Construction process robot assembly planning and designing method

Abstract

The invention provides a construction process robot assembly planning and designing method, and belongs to the technical field of robot design, and the method comprises the steps: determining the total labor amount based on human in construction simulation; a translation assembly, an action assembly, a driving assembly and a working assembly which are needed for assembling the robot are concluded and extracted, and the working coverage amount of the robot in different assembly combination modes is simulated by taking the whole process of construction simulation as the basis and the total work amount as the reference standard; quality and cost parameters are set to compare the generated coverage amounts, a final assembly matching mode is determined, and a robot assembly scheme is determined; and on the basis of the assembly scheme, construction simulation is adjusted in combination with construction data, and finally a construction whole-process planning route based on the person and the robot is generated. According to the construction process robot assembly planning and designing method provided by the invention, the robot can finish a specified construction task more meticulously and perfectly, the utilization rate and the conversion rate of the robot are improved, and the construction efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of robot design technology, and more specifically, relates to a method for planning and designing robot components for construction processes. Background Technology

[0002] With the continuous development of artificial intelligence, robots have made significant progress in an increasing number of fields. On some assembly lines, different types of robots can excellently complete the operational tasks instructed by specific commands, and their overall cost is relatively low. Based on these advantages, and with the continuous improvement of sensor data acquisition accuracy, applying robots to the construction industry has become an increasingly important direction recently.

[0003] Compared to conventional assembly lines, construction projects place higher demands on the precision and applicability of robots. Furthermore, current technology cannot fully replace robots in the entire construction process; human-robot collaboration is necessary to complete tasks and meet requirements. However, existing robot design and planning methods lack detailed and feasible adaptations to target construction schemes. This results in robots only being able to complete a small portion of the construction tasks, failing to effectively collaborate with humans, leading to low cost conversion rates and no overall improvement in construction efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a method for planning and designing robot components in the construction process, which aims to solve the problems that robots cannot complete construction tasks well, cannot cooperate reasonably with humans in construction, and have a low cost conversion rate.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a method for planning and designing robot components in a construction process, comprising: The simulation covers the arrival time and status changes of different components, materials, equipment, and accessories throughout the construction process, recording the work of different workers to form a construction simulation. The simulation defines the total workload based on human labor. It summarizes and extracts the translational, motion, drive, and working components required for assembling the robot. Based on the entire construction simulation and using the total workload as a reference standard, it simulates the robot's work coverage under different component combinations. Quality and cost parameters are set to compare the generated coverage amounts, clarifying the final component combination method and determining the robot assembly scheme. Based on the assembly scheme and combined with construction data, the construction simulation is adjusted to ultimately generate a construction process planning route based on humans and robots.

[0006] In one possible implementation, the following is included before the process of basing the simulation on the entire construction process: The construction simulation is divided into corresponding work contents according to the time sequence and the arrangement of each work node; Using people as a reference standard, the location, physical and chemical changes of the materials involved in each of the described work contents, as well as the required labor content, are clearly defined.

[0007] In one possible implementation, simulating the robot's workload under different component combinations using the total workload as a reference standard includes: Clearly define the functional attributes of each component, and based on these attributes, determine the range of changes that can be achieved by adjusting the size and specifications; Different components are randomly combined based on actions, movements, grasping, effects, and feedback, and the completion of the work content under different component combinations is analyzed.

[0008] In one possible implementation, simulating the robot's workload under different component combinations using the total workload as a reference standard includes: Simulate the shape and position of all materials, components, equipment, accessories, structures, environment and auxiliary materials at different time points during the construction process and calibrate them in three-dimensional space; After calibration, the changes in physical parameters caused by changes in the internal chemical properties of the material are simulated by combining historical data and relevant experience, and corresponding feedback is provided.

[0009] In one possible implementation, after the calibration is completed and the changes in physical parameters resulting from the simulation of changes in the internal chemical properties of the material are combined with historical data and relevant experience, and the corresponding feedback is provided, the following is also included: Material properties and gravity parameters are established within the three-dimensional space; The work content is further divided into multiple work actions. The feasibility of the robot executing multiple work actions under different component combinations is analyzed, and the reasons for failure to execute and the corresponding components are analyzed and determined.

[0010] In one possible implementation, the feasibility of the analysis robot performing multiple labor actions in different combinations of components includes: Based on the labor action, the point of application, force, mode of application, movement route, action simulation, movement avoidance, volume limit, and power preset are generated to simulate the completion of the labor action by the robot under different component combinations. The work that can be accomplished under different component combinations is recorded and used as the coverage.

