A VR-based indoor hoisting method

Abstract

This invention discloses a VR-based indoor hoisting method, relating to the field of indoor special space hoisting construction. Specifically, it includes: scanning the hoisting space; establishing a coordinate reference system using the ceiling reference point and constructing a BIM spatial model; constructing a model of the component to be hoisted at preset hoisting points in the model; selecting and exporting the coordinates of static monitoring points; then constructing a VR digital twin model based on the BIM spatial model containing the model of the component to be hoisted; selecting and exporting the coordinates of dynamic monitoring points through VR pre-simulation; finally, during the actual hoisting process, adjusting the spatial position of the component during hoisting in real time based on the dynamic monitoring points, and adjusting the spatial position of the component at the preset hoisting points in real time based on the static monitoring points. This method, through the combination of VR pre-simulation, BIM modeling, and precise measurement, achieves precision, safety, and efficiency in indoor hoisting, effectively ensuring hoisting quality and construction safety.

Description

Technical Field

[0001] This invention relates to the field of indoor special space hoisting construction, and in particular to a VR-based indoor hoisting method. Background Technology

[0002] Currently, in the field of indoor hoisting engineering, the mainstream hoisting methods are mainly divided into two categories: one is to carry out hoisting operations based on the existing building structure, which specifically involves directly selecting the existing load-bearing structure with sufficient load-bearing strength in the hoisting area as the stress point for suspending various hoisting equipment; the other is to build a temporary hoisting system, which involves temporarily constructing an independent load-bearing frame on site and using this frame as the support foundation for hoisting operations.

[0003] However, regardless of which method is used, indoor hoisting operations face significant common challenges:

[0004] Firstly, indoor spaces are generally characterized by strong enclosure and dense obstructions (such as columns, pipelines, and fire-fighting facilities), which restricts the movement space of hoisting equipment and reduces operational flexibility.

[0005] Secondly, accurately confirming the location of the lifting points is difficult and requires repeated verification of the load-bearing safety of the structure. If the lifting points are not selected properly or the structural load exceeds the limit, it can easily lead to risks such as structural deformation and equipment overturning.

[0006] Third, for irregularly shaped artistic components and large integrated components, the precise positioning of their three-dimensional spatial posture is extremely difficult, and traditional construction methods are prone to problems such as misalignment and posture deviation.

[0007] Fourth, in an enclosed indoor environment, there are significant limitations in personnel safety protection, equipment operation monitoring, and emergency response, increasing the difficulty of ensuring personnel and equipment safety.

[0008] Fifth, the construction process lacks overall planning and optimization, resulting in poor workflow coordination and high rework rates, leading to low construction efficiency and high labor and equipment costs.

[0009] Due to the aforementioned problems, existing technologies are insufficient to meet the engineering requirements of indoor ceiling construction in environments with dense obstacles, as well as the precise hoisting of complex and irregularly shaped components. There is an urgent need for an indoor hoisting solution that combines precision, safety, and efficiency.

[0010] Existing Chinese invention patent application CN120470671A discloses a method and system for construction quality control of cast-in-place reinforced truss floor slab installation based on BIM and VR, including the following steps: BIM 3D modeling, construction scheme simulation, VR scene construction, 3D scanning and model comparison, UAV patrol monitoring, and real-time interaction and collaborative management. It constructs a full-process, visualized, and interactive construction quality control system, enabling construction personnel to intuitively and clearly understand the spatial location, connection methods, and other details of each component, greatly reducing the difficulty of understanding and effectively reducing construction errors caused by misunderstandings of drawings. It achieves scheme simulation optimization before reinforced truss floor slab construction, real-time dynamic monitoring during construction, and efficient collaborative management among all parties involved in the construction, thereby predicting construction quality risks in advance, correcting construction deviations in a timely manner, and improving the accuracy and efficiency of construction quality control; reducing construction costs, shortening the construction period, and ensuring that the construction quality of the reinforced truss floor slab meets high standards.

