Public building special-shaped formwork system assembly type laminated slab installation guide system and method

Abstract

This invention discloses an installation guidance system and method for prefabricated composite slabs in irregular-shaped formwork systems for public buildings, relating to the field of building technology. It includes a data acquisition module, a calculation and decision-making module, an installation guidance module, and a geometric compensation connection module. The data acquisition module acquires on-site control points, 3D point clouds, and calibration target data, establishes on-site-BIM coordinate correspondence, and outputs original measurement data and quality indicators. The calculation and decision-making module performs rigid body registration and deviation analysis on the point cloud and BIM, solves for the optimal installation posture and tolerance allocation of components, and generates installation command parameters. The installation guidance module projects installation commands to the site using laser, total station, or AR methods, providing real-time prompts for positioning, fine-tuning, and tightening steps and values. The geometric compensation connection module achieves XYZ and angle fine-tuning through adjustable brackets, elliptical slot connections, and edge compressible layers, and reliably locks and cures after grouting while meeting load-bearing requirements. This invention features high accuracy.

Description

Technical Field

[0001] This invention relates to the field of building technology, specifically to a prefabricated composite slab installation guide system and method for irregular-shaped formwork systems in public buildings. Background Technology

[0002] Current design processes typically begin with design firms creating architectural and structural designs based on idealized BIM models, then breaking down the designs into precast composite slab components. Production units then standardize and mass-produce these components according to the breakdown drawings. However, the allowable error in constructing irregular-shaped formwork systems is far greater than the production error of precast components. The actual dimensions, elevations, and planar positions of the formwork for cast-in-place irregular beams and walls will inevitably deviate from the design model.

[0003] This deviation often leads to problems with the smooth hoisting and placement of prefabricated composite slabs, which are precisely manufactured and dimensionally accurate, once they arrive on site. For example, there may be insufficient overlap between the slab and the support, uneven joint width, or even collisions with adjacent components. Construction teams are often forced to take remedial measures such as on-site concrete chipping, cutting prefabricated slabs, and adding extra supports. This not only damages the integrity of the components, affecting construction quality and safety, but also significantly reduces the construction efficiency that prefabricated buildings should possess, resulting in a waste of labor and materials. In irregular formwork systems (such as complex curved and polygonal formwork), traditional surveying and layout methods (such as relying on theodolites, levels, and steel rulers) are inefficient and prone to errors. For non-standardized installation baselines and control points, it is difficult to conduct rapid and accurate surveying and verification. Installation workers mostly rely on experience and visual inspection for preliminary positioning, making it impossible to accurately control the elevation, horizontal position, and torsion angle of each prefabricated composite slab. Therefore, it is essential to design a highly accurate prefabricated composite slab installation guidance system and method for irregular formwork systems in public buildings. Summary of the Invention

[0004] The purpose of this invention is to provide a prefabricated composite slab installation guide system and method for irregular-shaped formwork systems in public buildings, so as to solve the problems mentioned in the background art.

[0005] To address the aforementioned technical problems, this invention provides the following technical solution: an installation guidance system for prefabricated composite slabs in a public building irregular-shaped formwork system, comprising a data acquisition module, a calculation and decision module, an installation guidance module, and a geometric compensation connection module. The data acquisition module acquires on-site control points, 3D point clouds, and calibration target data, establishes on-site-BIM coordinate correspondence, and outputs original measurement data and quality indicators. The calculation and decision module performs rigid body registration and deviation analysis on the point cloud and BIM, solves for the optimal installation posture and tolerance allocation of components, and generates installation command parameters. The installation guidance module projects the installation commands to the site using laser, total station, or AR methods, providing real-time prompts for positioning, fine-tuning, and tightening steps and values. The geometric compensation connection module achieves XYZ and angle fine-tuning through adjustable brackets, elliptical slot connections, and edge compressible layers, and reliably locks and cures after grouting while meeting load-bearing requirements.