[0011] In one possible implementation, comparing the generated multiple coverage values ​​with the setting quality and cost parameters includes: If the robot is unable to complete the corresponding work action, determine whether it is because the size and specifications of a certain component do not meet the requirements or the function of a certain component is lacking. Record any functional deficiencies and, based on the principle of function-guided structure, provide feedback to the design department regarding the required component structure and functional requirements, and then customize them.

[0012] In one possible implementation, the final generation of the construction process planning route based on humans and robots includes: The assembly scheme includes the assembly method of each component of the robot at each construction stage and the changes of the corresponding components at different construction nodes. The final planned route is formed by re-performing the assembly scheme based on the construction simulation.

[0013] In one possible implementation, the final generation of the construction process planning route based on humans and robots includes: After the planning is completed, the work content of each node robot is clearly defined; Clearly define the remaining workload and methods for each worker type under the given total workload and coverage, and specify the corresponding personnel allocation and construction route regulations.

[0014] In one possible implementation, the content and method of specifying the remaining work allowance for each worker type under the conditions of the total work volume and the coverage include: Clearly define the construction content and cooperation relationship between robots and workers at different construction nodes throughout the entire construction process; The robot and worker are given real-time instructions on the current construction work, and the construction speed and progress are specified, ultimately enabling the robot and worker to cooperate and complement each other.

[0015] The beneficial effects of the construction process robot component planning and design method provided by this invention are as follows: Compared with the prior art, the construction process robot component planning and design method of this invention first records the labor situation of different types of personnel by recording the arrival time and status changes of components, materials, equipment and accessories throughout the construction process, ultimately forming a construction simulation. After the construction simulation is determined, the total workload is clarified, and then the required components are summarized and extracted. Using the total workload as a reference standard, the working coverage of the robot under different components is simulated. Then, multiple coverages are compared to finally determine the robot assembly scheme. Based on the assembly scheme, the construction simulation is adjusted to finally generate the entire construction process planning route for humans and robots.

[0016] This application uses the total workload and work coverage as a reference for planning the design of robot components. It can refine and scientifically adjust the cooperation relationship between robots and humans throughout the construction process, enabling robots to complete the specified construction tasks more meticulously and perfectly, thereby improving the utilization rate and conversion rate of robots and increasing construction efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the construction process robot component planning and design method provided in this embodiment of the invention. Detailed Implementation

[0019] To make the technical problems, solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] Please see Figure 1 The present invention describes a method for planning and designing robot components for construction processes. This method includes: simulating the arrival time and status changes of different components, materials, equipment, and accessories throughout the entire construction process; recording the work of different workers to ultimately form a construction simulation; defining the total workload based on human labor in the construction simulation; summarizing and extracting the translational components, motion components, drive components, and working components required for assembling the robot; simulating the robot's work coverage under different component combinations based on the entire construction simulation process and using the total workload as a reference standard; setting quality and cost parameters to compare the generated coverage amounts, clarifying the final component matching method and determining it as the robot assembly scheme; adjusting the construction simulation based on the assembly scheme and construction data, ultimately generating a construction process planning route based on humans and robots.

[0021] The beneficial effects of the construction process robot component planning and design method provided by this invention are as follows: Compared with the prior art, the construction process robot component planning and design method of this invention first records the labor situation of different types of personnel by recording the arrival time and status changes of components, materials, equipment and accessories throughout the construction process, ultimately forming a construction simulation. After the construction simulation is determined, the total workload is clarified, and then the required components are summarized and extracted. Using the total workload as a reference standard, the working coverage of the robot under different components is simulated. Then, multiple coverages are compared to finally determine the robot assembly scheme. Based on the assembly scheme, the construction simulation is adjusted to finally generate the entire construction process planning route for humans and robots.

[0022] This application uses the total workload and work coverage as a reference for planning the design of robot components. It can refine and scientifically adjust the cooperation relationship between robots and humans throughout the construction process, enabling robots to complete the specified construction tasks more meticulously and perfectly, thereby improving the utilization rate and conversion rate of robots and increasing construction efficiency.

[0023] In some embodiments of the construction process robot component planning and design method provided in this application, the method further includes, prior to basing the entire construction simulation process: The construction simulation is divided into corresponding work contents according to the time sequence and the arrangement of each work node.