[0011] However, the technical solutions mentioned in this document do not optimize equipment adaptability for enclosed indoor environments with numerous obstacles. Monitoring equipment such as drones lacks targeted collision avoidance and activity space adaptation designs, making it difficult to address space constraints. It completely fails to address the precise confirmation of lifting point locations and structural load-bearing safety verification, thus failing to resolve potential risks related to lifting point selection and overload limits. Although 3D scanning and model comparison are mentioned, no specific modeling, positioning path optimization, or precise positioning schemes are designed for the three-dimensional spatial morphology of irregularly shaped components. It lacks effective solutions for positioning deviations of complex components such as irregular arcs and arbitrary boundaries. Personnel and equipment safety protection is limited to a single dimension, relying solely on VR safety warnings and quality hazard monitoring for basic protection. It fails to construct a dynamic avoidance mechanism and emergency response system for personnel and equipment in enclosed indoor environments, resulting in insufficient depth of safety management. Process optimization does not cover core risk points. The lack of lifting point load-bearing verification and insufficient capacity to handle irregularly shaped components easily leads to rework. Furthermore, it fails to optimize processes to address the inefficient operation of equipment caused by space constraints, making it difficult to fundamentally improve construction efficiency and control costs.

[0012] Existing Chinese invention patent application CN119989454A discloses a BIM-based integrated safety monitoring method for prefabricated buildings. This method includes the following steps: S1, BIM model construction and prefabricated component information management; S2, pre-construction safety assessment and simulation; S3, real-time monitoring during construction; and S4, post-construction quality and safety assessment. Its key technical points are: during the construction and hoisting of prefabricated components, a feedback control principle is adopted. By real-time monitoring of the prefabricated component's offset angle and dynamically adjusting the scaling factor based on the deviation, precise control of the hoisting speed can be achieved, thereby ensuring the stability of the prefabricated components during hoisting. Dynamic adaptability is achieved through scaling adjustment, which is an effective means of ensuring hoisting safety. It also solves the problem of errors in the structural analysis construction sub-model operation results and can adapt to prefabricated components in different environments.

[0013] However, the technical solutions mentioned in this document are not optimized for enclosed indoor spaces with numerous obstacles. Their hoisting path assessment only routinely checks for collision risks, failing to consider the limitations imposed by dense obstacles such as indoor columns and pipelines on the hoisting equipment's range of motion. Furthermore, they lack equipment obstacle avoidance strategies adapted to the indoor environment, making it difficult to address space constraints. Although structural stability assessments are involved, they lack a clear method for accurately confirming hoisting point locations and do not establish a real-time monitoring mechanism for hoisting point load-bearing capacity, thus failing to address potential safety risks from improper hoisting point selection or overloading. The document focuses on monitoring conventional precast components, without designing specific modeling and placement paths for the three-dimensional spatial morphology of irregularly shaped components. The optimized and precise positioning scheme's simulation and monitoring system cannot adapt to irregularly shaped components, making it difficult to solve the positioning deviation problem. The safety monitoring dimension is limited, focusing only on the offset angle of precast components and structural stress, without constructing a dynamic protection system for personnel and an emergency response system for equipment failure in an enclosed indoor environment, resulting in insufficient depth of personnel and equipment safety assurance. Although some processes have been optimized by adjusting the hoisting speed and calculating the number of reinforcing ribs, poor spatial adaptability, lack of hoisting point control, and insufficient capacity to handle irregularly shaped components easily lead to rework. Furthermore, the process has not been optimized to address the issue of low efficiency in indoor equipment operation, failing to fundamentally solve the pain points of low construction efficiency and high costs. Summary of the Invention

[0014] The purpose of this invention is to overcome the problems of limited indoor space, difficulty in confirming the location of lifting points, risk of load-bearing at lifting points, deviation in the placement of irregularly shaped components, difficulty in ensuring the safety of personnel and equipment, and high construction efficiency and cost in the prior art, and to provide an indoor hoisting method based on VR.

[0015] This invention provides a VR-based indoor hoisting method, which includes the following steps:

[0016] S1. Scan the hoisting space, select the reference point on the ceiling to establish a coordinate reference system, and establish a BIM space model based on the above coordinate reference system; construct the model of the component to be hoisted at the preset hoisting point in the above BIM space model; select and export the spatial coordinates of the static monitoring point in the BIM space model containing the model of the component to be hoisted.

[0017] S2. Based on the BIM spatial model containing the model of the component to be hoisted, construct a VR digital twin model to conduct a VR pre-simulation of the entire hoisting construction process; based on the above VR pre-simulation, select and export the spatial coordinates of dynamic monitoring points;

[0018] S3. Use hoisting equipment to hoist the component to be hoisted; during the hoisting process, measure and adjust the spatial position of the component to be hoisted in real time based on the spatial coordinates of the above-mentioned dynamic monitoring points, and measure and adjust the spatial position of the component to be hoisted at the above-mentioned preset hoisting point in real time based on the spatial coordinates of the above-mentioned static monitoring points.