[0006] According to the above technical solution, the data acquisition module includes a field benchmark establishment module, a 3D scanning acquisition module, and an auxiliary positioning calibration module. The field benchmark establishment module includes a robot total station, which is used to set up control points, establish the transformation relationship between the field coordinate system and the BIM coordinate system, and output the transformation matrix and benchmark error. The 3D scanning acquisition module includes a 3D laser scanner, which is used to acquire point clouds and contour features of the installation area and output the original point cloud and quality indicators. The auxiliary positioning calibration module includes a UWB positioning base station, which is used to provide redundant positioning in obstructed and irregular spaces and to verify measurement stability. The calculation and decision module includes a coordinate registration module, an attitude optimization module, a tolerance allocation module, and an installation instruction sheet generation module. The coordinate registration module is used to register the point cloud with the BIM rigid body, generate ΔX, ΔY, ΔZ and normal deviation heatmaps, and mark the areas that need compensation. The attitude optimization module solves the optimal installation attitude for each component in terms of x, y, z and roll, pitch, and yaw, satisfying the constraints of joint width, overlap, clearance, and angle. The tolerance allocation module is used to distribute the errors of instruments, scanning, layout, and installation, and back-calculate the construction tolerance and alarm threshold. The installation instruction sheet generation module generates installation parameters and process instruction sheets for each component, with fields including bracket elevation, XY offset, torsion angle, gasket thickness, slot preload, and grouting volume. The installation guidance module includes a target contour layout module and a visual interactive guidance module. The target contour layout module includes a laser projector, which is used to project the target contour line, four corner points, axis and seam line onto the site to achieve precise positioning. The visual interactive guidance module includes AR glasses, which is used to overlay the installation instructions onto the site view and prompt fine-tuning direction and value. The geometric compensation connection module includes an adjustable support, a digital torque wrench, and an assembly component application discrimination module. The adjustable support is used for XYZ direction stroke adjustment, micro-angle compensation, micro-movement, and locking. The digital torque wrench is used for step-by-step tightening and torque recording, forming process evidence of a torque rectangular window. The assembly component application discrimination module is used to determine whether and where the slot connection assembly, edge compressible layer assembly, fine-tuning shim, and temporary limit fixture are used.

[0007] Installation guidance methods for prefabricated composite slabs in irregular-shaped formwork systems for public buildings, including: S1. Set up control points and calibration targets, establish the transformation matrix between the site coordinate system and the BIM coordinate system, and give assembly tolerance and alarm threshold to provide boundary conditions for subsequent optimization and selection. S2. Collect the point cloud of the installation area and perform rigid body registration with BIM based on the Kabsch algorithm and the ICP iterative nearest point registration algorithm. Output ΔX, ΔY, ΔZ and normal deviation field to generate the assembly space and boundary interference, forming an optimized input dataset. S3. Under the constraints of joint width, overlap, clear distance and angle, determine the optimal posture of each component, determine the slot direction and specifications, compressible layer thickness, gasket combination and temporary limit fixture arrangement, and generate an installation instruction sheet. S4. Overlay the target outline, four corner points, axis and seam line onto the site using laser, total station and AR methods to guide the hoisting and fine-tuning path, and simultaneously display the support scale, fine-tuning vector and tightening sequence to constrain construction actions. S5. Follow the instructions to make Z-axis and angle fine adjustments to the bracket and gasket, move them in both XY directions along the slot to the target coordinates, and then tighten and lock them in stages. Lay a compressible layer in the designated boundary section and perform post-grouting to ensure that the load-bearing capacity and target joint width are stable and solidified.

[0008] According to the above technical solution, S1 specifically refers to: S1-1. Select multiple permanent control points covering the installation area. These points should be spatially non-collinear, non-coplanar, and unobstructed. Use a robotic total station to complete the traverse and elevation measurements and perform network adjustment to generate control point coordinates and covariance matrices. Fix several calibration targets with expansion bolts as corresponding points for subsequent registration. Establish a stable and repeatable field coordinate system within the construction area. With elevation datum; S1-2. Extract the coordinates of the corresponding points to the on-site target from the BIM. On-site measurements Perform a closed-form Kabsch solution on at least 6 sets of non-coplanar corresponding points to find the rotation matrix. With translation vector ,Bundle Rotate first, then translate, then calculate. The squared Euclidean distance between them yields the objective function for rigid body registration. ,in , , As the weight of the project, , , Each is the current The deviations between the actual values ​​of seam width, overlap, and clear distance and the design target are analyzed. A set of model points are transformed to actual measurement points, and the total error is minimized by converting the BIM coordinate system. With the field coordinate system Unification leads to rigid body transformation. .