[0024] Using people as a reference standard, the location, physical and chemical changes of the materials involved in each work content, as well as the required labor content, are clearly defined.

[0025] Based on the location, physical and chemical changes of materials involved in each task, and the required labor, a more detailed analysis and adjustment were conducted on the arrival time and status changes of different components, materials, equipment, and accessories to better align with the actual construction scenario. During the analysis, the logical connections and sequence between each task were further clarified to more accurately simulate the entire construction process. Simultaneously, based on this information, the total manpower-based workload was dynamically evaluated and optimized to ensure its accuracy and rationality. Subsequently, when summarizing and extracting the translational, motion, drive, and working components required for assembling the robot, the detailed analysis results of the construction simulation were fully incorporated to make the extracted components more targeted and practical.

[0026] Based on the adjusted construction simulation process and using the optimized total workload as a reference standard, the robot's work coverage under different component combinations is simulated again. This simulation will place greater emphasis on the practical feasibility and efficiency of component combinations, striving to achieve the optimal work coverage by continuously adjusting the component combination methods. When comparing multiple coverage values ​​generated by setting quality and cost parameters, more comprehensive and detailed quality assessment indicators and cost accounting methods are introduced. Through this comprehensive comparative analysis, the final component matching method is more accurately determined and the robot assembly scheme is identified. When adjusting the construction simulation based on the assembly scheme and construction data, the potential information in the construction data is deeply explored, such as changes in the construction environment and special requirements of different construction stages. Based on this information, the construction simulation is optimized in a targeted manner to ensure that the construction simulation can realistically reflect the entire construction process based on humans and robots. Finally, a construction process planning route based on humans and robots is generated. This planning route will fully consider various factors in the construction process, including construction sequence, resource allocation, and quality control, providing scientific and reasonable guidance for actual construction. During the construction process, the planning route is dynamically adjusted and optimized according to the actual situation to ensure that the construction can proceed efficiently and smoothly. At the same time, by continuously summarizing construction experience, we continuously improve the planning and design methods so that they can better adapt to the construction needs of different types of precast components.

[0027] In some embodiments of the construction process robot component planning and design method provided in this application, the robot's workload coverage under different component combinations is simulated using the total workload as a reference standard, including: Define the functional attributes of each component, and based on these attributes, determine the range of changes that can be achieved by adjusting the size and specifications.

[0028] Different components were randomly combined based on actions, movements, grasping, effects, and feedback to analyze the completion of work content under different component combinations.

[0029] Based on the completion status of work tasks under different component combinations and the calculation method of coverage, the corresponding work coverage values ​​for each component combination are obtained. Based on the coverage values, a functional relationship model is established with component combination method as the independent variable and work coverage as the dependent variable. This model is used to further analyze the influence trend of different component combinations on work coverage. Based on the functional relationship model, an optimization algorithm is used to find the component combination method that achieves the optimal work coverage value. By comparing multiple component combination methods that achieve the optimal work coverage value, and considering factors such as quality and cost parameters, the final component matching method is determined and identified as the robot assembly scheme.

[0030] Based on the assembly scheme and combined with construction data, the construction simulation is adjusted to ultimately generate a construction process planning route based on humans and robots. Quality and cost parameters are set to compare multiple coverage areas, clarifying the final component combination method and determining it as the robot assembly scheme. Specific measurement indicators and weighting coefficients for quality and cost parameters are determined, and multiple coverage areas are combined with quality and cost parameters to calculate the comprehensive evaluation score corresponding to each component combination method.

[0031] Based on the comprehensive evaluation scores, the component combination method with the highest score is selected as the final component assembly method and determined as the robot assembly scheme. A detailed feasibility analysis is then conducted on the determined robot assembly scheme, including technical feasibility, economic feasibility, and operational feasibility. Based on the feasibility analysis results, the robot assembly scheme is optimized and improved as necessary to ensure its smooth implementation in actual construction.

[0032] Based on the assembly scheme and combined with construction data, the construction simulation is adjusted to ultimately generate a construction process planning route based on humans and robots. In some embodiments of the construction process robot component planning and design method provided in this application, the process of adjusting the construction simulation based on the assembly scheme and combined with construction data to ultimately generate a construction process planning route based on humans and robots includes: The specific tasks and sequence of work for the robot during the construction process are determined based on the assembly plan.

[0033] By combining construction data, we can analyze the collaborative working patterns and efficiency of robots and humans at different construction stages.