[0019] Preferably, S1 further includes: assigning unique identification information to the parts constituting the component to be hoisted; and optimizing the material cutting path parameters of the component to be hoisted through the material optimization function module of the BIM software.

[0020] Preferably, S1 further includes: reviewing and optimizing the BIM space model containing the model of the component to be hoisted based on the engineering design drawings, until the data error between the BIM space model containing the model of the component to be hoisted and the design drawings is less than a preset threshold.

[0021] Preferably, the VR pre-simulation in S2 includes: verifying the factory pre-assembly logic of the component to be hoisted, verifying the feasibility of the hoisting construction path of the component to be hoisted, and verifying the stress state of the hoisting equipment during the hoisting process.

[0022] Preferably, when using multiple of the above-mentioned hoisting equipment to hoist a single hoisting component, the feasibility of the coordinated tensioning and hoisting of multiple equipment is verified in the above-mentioned VR pre-show.

[0023] Preferably, S2 further includes: optimizing the VR pre-show so that there is no object collision during the pre-show, no misalignment of the components to be hoisted, no excessive force on the hoisting equipment, and no safety hazards in the personnel's positions.

[0024] Preferably, when there are multiple components to be hoisted, the docking points between each component to be hoisted are designed based on the BIM spatial model containing the model of the component to be hoisted, the VR digital twin model, and the VR pre-show, so that all the docking points are located within the control area of ​​the hoisting equipment.

[0025] Preferably, the hoisting equipment in S3 is equipped with a digital display module, which displays the load value of the hoisting equipment in real time; when the load value of the hoisting equipment is detected to reach the preset load threshold, the operation is stopped, and self-inspection and scheme optimization are performed.

[0026] Preferably, the above method further includes constructing a transition layer between the suspended ceiling and the component to be hoisted to optimize the stress on the suspended ceiling: constructing a transition layer model and a component model to be hoisted sequentially at the preset hoisting points in the BIM space model, and adjusting the structure of the transition layer based on the BIM model parameters; selecting and exporting the spatial coordinates of static monitoring points in the BIM space model containing the transition layer model and the component model to be hoisted; constructing a VR digital twin model to perform a VR pre-simulation of the entire hoisting construction process including the construction of the transition layer; and selecting and exporting the spatial coordinates of dynamic monitoring points based on the VR pre-simulation.

[0027] Preferably, the method further includes commissioning the electrical system connected to the component to be hoisted.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] 1. This invention provides a VR-based indoor hoisting method. By scanning the hoisting space and establishing a coordinate reference system with the ceiling reference point, and combining BIM modeling to construct a digital model of the space and components, unique identifiers are assigned to components and parts simultaneously, and precise processing is achieved through material optimization. This not only unifies the construction benchmark and achieves 1:1 on-site restoration to reduce positioning errors, but also reduces material waste and assembly deviations through refined management. Based on the BIM model, a VR digital twin model is constructed to conduct pre-assembly logic, path feasibility, equipment stress, and multi-equipment collaborative tension verification of the entire hoisting process. The pre-simulation plan is optimized to avoid collisions, misalignments, exceeding limits, and personnel safety hazards, and risks throughout the entire process are identified in advance to avoid on-site rework and ensure construction compliance.

[0030] 2. During the hoisting process, the method of this invention utilizes hoisting equipment with digital display to monitor the load in real time, and stops the machine for self-inspection if the load exceeds the limit. Simultaneously, for multi-component scenarios, docking points are designed to ensure they are located within the equipment control area, preventing equipment overload and component damage while improving the assembly efficiency of multiple components. A transition layer is built between the ceiling and the components to be hoisted, and the stress is optimized through BIM modeling and VR pre-simulation to protect the safety of the ceiling structure. Finally, the electrical system is debugged to ensure the complete functionality of the components.

[0031] 3. The method of this invention achieves precision, safety and efficiency in indoor hoisting through the deep integration of BIM modeling, VR pre-simulation and precise monitoring, effectively ensuring hoisting quality, construction safety and component functionality, and adapting to the needs of complex indoor hoisting scenarios. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the model of the component to be hoisted and its connection in Example 1.