[0009] According to the above technical solution, S2 specifically refers to: S2-1. Based on the principle of overlapping the viewpoints of adjacent stations by a specified percentage, arrange several stations, focusing on scanning key areas such as the top surface of the support, connection boundaries, and component positioning lines. After acquisition, use control points to stitch the stations together in the software to obtain a high-quality point cloud of the installation area and clean it into a dataset suitable for fine registration, then unify it to the field coordinate system output by S1. ; S2-2. Using the coarse alignment of the corresponding points in S1-2 as the initial value, perform point-to-surface ICP registration and find the nearest projection point on the BIM surface. With normal vector Sum the squared normal distances of all points and minimize them. Output the optimal rigid body pose after the convergence criterion is satisfied. The component reference is compared with the design reference, and the position and attitude residuals are calculated. and And generate the deviation field and its thermogram based on the distance from the signed point to the surface; S2-3. Combining preset distance thresholds, normal angle thresholds, and truncation ratios to suppress outliers, uniform sampling weights are set for the large planes of walls and supports to avoid bias. Iteration continues until the changes in translation and rotation are both below the set convergence thresholds. After convergence, the BIM model is transformed to point cloud coordinates, and the residuals of the component reference plane, nodes, and axes are output. Based on the signature distance field function generated by the BIM model, the shortest distance from each boundary point in the point cloud to the design surface is calculated, and the difference between the actual clearance and the design joint width of each boundary segment is obtained to determine the assemblable space and boundary. Interference amount And by considering assembly margin through morphological expansion, an assemblable space is generated. .

[0010] According to the above technical solution, S3 specifically refers to: S3-1, with and Using the initial values, a constraint optimization algorithm is used to minimize the assembly cost function. Under the premise of satisfying the assembly space constraints, overlap length, and adjustable angle range, the assembly cost function is minimized through the constraint optimization algorithm to obtain the optimal pose that satisfies all constraints. The formula is for the micro-displacement, elevation, and angle correction required to reach the target pose. Interference and punishment , , , , For the weights of each item, the interference penalty ,in Let x be the signed distance from a point to a surface at pose x, where the normal is positive and penetration is negative, and only inward interference is penalized. For robust loss functions, slit width deviation ,in The actual clearance of boundary segment s is reduced by the design joint width, and the penalty for insufficient overlap is applied. , For the first Overlap length at the point Minimum overlap constant, minimum clearance penalty ,in Let k be the minimum clear distance between the k-th point and its neighboring components. It is the minimum net distance constant; S3-2. Based on the micro-movement and correction of each node, automatically determine the direction and stroke of the slot connection, the combination of the bracket scale and the gasket thickness, the arrangement and thickness of the edge compressible layer, and whether temporary anti-torsion clamps are needed. Combined with the optimized position and posture parameters, generate layout data, including target coordinates, four corner points, axis and seam, as well as construction action sequence. Finally, output the installation instruction sheet for each plate, which includes target position and posture, adjustable component specifications, torque range, bracket setting, layout point coordinates and tightening sequence.

[0011] According to the above technical solution, S4 specifically refers to: S4-1. First, the target pose and reference elements, namely the four corner points, axis, seam lines, suspension point projections, and node coordinates, are sent to the layout terminal. On-site, these elements are overlaid onto the template and support surfaces using laser projection and VR projection to complete the marking of reference lines, positioning points, and seam lines. Then, the layout terminal undergoes a position check and coordinate system consistency confirmation to ensure that the on-site view aligns with... With unified coordinates, a positioning reference frame is generated upon completion, providing real-time spatial reference and command synchronization for hoisting and fine-tuning. S4-2. After being lifted to the installation window, the system displays the plane micro-movement vector and rotation correction prompts on the terminal in real time, guiding the construction to follow the sequence of first Z-axis elevation, then plane micro-movement, and finally torsion correction. The component is pushed to the layout line by the superposition of the support scale and shims and the micro-movement of the slot direction. After each micro-adjustment action, the remaining deviation is refreshed and the next operation and the initial tightening sequence of bolts are prompted until the position and posture residuals fall into the preset assembly convergence standard.