[0034] Based on the collaborative work mode and efficiency of robots and humans, adjustments were made to the time arrangement and resource allocation in the construction simulation. The adjusted construction simulation was then used to verify the rationality and feasibility of the human-robot-based construction process planning route. Based on the verification results, the construction process planning route was further optimized and improved to ensure it meets the actual needs of the construction project. The optimized construction process planning route was applied to actual construction, with real-time monitoring of construction progress and quality. The planned route was dynamically adjusted and optimized according to actual conditions to ensure the smooth progress of the construction project.

[0035] In some embodiments of the construction process robot component planning and design method provided in this application, the robot's workload coverage under different component combinations is simulated using the total workload as a reference standard, including: Simulate the shape and position of all materials, components, equipment, accessories, structures, environment and auxiliary materials at different time points during the construction process and calibrate them in three-dimensional space.

[0036] After calibration, the changes in physical parameters resulting from variations in the internal chemical properties of the material are simulated using historical data and relevant experience, and corresponding feedback is provided. Based on this feedback, the parameters of the robot's translation, motion, drive, and working components are adjusted, enabling the robot to simulate the work coverage of calibrated materials, components, equipment, accessories, structures, environment, and auxiliary objects in three-dimensional space using different component combinations. For each simulated work coverage, the corresponding coverage efficiency is calculated based on the total workload. The coverage efficiency under different component combinations is compared and analyzed. Considering quality and cost parameters, the component combination method with high coverage efficiency and meeting quality and cost requirements is selected as the robot assembly scheme.

[0037] Based on the determined assembly plan, we further analyze its specific implementation steps and processes in the construction simulation, deeply integrate it with the construction data, and optimize and adjust each link in the construction simulation, including the construction sequence and the time nodes for personnel and robots to work together.

[0038] The effects of the adjusted construction simulation are continuously monitored and evaluated. Based on the feedback information, the construction process planning route is continuously improved to ensure its rationality and feasibility. Finally, a scientific, efficient construction process planning route based on humans and robots that meets the actual construction needs is generated.

[0039] In some embodiments of the construction process robot component planning and design method provided in this application, after calibration is completed, the method further includes simulating the changes in physical parameters caused by changes in the internal chemical properties of materials by combining historical data and relevant experience, and providing corresponding feedback. Material properties and gravity parameters are established in three-dimensional space. The work content is further divided into multiple work actions. The feasibility of the robot executing multiple work actions under different component combinations is analyzed, and the reasons for failure to execute and the corresponding components are analyzed and determined.

[0040] Based on the reasons for the inability to execute tasks, the corresponding components are optimized and adjusted. The robot's execution of multiple tasks is simulated again under the adjusted component combinations. If there are still tasks that cannot be executed, the above optimization and simulation process is repeated until the robot can successfully execute all tasks. Based on the optimized component combinations and task execution, the construction simulation is further improved to clarify a more accurate total workload based on human labor. Using the improved construction simulation process as a basis and the new total workload as a reference standard, the robot's work coverage under different component combinations is simulated again. Quality and cost parameters are set again to compare the newly generated coverage. If the comparison results are different from before, the final component combination method is redefined and determined as a new robot assembly scheme. Based on the new assembly scheme and construction data, the construction simulation is adjusted again to further refine the planning route for the entire construction process based on humans and robots, ensuring the scientific nature and feasibility of the planning route and making it more in line with actual construction needs.

[0041] In some embodiments of the construction process robot component planning and design method provided in this application, the feasibility of the robot performing multiple labor actions under different component combinations is analyzed, including: Based on the point of application, force, mode of application, movement path, motion simulation, movement avoidance, volume limit, and power preset of the labor action, the robot's completion of labor actions under different component combinations is simulated.

[0042] The tasks that can be completed under different component combinations are recorded and used as coverage. The robot's work efficiency under different component combinations is analyzed based on the coverage, and the time required for the robot to complete the same amount of work under different component combinations is compared. The component combination with the highest work efficiency is selected as the initial preferred solution. For the initial preferred solution, further optimization and adjustments are made considering factors such as the robot's stability and operability in the actual construction environment. Based on the optimized component combinations, the robot's movement path is refined and improved in conjunction with the spatial layout and obstacle distribution of the actual construction site to ensure that the robot can complete various labor actions efficiently and smoothly. Based on the optimized movement path and component combinations, the robot's work during the entire construction process is simulated again to verify its matching degree with actual construction needs. If the simulation results do not meet expectations, the component combinations, movement paths, and other aspects are re-examined, problems are identified, and targeted improvements are made until the generated construction process planning route can meet the actual construction requirements and achieve optimal results.