[0033] Figure 2 This is a schematic diagram of the stress design of the lifting point of the torso in Example 1.

[0034] Figure 3 This is a schematic diagram of the torso hoisting in Example 1.

[0035] Figure 4 This is a schematic diagram of the wing hoisting in Example 1.

[0036] Figure 5 This is a schematic diagram of the tail hoisting in Example 1.

[0037] Figure label:

[0038] 1. Transition layer; 2. Phoenix sculpture; 3. Torso; 4. Wings; 5. Spider crane; 6. Tail. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0040] Unless otherwise specified, the terms "upper," "lower," "left," "right," "center," "inner," and "outer," etc., used in the description of specific embodiments of the present invention to indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the product / equipment / device is usually placed during use. These terms are merely for the purpose of facilitating the description of the present invention or simplifying the description in specific embodiments, and for enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a particular device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on the present invention.

[0041] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," "parallel," and "coaxial" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, parallel, or coaxial. Slight tilt or deviation is permissible, as long as it does not affect the normal function of the relevant component. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," not that the structure must be perfectly horizontal; a slight tilt is acceptable. "Coaxial" means that two components are arranged as coaxially as possible, allowing them to move coaxially or approximately coaxially when their relative positions change. Alternatively, it can be simplified to mean that the corresponding device / component / element, when arranged in "horizontal," "vertical," "suspended," "parallel," or "coaxial" directions, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. For example, the deviation in the "coaxial" direction is controlled within 0.2-1mm, preferably within 0.2-0.5mm. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the solution of the present invention.

[0042] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0043] Furthermore, in the description of the embodiments of the present invention, "several", "more than", and "a number of" represent at least two. The number can be any number, such as two, three, four, five, six, seven, eight, or nine, and can even exceed nine.

[0044] Furthermore, in the description of the technical solution of this invention, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "provided with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to connection methods commonly used in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0045] Example 1

[0046] This embodiment uses the hoisting of Phoenix Sculpture 2 as an example to illustrate the solution.

[0047] The phoenix sculpture 2 consists of 158 skeleton segments, which are 158 parts to be hoisted. The aforementioned 158 skeleton segments can be pre-assembled into four parts: the torso 3, the left wing, the right wing, and the tail 6, which are four components to be hoisted. The left wing and the right wing are collectively referred to as wings 4.

[0048] S1. A total station is used to measure and scan the hoisting space. The grid of the pre-set hoisting floor in the hoisting space is selected as the reference grid. At least three reference control points are determined within the reference grid to establish a coordinate reference system. Based on the coordinate reference system, a BIM spatial model containing the indoor space frame entity is constructed using BIM scanning and modeling technology. This achieves a 1:1 digital restoration of the site environment and components, intuitively presenting spatial relationships and avoiding construction errors caused by misunderstandings of drawings. The reference control points selected here are M1 (3831.192, 6215.095), M2 (3812.871, 6371.611), and M3 (3826.002, 6511.142). The grid is located on the L3 floor of the M lobby, and the axis numbers are set as MI axis and W-12a axis. By constructing a standard coordinate system, the indoor space measurement benchmark is unified, ensuring the consistency of coordinates in subsequent modeling and positioning, laying the foundation for accurate construction throughout the entire process.

[0049] At this step, the BIM spatial model data can be initially compared and verified with the design drawings. Alternatively, the comparison and verification can be performed after the conversion layer model and the model of the components to be hoisted are constructed. If the verification reveals that the comparison error exceeds the preset error threshold, it is fed back to the supervision and construction units for updating the design drawings. After the design drawings are updated, the above scanning and modeling process is repeated. Comparison and verification can promptly identify modeling deviations, and through feedback optimization, ensure that the model is consistent with the design requirements, thus avoiding the risk of rework during construction from the source.

[0050] The aforementioned indoor space frame structure has spherical nodes. The coordinates of these spherical nodes are selected and identified within the model of the indoor space frame structure. Through model simulation, safe stress points are accurately confirmed, avoiding structural deformation and equipment overturning risks caused by excessive load on the suspension points. Based on these spherical node coordinates, a transformation layer 1 model is constructed on the aforementioned indoor space frame structure model. This transformation layer 1 can optimize the stress on the ceiling structure (i.e., the space frame structure).