[0012] According to the above technical solution, S5 specifically refers to: S5-1. Construction personnel shall perform three-way fine-tuning of elevation, plane and angle in sequence according to the fine-tuning vector and angle correction prompts displayed on the guidance terminal: first, adjust the Z-axis elevation by superimposing the bracket screw and shims, then make fine movement in the XY plane along the slot direction, and finally correct the attitude angle by using the spherical pad and fine-tuning fixture. After reaching the target, perform final tightening according to the step-by-step tightening sequence of the instruction sheet, so as to increase the pre-tightening force one by one and turn it into friction type bearing, and complete the locking of the adjustable component. S5-2. Apply non-shrink cement-based and polymer grouting to the boundary compressible layer and connection nodes to completely fill gaps, supports and slots. The grouting process is carried out from the inside out and in layers to ensure that the filling is dense and air is removed. During the curing period, the grouting batch, mix ratio and environmental conditions are monitored. After the specified time, the elevation and posture changes of the components are re-measured to confirm that the curing shrinkage and rebound are within the allowable range. After curing is completed, the temporary limiting clamps and anti-torsion devices are removed to form the final assembled structure with the design load-bearing capacity and stability.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are: by integrating BIM model, point cloud data acquisition, attitude optimization calculation, assemblable space analysis and on-site guidance control, the present invention realizes automatic registration, precise positioning and efficient locking installation of composite slabs, and is naturally adapted to the formwork shapes of curved surfaces, polygonal lines and non-standard bays. By integrating BIM and on-site scanning data, a closed-loop control process from digital model to physical installation was constructed. During the registration stage, dimensional differences between the template and precast slab can be identified and corrected, avoiding the accumulation of errors from traditional manual layout. In the posture optimization stage, assembly constraints such as joint width, overlap, and clearance are incorporated into the optimization solution, ensuring that the output posture meets both geometric accuracy and on-site constructability requirements. The guidance module provides real-time micro-movement, angle adjustment, and locking commands, combined with geometric compensation connection components, enabling rapid, stable, and repeatable high-precision assembly. This system effectively shortens the installation cycle, reduces rework, improves the matching accuracy of composite slabs and irregular templates, enhances construction safety, and significantly improves the engineering controllability and intelligence level of prefabricated buildings in complex spatial configurations. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall modular structure of the present invention. Detailed Implementation

[0015] 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.