[0043] In some embodiments of the construction process robot component planning and design method provided in this application, setting quality and cost parameters to compare multiple generated coverage quantities includes: If the robot is unable to complete the corresponding task, determine whether it is because the size and specifications of a certain component do not meet the requirements or the function of a certain component is lacking.

[0044] Record any functional deficiencies and, based on the principle of function-guided structure, provide feedback to the design department regarding the required component structure and functional requirements, and then customize them.

[0045] If the robot's inability to perform its tasks is not due to component size, specifications, or functional issues, further analysis of the construction environment is needed. This includes considering factors such as confined spaces or obstructions that could affect the robot's operation. If such environmental problems exist, the impact on the construction process should be assessed, and the construction team should be consulted to determine if adjustments to the construction site or optimization of the construction sequence can be made to ensure the robot can successfully complete its tasks. Simultaneously, any changes in the robot's workload caused by environmental issues should be re-evaluated in terms of quality and cost. The workload under different component combinations should be compared again to determine if adjustments to the final component assembly method and robot assembly plan are necessary.

[0046] After finalizing the robot assembly plan adjusted due to environmental issues, a thorough analysis of the construction simulation was conducted again, incorporating construction data. The compatibility of each stage in the simulation with the new assembly plan was carefully verified, checking whether the arrival time and status changes of different components, materials, equipment, and accessories still met actual construction requirements. Based on feedback from the construction simulation, the entire construction process planning route was further optimized to ensure seamless integration of each construction step, improving efficiency and quality. Simultaneously, various parameters during the construction process, such as quality indicators and cost consumption, were continuously monitored to identify problems promptly and make corresponding adjustments during actual construction, ensuring the smooth implementation of the human-robot-based construction process planning route and achieving the expected results.

[0047] In some embodiments of the construction process robot component planning and design method provided in this application, the final generated construction process planning route based on humans and robots includes: The assembly plan includes the assembly methods of each component of the robot at each construction stage, as well as the changes to the corresponding components at different construction nodes. Based on the assembly plan, the final planned route is formed by re-constructing the robot through construction simulation.

[0048] Specifically, based on the assembly methods of components at each construction stage in the assembly plan, the robot's assembly actions and positional changes at each stage are accurately simulated in the construction simulation. Combined with changes in corresponding components at different construction nodes, the robot's working status is adjusted in real time. Simultaneously, based on construction data, such as construction progress requirements for different time periods and the work priorities of each construction area, the construction simulation is refined and optimized. During the simulation, every aspect of robot-human collaboration is recorded in detail, including when the robot intervenes and the auxiliary work performed by humans during robot operation. Through continuous simulation and adjustment, it is ensured that the planned route fully leverages the robot's efficient assembly advantages while rationally utilizing human resources, achieving optimal results in human-robot collaborative work. Throughout the entire route generation process, quality and cost parameters are continuously monitored to ensure that costs are controlled to the maximum extent and construction efficiency is improved while meeting construction quality requirements. The final generated construction route based on humans and robots will clearly define the specific operational procedures for each construction stage, the division of labor and collaboration mode between personnel and robots, and the time arrangement, providing precise guidance for actual construction and ensuring the smooth, efficient, and high-quality completion of the construction project.

[0049] In some embodiments of the construction process robot component planning and design method provided in this application, the final generated construction process planning route based on humans and robots includes: After the planning is completed, the work content of the robots at each node should be clearly defined. Under the total workload and coverage, the remaining work capacity of each worker type should be clearly defined, and the corresponding personnel should be allocated and the construction route should be specified.

[0050] Based on the work content of each robot node and the remaining workload and methods of each worker, the various stages of the construction process are further refined to ensure efficient and orderly progress. Potential unforeseen circumstances during construction are anticipated, and corresponding contingency plans are developed, such as human replacement schemes for robot malfunctions and adjustment strategies for construction delays. Simultaneously, various parameters during construction, including quality, cost, and schedule, are continuously monitored. The planned route for the entire human-robot collaborative construction process is dynamically adjusted based on actual conditions to ensure that construction is completed smoothly according to the planned route and achieves the expected construction goals.