[0051] Based on the aforementioned coordinate reference system, the aforementioned indoor space frame solid model, and the aforementioned transformation layer 1 model, the aforementioned model of the component to be hoisted is constructed. For example... Figure 1 As shown, the model of the component to be hoisted (i.e., the model of Phoenix Sculpture 2) is connected to the model of the conversion layer 1; Figure 1In the diagram, the circles on the Transition Layer 1 model indicate the connection points between the Transition Layer 1 model and the aforementioned indoor space frame solid model. When constructing the Transition Layer 1 model and the model of the component to be hoisted, a first adapter and a second adapter were also constructed. The first adapter connects the Transition Layer 1 to the indoor space frame solid of the ceiling, and the second adapter connects the Transition Layer 1 to the component to be hoisted. The aforementioned component to be hoisted, the first adapter, and the second adapter undergo detailed design and digital processing. The detailed design in S1 includes: assigning a unique identifier to each part of the aforementioned component to be hoisted and the aforementioned Transition Layer component; based on the three-dimensional dimensions of the aforementioned component to be hoisted, the aforementioned Transition Layer component, the aforementioned first adapter, and the aforementioned second adapter in the BIM model, using the material optimization module of the BIM software, planning cutting paths for the materials constituting the aforementioned component to be hoisted, the aforementioned Transition Layer component, the aforementioned first adapter, and the aforementioned second adapter, achieving precise matching of components and adapters, reducing material waste, improving processing accuracy, and facilitating component traceability management. In this digital processing, 3D printing, CNC precision machining, and laser welding processes can be combined to ensure the accuracy of the morphological shape of the processed parts. There are multiple of the aforementioned components to be hoisted, the first transition piece, and the second transition piece. The coordinates of the aforementioned spherical nodes (i.e., spatial coordinates of the static monitoring points, part one) and the coordinates of the lifting points on the aforementioned transition layer 1 model (i.e., spatial coordinates of the static monitoring points, part two) are exported. A total of 50 spherical nodes and 93 lifting points are selected to provide accurate data support for subsequent on-site positioning and equipment installation, avoiding installation deviations caused by positioning ambiguity. The total load of all the aforementioned spherical nodes is greater than or equal to the total load of the aforementioned transition layer and the aforementioned components to be hoisted.

[0052] S2. Based on the above models and point parameters, a VR digital twin model is constructed. A precise 1:1 digital twin model is built using virtual reality (VR) technology, providing a visual medium for pre-construction simulations and construction guidance. Detailed pre-construction simulations are conducted throughout the entire process to proactively avoid issues such as component misalignment, equipment collisions, and excessive stress, eliminating the need for repeated on-site calculations and adjustments and improving construction efficiency. The simulations focus on simulating the pre-assembly logic of the frame in the factory, the dynamic path planning during the hoisting stage, and the multi-point coordinated tensioning and debugging process, accurately avoiding risks such as on-site assembly misalignment, equipment collisions, and abnormal stress, ensuring high-efficiency one-time molding.

[0053] The pre-launch simulation here checks whether the connection points of the components to be lifted are within the control area of ​​the lifting equipment, based on the selected lifting equipment. If the connection points are not within the control area, the components to be lifted will be redesigned, modeled, and processed, or the assembly logic will be optimized to ensure that the connection points are within the control range. Based on the simulation, the coordinates of the lifting control points (i.e., dynamic monitoring point spatial coordinates one) and the coordinates of the lifting attitude verification points (i.e., dynamic monitoring point spatial coordinates two) of the components to be lifted are exported, providing clear calibration basis for the on-site measuring instruments and ensuring accurate control of equipment positioning and component attitude during the lifting process. The coordinates of the ball joints, lifting points, lifting control points, and lifting attitude verification points are imported into the measuring instruments to achieve linkage between virtual data and on-site construction equipment, reducing manual positioning errors and improving point matching accuracy. 1080 lifting attitude verification points are selected here for on-site verification using virtual reality (VR).

[0054] The components to be hoisted have undergone stress design, with the stress design of part 3 of the torso as follows: Figure 2 As shown; Figure 2 The circles in the diagram represent the stress points on part of the torso 3 mentioned above. Figure 2 The CCP marked six stress points; the 2.5KN displayed at the stress points is 2.5 kN in mechanical terms, and 11KN is 11 kN in mechanical terms; these values ​​represent the maximum allowable stress values ​​of the torso 3 at these stress points; these stress values ​​provide numerical references for the load thresholds that occur during the following hoisting process.