[0016] Please see Figure 1 This invention provides a technical solution: an installation guidance system for prefabricated composite slabs of irregular-shaped formwork systems for public buildings, including a data acquisition module, a calculation and decision module, an installation guidance module, and a geometric compensation connection module. The data acquisition module acquires on-site control points, 3D point clouds, and calibration target data, establishes on-site-BIM coordinate correspondence, and outputs original measurement data and quality indicators. The calculation and decision module performs rigid body registration and deviation analysis on the point cloud and BIM, solves the optimal installation posture and tolerance allocation of components, and generates installation command parameters. The installation guidance module projects the installation commands to the site using laser, total station, and AR methods, and provides real-time prompts for positioning, fine-tuning, and tightening steps and values. The geometric compensation connection module achieves XYZ and angle fine-tuning through adjustable brackets, elliptical slot connections, and edge compressible layers, and reliably locks and cures after grouting while meeting load-bearing requirements. The data acquisition module includes a field benchmark establishment module, a 3D scanning acquisition module, and an auxiliary positioning calibration module. The field benchmark establishment module includes a robotic total station, which is used to set up control points, establish the transformation relationship between the field coordinate system and the BIM coordinate system, and output the transformation matrix and benchmark error. The 3D scanning acquisition module includes a 3D laser scanner, which is used to acquire point clouds and contour features of the installation area and output the original point cloud and quality indicators. The auxiliary positioning calibration module includes a UWB positioning base station, which is used to provide redundant positioning in obstructed and irregular spaces and to verify measurement stability. The calculation and decision module includes a coordinate registration module, an attitude optimization module, a tolerance allocation module, and an installation instruction sheet generation module. The coordinate registration module is used for point cloud and BIM rigid body registration, generating ΔX, ΔY, ΔZ and normal deviation heatmaps, and marking areas that need compensation. The attitude optimization module solves for the optimal installation attitude of each component in terms of x, y, z and roll, pitch, and yaw, satisfying the constraints of joint width, overlap, clearance, and angle. The tolerance allocation module is used to distribute the errors of instruments, scanning, layout, and installation, and back-calculate the construction tolerance and alarm threshold. The installation instruction sheet generation module generates installation parameters and process instruction sheets for each component, with fields including bracket elevation, XY offset, torsion angle, gasket thickness, slot preload, and grouting volume. The installation guidance module includes a target contour layout module and a visual interactive guidance module. The target contour layout module includes a laser projector, which is used to project the target contour line, four corner points, axis, and seam lines onto the site to achieve precise positioning. The visual interactive guidance module includes AR glasses, which are used to overlay installation instructions onto the site view and prompt fine-tuning direction and measurement values. The geometric compensation connection module includes an adjustable support, a digital torque wrench, and an assembly component application judgment module. The adjustable support is used for XYZ direction stroke adjustment, micro-angle compensation, micro-movement, and locking. The digital torque wrench is used for step-by-step tightening and torque recording, forming process evidence in the torque rectangular window. The assembly component application judgment module is used to determine whether and where the slot connection assembly, edge compressible layer assembly, fine-tuning shim, and temporary limit fixture are used. Installation guidance methods for prefabricated composite slabs in irregular-shaped formwork systems for public buildings, including: S1. Set up control points and calibration targets, establish the transformation matrix between the site coordinate system and the BIM coordinate system, and give assembly tolerance and alarm threshold to provide boundary conditions for subsequent optimization and selection. S2. Collect the point cloud of the installation area and perform rigid body registration with BIM based on the Kabsch algorithm and the ICP iterative nearest point registration algorithm. Output ΔX, ΔY, ΔZ and normal deviation field to generate the assembly space and boundary interference, forming an optimized input dataset. S3. Under the constraints of joint width, overlap, clear distance and angle, determine the optimal posture of each component, determine the slot direction and specifications, compressible layer thickness, gasket combination and temporary limit fixture arrangement, and generate an installation instruction sheet. S4. Overlay the target outline, four corner points, axis and seam line onto the site using laser, total station and AR methods to guide the hoisting and fine-tuning path, and simultaneously display the support scale, fine-tuning vector and tightening sequence to constrain construction actions. S5. According to the instructions, the bracket and gasket are finely adjusted in the Z direction and angle. After moving to the target coordinates in both X and Y directions along the slot, they are finally tightened and locked in steps. A compressible layer is laid in the designated boundary section and grouting is performed to ensure that the load-bearing capacity and the target joint width are stable and solidified. S1 specifically refers to: S1-1. Select multiple permanent control points covering the installation area. These points should be spatially non-collinear, non-coplanar, and unobstructed. Use a robotic total station to complete the traverse and elevation measurements and perform network adjustment to generate control point coordinates and covariance matrices. Fix several calibration targets with expansion bolts as corresponding points for subsequent registration. Establish a stable and repeatable field coordinate system within the construction area. With elevation datum; S1-2. Extract the coordinates of the corresponding points to the on-site target from the BIM. On-site measurements Perform a closed-form Kabsch solution on at least 6 sets of non-coplanar corresponding points to find the rotation matrix. With translation vector ,Bundle Rotate first, then translate, then calculate. The squared Euclidean distance between them yields the objective function for rigid body registration. ,in , , As the weight of the project, , , Each is the current The deviations between the actual values ​​of seam width, overlap, and clear distance and the design target are analyzed. A set of model points are transformed to actual measurement points, and the total error is minimized by converting the BIM coordinate system. With the field coordinate system Unification leads to rigid body transformation. In the registration stage, three assembly-related variables are introduced to transform the key constraints of subsequent assembly into differentiable penalty terms, so that the output posture naturally meets the engineering boundaries of joint width, minimum overlap and minimum clear distance, and jumps from geometric optimality to assembly feasibility optimality. This allows the spatial deviation between prefabricated components and irregular templates to be automatically corrected in the coordinate unification stage, eliminating the problems of insufficient overlap and uncontrolled joint width from the source. S2 specifically refers to: S2-1. Based on the principle of overlapping the viewpoints of adjacent stations by a specified