting quality evaluation. Step 2: The process of constructing the standard model database and setting the allowable deviation constraint library; Step 3: Analyze and determine the allowable deviation range of each key control point in the prefabricated component to be assembled using a progressive information approach, and output a deviation analysis report; Step 4: Implement dynamic assembly deviation control and processing of prefabricated components to be assembled based on the deviation analysis report; Step 5: Construction of the assembly dataset and traceability analysis of assembly deviations of the prefabricated components to be assembled.

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