[0055] S3. Based on the aforementioned indoor space frame structure, a steel strip platform is used to construct the transition layer 1 and assist in hoisting operations. The steel strips are secured to the space frame structure using wire. Fireproof cloth is fully laid on the transition layer platform, and the fireproof cloth is rolled up at the edges of the platform and guardrails are installed to provide a stable foundation for high-altitude operations. The fireproof cloth and guardrails reduce the risk of falls and fires, improving operational safety. A winch is installed on the transition layer platform. Using the aforementioned measuring instruments, the corresponding spherical nodes are located based on the coordinates of the spherical nodes. The first adapter is fixedly installed on the spherical nodes using the winch. The fixing can be done by welding or bolting. The first adapter connects the indoor space frame structure to the transition layer 1. The transition layer 1 can be constructed using H-beams. Before installing the H-beams, the corresponding number of steel cable hangers should be inserted under the flange plates of the H-beams.

[0056] Using measuring instruments, the corresponding lifting points are located based on the lifting point coordinates on the model of the transition layer 1. The aforementioned winch is used to fix and install the aforementioned second adapter at the aforementioned lifting points. One end of the aforementioned second adapter is fixed and installed on the structure of the transition layer 1 with bolts and laser welding, and the other end is fixed and installed with a steel cable. During the aforementioned laser welding, all welds should be fully welded around the perimeter to ensure that the first and second adapters are accurately aligned with the indoor space frame entity, the transition layer 1, and the steel cable, thereby ensuring the stability and safety of load transfer.

[0057] Based on the aforementioned VR pre-simulation, the components to be hoisted were grouped and pre-assembled into multiple components in the operating area on the L3 floor of the M lobby. All connection points between these components were within the operational range of the hoisting equipment, avoiding blind spots, simplifying high-altitude assembly, and improving hoisting efficiency. Multiple hoisting devices were used; the selected devices included manual hoists with digital display modules and spider cranes (5 units) with a height of 2.29m, a weight of 5t, and a maximum lateral boom span of 15.5m. The digital display module showed the load value at the corresponding hoisting point in real time. When the load value at the corresponding hoisting point reached the preset load threshold, operation was stopped for self-checking and scheme optimization. The digital display function of the hoisting equipment provided support for subsequent load monitoring. The combination of hoisting equipment was adapted to different weight modules to meet complex hoisting requirements.

[0058] The selection here takes into account limited indoor ceiling height, dense obstructions, and restricted floor load-bearing capacity:

[0059] The spider crane described above can flexibly navigate indoor spaces with varying floor heights, avoiding collisions with upper structural trusses. Its weight eliminates the need for additional ground reinforcement, making it suitable for indoor floor load-bearing capacities. The maximum lateral boom reach covers over 90% of the operating radius, satisfying multi-module lifting requirements without frequent equipment relocation, and avoiding interference with obstacles such as columns and pipelines. Furthermore, the spider crane can flexibly adjust the angle of its robotic arm to precisely match spatial coordinates.

[0060] The aforementioned manual hoist does not require a large space and can be installed in narrow areas such as the operating platform of the conversion layer and the gaps between the space frame. It is suitable for high-altitude fine-tuning scenarios and overcomes the limitations of large equipment operating in small spaces. In addition, the manual hoist supports a small range of height adjustment in the Z-axis direction, which can calibrate the actual posture of the component to a perfect coincidence with the design posture.

[0061] After on-site testing, it was found that the area that the spider crane 5 could not reach was about 3×5m. The length of the components to be lifted was increased for assembly, and the connection points were extended to outside the vacuum zone.

[0062] The aforementioned hoisting equipment and winch are used to hoist multiple components in sequence. The multi-equipment coordinated hoisting can adapt to indoor space-constrained scenarios, solve the problem of insufficient lifting height or load-bearing capacity of a single equipment, and ensure the stable hoisting of large components.