percentage, arrange several stations, focusing on scanning key areas such as the top surface of the support, connection boundaries, and component positioning lines. After acquisition, use control points to stitch the stations together in the software to obtain a high-quality point cloud of the installation area and clean it into a dataset suitable for fine registration, then unify it to the field coordinate system output by S1. ; S2-2. Using the coarse alignment of the corresponding points in S1-2 as the initial value, perform point-to-surface ICP registration and find the nearest projection point on the BIM surface. With normal vector Sum the squared normal distances of all points and minimize them. Output the optimal rigid body pose after the convergence criterion is satisfied. The component reference is compared with the design reference, and the position and attitude residuals are calculated. and And generate the deviation field and its thermogram based on the distance from the signed point to the surface; S2-3. Combining preset distance thresholds, normal angle thresholds, and truncation ratios to suppress outliers, uniform sampling weights are set for the large planes of walls and supports to avoid bias. Iteration continues until the changes in translation and rotation are both below the set convergence thresholds. After convergence, the BIM model is transformed to point cloud coordinates, and the residuals of the component reference plane, nodes, and axes are output. Based on the signature distance field function generated by the BIM model, the shortest distance from each boundary point in the point cloud to the design surface is calculated, and the difference between the actual clearance and the design joint width of each boundary segment is obtained to determine the assemblable space and boundary. Interference amount And by considering assembly margin through morphological expansion, an assemblable space is generated. This link realizes a semantic closed loop from point cloud BIM registration results to assembly space, enabling subsequent attitude optimization to directly use the feasible assembly domain as a constraint. Unlike traditional ICP registration which only pursues the minimization of geometric residuals, this scheme introduces three types of assembly constraints—joint width, overlap, and clear distance—at the registration stage, integrating geometric solution with engineering feasibility, thereby improving registration accuracy and assembly feasibility. It has clear engineering innovation and system integration value. S3 specifically refers to: S3-1, with and Using the initial values, a constraint optimization algorithm is used to minimize the assembly cost function. Under the premise of satisfying the assembly space constraints, overlap length, and adjustable angle range, the assembly cost function is minimized through the constraint optimization algorithm to obtain the optimal pose that satisfies all constraints. The formula is for the micro-displacement, elevation, and angle correction required to reach the target pose. Interference and punishment , , , , For the weights of each item, the interference penalty ,in Let x be the signed distance from a point to a surface at pose x, where the normal is positive and penetration is negative, and only inward interference is penalized. For robust loss functions, slit width deviation ,in The actual clearance of boundary segment s is reduced by the design joint width, and the penalty for insufficient overlap is applied. , For the first Overlap length at the point Minimum overlap constant, minimum clearance penalty ,in Let k be the minimum clear distance between the k-th point and its neighboring components. This scheme uses the minimum net distance constant, unlike traditional algorithms that only perform geometric registration position verification. As an initial value, an assembly cost function is established that includes interference, seam width, overlap, clearance and attitude constraints. A robust loss ρ and a one-sided penalty mechanism are introduced, which only penalize inward interference and assembly insufficiency. In this way, the optimization process not only pursues the minimum geometric matching error, but also ensures that the result conforms to the adjustable stroke and angle range of the construction component. The final optimal pose x is obtained and outputs the micro displacement, elevation and angle correction, which can directly drive the subsequent component selection and installation command generation. S3-2. Based on the micro-displacement and correction of each node, automatically determine the direction and stroke of the slot connection, the combination of the bracket scale and the gasket thickness, the arrangement and thickness of the edge compressible layer, and whether temporary anti-torsion clamps are needed. Combined with the optimized position and posture parameters, generate layout data, including target coordinates, four corner points, axis and seam, as well as construction action sequence. Finally, output the installation instruction sheet for each plate, which includes target position and posture, adjustable component specifications, torque range, bracket setting, layout point coordinates and tightening sequence. S4 specifically refers to: S4-1. First, the target pose and reference elements, namely the four corner points, axis, seam lines, suspension point projections, and node coordinates, are sent to the layout terminal. On-site, these elements are overlaid onto the template and support surfaces using laser projection and VR projection to complete the marking of reference lines, positioning points, and seam lines. Then, the layout terminal undergoes a position check and coordinate system consistency confirmation to ensure that the on-site view aligns with... With unified coordinates, a positioning reference frame is generated upon completion, providing real-time spatial reference and command synchronization for hoisting and fine-tuning. S4-2. After being lifted to the installation window, the system displays the plane micro-movement vector and rotation correction prompts on the terminal in real time, guiding the construction to follow the sequence of first Z-axis elevation, then plane micro-movement, and finally torsion correction. The component is pushed to the layout line by the superposition of the support scale and shims and the micro-movement of the slot direction. After each micro-adjustment action, the remaining deviation is refreshed and the next operation and the initial bolt tightening sequence are prompted until the position and posture residuals fall into the preset assembly convergence standard. S5 specifically refers to: S5-1. Construction personnel shall perform three-way fine-tuning of elevation, plane and angle in sequence according to the fine-tuning vector and angle correction prompts displayed on the guidance terminal: first, adjust the Z-axis elevation by superimposing the bracket screw and shims, then make fine movement in the XY plane along the slot direction, and finally correct the attitude angle by using the spherical pad and fine-tuning fixture. After reaching the target, perform final tightening according to the step-by-step tightening sequence of the instruction sheet, so as to increase the pre-tightening force one by one and turn it into friction type bearing, and complete the locking of the adjustable component. S5-2. Apply non-shrink cement-based and polymer grouting to the boundary compressible layer and connection nodes to completely fill gaps, supports and slots. The grouting process is carried out from the inside out and in layers to ensure that the filling is dense and air is removed. During the curing period, the grouting batch, mix ratio and environmental conditions are monitored. After the specified time, the elevation and posture changes of the components are re-measured to confirm that the curing shrinkage and rebound are within the allowable range. After curing is completed, the temporary limiting clamps and anti-torsion devices are removed to form the final assembled structure with the design load-bearing capacity and stability.