[0063] After the above pre-assembly, a spider crane 5 is used to transport the individual components to be lifted to the lifting position in sequence:

[0064] To ensure the correct posture of the art installation, 3 to 12 independent temporary lifting points are first set for each component to be hoisted, meeting the stress requirements. These independent temporary lifting points are spatial coordinates of some dynamic monitoring points selected in the VR pre-visualization. The hoisting sequence of the components is as follows: torso 3, left wing, right wing, and tail 6. The height data of each of these independent temporary lifting points can be adjusted individually along the Z-axis. The X-axis and Y-axis lifting points are set in the internal transition layer 1 of the large ceiling, and the X, Y, and Z-axis data are determined by the coordinate parameters of the BIM model. Next, the lifting points of each component to be hoisted are exported from the BIM model, and permanent steel cables are fixed at the corresponding positions of the X, Y, and Z-axis constraints. Then, when the component reaches its highest point, the steel cables are connected and fixed to the component to be hoisted, and each lifting point is slowly released downwards until all steel cables are under tension. The posture of the art installation is checked using virtual reality (VR), and fine-tuned using each lifting point until the designed posture is achieved.

[0065] Torso 3 hoisting:

[0066] After the torso 3 is assembled, two spider cranes 5 are used to move the unit blocks to the center of the second-floor platform in the north open area in multiple stages. The head and torso 3 weigh approximately 1020 kg, and the maximum lifting height is approximately 17 m from the L2 floor. The maximum working distance of the spider crane 5's robotic arm extension is 20.5 m, and the maximum load capacity for a single lift is 400 kg. The maximum weight of a single Phoenix segment does not exceed 180 kg. By using the spider crane 5 to lift and reassemble, the load pressure on the transfer floor 1 can be completely avoided. The working radius of the spider crane 5 needs to be controlled within 9 m, and the lifting height needs to be controlled within 12 m to meet the equipment's lifting load requirements.

[0067] After the spider crane 5 and the phoenix torso 3 were moved to the designated lifting position multiple times, two spider cranes 5 were used in a dual-lifting method to raise them to the pre-set lifting points (i.e., lifting control points). For the torso lifting, since the lifting height of the spider cranes 5 needed to be controlled within 12 meters, which did not reach the designed installation height of the phoenix torso 3, the remaining height was lifted synchronously and slowly using six 2-ton manual hoists. The manual hoists were installed next to the corresponding lifting control points, and the load on each hoist must not exceed the design load limit. The lifting operators monitored the equipment's digital display screen in real time to determine if the lifting point exceeded the limit. If it did, lifting was immediately stopped, the cause investigated, and then continued. After the torso 3 was raised to the designed height, its posture was adjusted according to the design requirements. Then, the spider aerial work platform on the L2 level was used to assist in fixing the steel cables at each point. After the steel cables were adjusted to a taut state, turnbuckles were used to gradually tighten them, and then the tension of the manual hoists was gradually released.

[0068] The hoisting process for torso 3 is as follows: Figure 3 As shown.

[0069] Wing 4 hoisting:

[0070] After the torso 3 is hoisted and all the steel wire ropes are tensioned and adjusted to the correct spatial position, the hoisting of the phoenix wings 4 can begin. The hoisting methods for the left and right wings are the same. Each wing weighs about 1000KG. First, move one of the wings to the edge of the railing on the 3rd floor. On the L3 and L2 floors, set up a spider crane 5 and use a double-machine lifting method to slowly lift the wing to the installation and commissioning plane position. During the movement, the wing section and the spider crane 5 were positioned according to the VR pre-simulation. Based on the spider crane 5's lifting performance parameters, the operating radius of the L2 level spider crane 5 was controlled within 10m, and the L3 level spider crane 5's operating radius was controlled within 11m. It was slowly and synchronously lifted to a height of 10 meters from the L2 level. The remaining height was lifted synchronously using 10 of the aforementioned manual hoists. The load on each hoist must not exceed the design load limit. The lifting operators monitored the equipment's digital display screen in real time to determine if the lifting point exceeded the limit. If it did, lifting was immediately stopped, the cause investigated, and then lifting continued. After the wing section was lifted to the design height, the posture of the torso 3 was adjusted according to the design requirements. Then, the L2 level spider platform was used as a construction platform, and the steel cables at each point were fixed, referring to the torso 3's adjustment method.

[0071] The hoisting process for Wing 4 is as follows: Figure 4 As shown.

[0072] Tail-end 6 hoisting:

[0073] The tail section is divided into multiple tail sculpture units, which are hoisted one by one. Each tail sculpture unit is relatively light, with a weight not exceeding 100kg. First, the spider crane 5 installed on the L2 level is used to lift each tail sculpture unit to the vertical projection position of the sculpture in multiple stages. The crane's working radius is controlled within 16m to meet the hoisting requirements. Then, the manual hoist installed on the transfer level 1 is used to lift it to the designed height and fix it.