[0017] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily imply any such actual relationship or order between these entities and operations. Furthermore, the terms "comprising," "including," and any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, and includes elements inherent to such a process, method, article, or apparatus.

[0018] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments and make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for guiding the installation of prefabricated composite slabs in irregular-shaped formwork systems for public buildings, characterized in that: include: S1. Set up control points and calibration targets, establish the transformation matrix between the site coordinate system and the BIM coordinate system, and give assembly tolerance and alarm threshold to provide boundary conditions for subsequent optimization and selection. S2. Collect the point cloud of the installation area and perform rigid body registration with BIM based on the Kabsch algorithm and the ICP iterative nearest point registration algorithm. Output ΔX, ΔY, ΔZ and normal deviation field to generate the assembly space and boundary interference, forming an optimized input dataset. S3. Under the constraints of joint width, overlap, clear distance and angle, determine the optimal posture of each component, determine the slot direction and specifications, compressible layer thickness, gasket combination and temporary limit fixture arrangement, and generate an installation instruction sheet. S4. Overlay the target outline, four corner points, axis and seam line onto the site using laser, total station and AR methods to guide the hoisting and fine-tuning path, and simultaneously display the support scale, fine-tuning vector and tightening sequence to constrain construction actions. S5. According to the instructions, the bracket and gasket are finely adjusted in the Z direction and angle. After moving to the target coordinates in both X and Y directions along the slot, they are finally tightened and locked in steps. A compressible layer is laid in the designated boundary section and grouting is performed to ensure that the load-bearing capacity and the target joint width are stable and solidified. Specifically, S1 is: S1-1. Select multiple permanent control points covering the installation area. These points should be spatially non-collinear, non-coplanar, and unobstructed. Use a robotic total station to complete the traverse and elevation measurements and perform network adjustment to generate control point coordinates and covariance matrices. Fix several calibration targets with expansion bolts as corresponding points for subsequent registration. Establish a stable and repeatable field coordinate system within the construction area. With elevation datum; S1-2. Extract the coordinates of the corresponding points to the on-site target from the BIM. On-site measurements Perform a closed-form Kabsch solution on at least 6 sets of non-coplanar corresponding points to find the rotation matrix. With translation vector ,Bundle Rotate first, then translate, then calculate. The squared Euclidean distance between them yields the objective function for rigid body registration. ,in , , As the weight of the project, , , Each is the current The deviations between the actual values ​​of seam width, overlap, and clear distance and the design target are analyzed. A set of model points are transformed to actual measurement points, and the total error is minimized by converting the BIM coordinate system. With the field coordinate system Unification leads to rigid body transformation. .

2. The method for guiding the installation of prefabricated composite slabs in the irregular formwork system for public buildings according to claim 1, characterized in that: Specifically, S2 is: S2-1. Based on the principle of overlapping the viewpoints of adjacent stations by a specified percentage, arrange several stations, focusing on scanning key areas such as the top surface of the support, connection boundaries, and component positioning lines. After acquisition, use control points to stitch the stations together in the software to obtain a high-quality point cloud of the installation area and clean it into a dataset suitable for fine registration, then unify it to the field coordinate system output by S1. ; S2-2. Using the coarse alignment of the corresponding points in S1-2 as the initial value, perform point-to-surface ICP registration and find the nearest projection point on the BIM surface. With normal vector Sum the squared normal distances of all points and minimize them. Output the optimal rigid body pose after the convergence criterion is satisfied. The component reference is compared with the design reference, and the position and attitude residuals are calculated. and And generate the deviation field and its thermogram based on the distance from the signed point to the surface; S2-3. Combining preset distance thresholds, normal angle thresholds, and truncation ratios to suppress outliers, uniform sampling weights are set for the large planes of walls and supports to avoid bias. Iteration continues until the changes in translation and rotation are both below the set convergence thresholds. After convergence, the BIM model is transformed to point cloud coordinates, and the residuals of the component reference plane, nodes, and axes are output. Based on the signature distance field function generated by the BIM model, the shortest distance from each boundary point in the point cloud to the design surface is calculated, and the difference between the actual clearance and the design joint width of each boundary segment is obtained to determine the assemblable space and boundary. Interference amount And by considering assembly margin through morphological expansion, an assemblable space is generated. .

3. The method for guiding the installation of prefabricated composite slabs in the irregular formwork system for public buildings according to claim 2, characterized in that: Specifically, S3 is: S3-1, with and Using the initial values, a constraint optimization algorithm is used to minimize the assembly cost function. Under the premise of satisfying the assembly space constraints, overlap length, and adjustable angle range, the assembly cost function is minimized through the constraint optimization algorithm to obtain the optimal pose that satisfies all constraints. The formula is for the micro-displacement, elevation, and angle correction required to reach the target pose. Interference and punishment , , , , For the weights of each item, the interference penalty ,in Let x be the signed distance from a point to a surface at pose x, where the normal is positive and penetration is negative, and only inward interference is penalized. For robust loss functions, slit width deviation ,in The actual clearance of boundary segment s is reduced by the design joint width, and the penalty for insufficient overlap is applied. , For the first Overlap length at the point Minimum overlap constant, minimum clearance penalty ,in Let k be the minimum clear distance between the k-th point and its neighboring components. It is the minimum net distance constant; S3-2. Based on the micro-movement and correction of each node, automatically determine the direction and stroke of the slot connection, the combination of the bracket scale and the gasket thickness, the arrangement and thickness of the edge compressible layer, and whether temporary anti-torsion clamps are needed. Combined with the optimized position and posture parameters, generate layout data, including target coordinates, four corner points, axis and seam, as well as construction action sequence. Finally, output the installation instruction sheet for each plate, which includes target position and posture, adjustable component specifications, torque range, bracket setting, layout point coordinates and tightening sequence.

4. The method for guiding the installation of prefabricated composite slabs in the irregular formwork system for public buildings according to claim 3, characterized in that: Specifically, S4 is: S4-1. First, the target pose and reference elements, namely the four corner points, axis, seam lines, suspension point projections, and node coordinates, are sent to the layout terminal. On-site, these elements are overlaid onto the template and support surfaces using laser projection and VR projection to complete the marking of reference lines, positioning points, and seam lines. Then, the layout terminal undergoes a position check and coordinate system consistency confirmation to ensure that the on-site view aligns with... With unified coordinates, a positioning reference frame is generated upon completion, providing real-time spatial reference and command synchronization for hoisting and fine-tuning. S4-2. After being lifted to the installation window, the system displays the plane micro-movement vector and rotation correction prompts on the terminal in real time, guiding the construction to follow the sequence of first Z-axis elevation, then plane micro-movement, and finally torsion correction. The component is pushed to the layout line by the superposition of the support scale and shims and the micro-movement of the slot direction. After each micro-adjustment action, the remaining deviation is refreshed and the next operation and the initial tightening sequence of bolts are prompted until the position and posture residuals fall into the preset assembly convergence standard.

5. The prefabricated composite slab installation guidance method for the irregular-shaped formwork system of public buildings according to claim 4, characterized in that: Specifically, S5 is: S5-1. Construction personnel shall perform three-way fine-tuning of elevation, plane and angle in sequence according to the fine-tuning vector and angle correction prompts displayed on the guidance terminal: first, adjust the Z-axis elevation by superimposing the bracket screw and shims, then make fine movement in the XY plane along the slot direction, and finally correct the attitude angle by using the spherical pad and fine-tuning fixture. After reaching the target, perform final tightening according to the step-by-step tightening sequence of the instruction sheet, so as to increase the pre-tightening force one by one and turn it into friction type bearing, and complete the locking of the adjustable component. S5-2. Apply non-shrink cement-based and polymer grouting to the boundary compressible layer and connection nodes to completely fill gaps, supports and slots. The grouting process is carried out from the inside out and in layers to ensure that the filling is dense and air is removed. During the curing period, the grouting batch, mix ratio and environmental conditions are monitored. After the specified time, the elevation and posture changes of the components are re-measured to confirm that the curing shrinkage and rebound are within the allowable range. After curing is completed, the temporary limiting clamps and anti-torsion devices are removed to form the final assembled structure with the design load-bearing capacity and stability.

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