[0074] The hoisting process for tail section 6 is as follows Figure 5 As shown.

[0075] After hoisting, VR software was used on-site to fine-tune the overall posture of the phoenix by adjusting the length of each steel cable using rope tensioners. Simultaneously, the phoenix's electrical system was tested. Virtual reality (VR) was used to verify the artistic decoration posture, and fine-tuning was performed at each hoisting point until the designed posture perfectly matched the virtual reality image. All protective measures were removed after all testing was completed.

[0076] During the hoisting process, the spatial coordinates of static monitoring points and dynamic monitoring points are located in real time by measuring instruments. This allows for dynamic matching of virtual coordinates with the actual location on site, ensuring that the three-dimensional spatial posture of irregularly shaped components is accurately positioned and avoiding posture deviations.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A VR-based indoor hoisting method, characterized in that, Includes the following steps: S1. Scan the hoisting space, select the reference point on the ceiling to establish a coordinate reference system, and establish a BIM space model based on the coordinate reference system; construct the model of the component to be hoisted at the preset hoisting point in the BIM space model. Select and export the spatial coordinates of static monitoring points in the BIM spatial model containing the model of the component to be hoisted; S2. Based on the BIM space model containing the model of the component to be hoisted, construct a VR digital twin model to conduct a VR pre-simulation of the entire hoisting construction process; Based on the VR pre-visualization, select and export the spatial coordinates of the dynamic monitoring points; S3. Use hoisting equipment to hoist the component to be hoisted; during the hoisting process, measure and adjust the spatial position of the component to be hoisted in real time based on the spatial coordinates of the dynamic monitoring points, and measure and adjust the spatial position of the component to be hoisted at the preset hoisting point in real time based on the spatial coordinates of the static monitoring points. The VR pre-simulation in S2 includes: verifying the factory pre-assembly logic of the component to be hoisted, verifying the feasibility of the hoisting construction path of the component to be hoisted, and verifying the stress state of the hoisting equipment during the hoisting process; When using multiple hoisting devices to hoist a single hoisting component, the feasibility of the coordinated tensioning and hoisting of multiple devices is verified in the VR pre-show. S2 further includes: optimizing the VR pre-show so that there is no object collision during the pre-show, no misalignment of the component to be hoisted, no excessive force on the hoisting equipment, and no safety hazards in the personnel's positions; When there are multiple components to be hoisted, based on the BIM spatial model containing the model of the components to be hoisted, the VR digital twin model, and the VR pre-show, the docking points between each component to be hoisted are designed so that all docking points are located within the control area of ​​the hoisting equipment.

2. The VR-based indoor hoisting method according to claim 1, characterized in that, S1 further includes: assigning unique identification information to the parts constituting the component to be hoisted; and optimizing the material cutting path parameters of the component to be hoisted through the material optimization function module of the BIM software.

3. The VR-based indoor hoisting method according to claim 1, characterized in that, S1 further includes: based on the engineering design drawings, reviewing and optimizing the BIM space model containing the model of the component to be hoisted, until the data error between the BIM space model containing the model of the component to be hoisted and the design drawings is less than a preset threshold.

4. The VR-based indoor hoisting method according to claim 1, characterized in that, The hoisting equipment in S3 is equipped with a digital display module, which displays the load value of the hoisting equipment in real time. When the load value of the hoisting equipment reaches the preset load threshold, the operation is stopped, and self-inspection and scheme optimization are performed.

5. The VR-based indoor hoisting method according to claim 1, characterized in that, The method further includes building a transition layer between the suspended ceiling and the model of the component to be hoisted to optimize the stress on the suspended ceiling: the transition layer model and the model of the component to be hoisted are built sequentially at the preset hoisting points in the BIM space model, and the structure of the transition layer is adjusted based on the parameters of the BIM model; In the BIM spatial model containing the transition layer model and the component model to be hoisted, select and export the spatial coordinates of static monitoring points; construct a VR digital twin model to conduct a VR pre-simulation of the entire hoisting construction process including the construction of the transition layer; based on the VR pre-simulation, select and export the spatial coordinates of dynamic monitoring points.

6. The VR-based indoor hoisting method according to claim 1, characterized in that, The method further includes: debugging the electrical system connected to the component to be hoisted.

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