[0051] In some embodiments of the construction process robot component planning and design method provided in this application, the content and method of the remaining work allowance for each type of worker under the conditions of total workload and coverage include: Clearly define the construction tasks and their coordination relationships between robots and workers at different construction nodes throughout the entire construction process. Provide real-time instructions to robots and workers on the current construction tasks, and specify the construction speed and progress, ultimately ensuring the mutual cooperation and complementarity between robots and workers.

[0052] Building upon the above, we further analyze the differences in work efficiency between robots and workers at different construction stages. Based on the labor situation of each type of work in the construction simulation and the work coverage of the robot, we calculate the proportion of work completed by the robot and workers to the total work at each construction stage. By comparing these proportions, we identify the high and low points of work efficiency for both robots and workers.

[0053] For processes with low efficiency, analyze whether it's due to improper robot component assembly or worker unfamiliarity with the operating procedures. If it's a robot component assembly issue, refer to the previously determined final component assembly method and check if any components are affecting overall efficiency at specific construction nodes, then fine-tune the robot assembly plan.

[0054] If the issue stems from worker operational procedures, organize training for relevant workers, optimize construction operation standards, and clarify the standard operating procedures and time requirements for workers at different construction stages. Then, verify the construction simulation using construction data to ensure that the adjusted plan effectively improves construction efficiency and reduces the remaining workload for each worker type.

[0055] Meanwhile, we continuously track the actual situation during the construction process and optimize the entire construction route based on real-time feedback data to achieve the best construction results and improve the overall construction quality and economic benefits.

[0056] The above are merely preferred embodiments of the present invention and are 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 scope of protection of the present invention.

Claims

1. A method for planning and designing robot components during construction, characterized in that, include: The simulation covers the arrival time and status changes of different components, materials, equipment, and accessories throughout the construction process, recording the work of different workers to form a construction simulation. The simulation defines the total workload based on human labor. It summarizes and extracts the translational, motion, drive, and working components required for assembling the robot. Based on the entire construction simulation and using the total workload as a reference standard, it simulates the robot's work coverage under different component combinations. Quality and cost parameters are set to compare the generated coverage amounts, clarifying the final component combination method and determining the robot assembly scheme. Based on the assembly scheme and combined with construction data, the construction simulation is adjusted to ultimately generate a construction process planning route based on humans and robots.

2. The construction process robot component planning and design method as described in claim 1, characterized in that, Prior to the statement that the entire construction simulation process is based on the following: The construction simulation is divided into corresponding work contents according to the time sequence and the arrangement of each work node; Using people as a reference standard, the location, physical and chemical changes of the materials involved in each of the described work contents, as well as the required labor content, are clearly defined.

3. The construction process robot component planning and design method as described in claim 2, characterized in that, The simulation of the robot's workload under different component combinations, using the total workload as a reference standard, includes: Clearly define the functional attributes of each component, and based on these attributes, determine the range of changes that can be achieved by adjusting the size and specifications; Different components are randomly combined based on actions, movements, grasping, effects, and feedback, and the completion of the work content under different component combinations is analyzed.

4. The construction process robot component planning and design method as described in claim 2, characterized in that, The simulation of the robot's workload under different component combinations, using the total workload as a reference standard, includes: Simulate the shape and position of all materials, components, equipment, accessories, structures, environment and auxiliary materials at different time points during the construction process and calibrate them in three-dimensional space; After calibration, the changes in physical parameters caused by changes in the internal chemical properties of the material are simulated by combining historical data and relevant experience, and corresponding feedback is provided.

5. The construction process robot component planning and design method as described in claim 4, characterized in that, After calibration, the process of simulating changes in physical parameters resulting from variations in the internal chemical properties of materials by combining historical data and relevant experience, and providing corresponding feedback, also includes: Material properties and gravity parameters are established within the three-dimensional space; The work content is further divided into multiple work actions. The feasibility of the robot executing multiple work actions under different component combinations is analyzed, and the reasons for failure to execute and the corresponding components are analyzed and determined.

6. The construction process robot component planning and design method as described in claim 5, characterized in that, The feasibility of the analysis robot performing multiple labor actions under different component combinations includes: Based on the labor action, the point of application, force, mode of application, movement route, action simulation, movement avoidance, volume limit, and power preset are generated to simulate the completion of the labor action by the robot under different component combinations. The work that can be accomplished under different combinations of components is recorded and used as the coverage.

7. The construction process robot component planning and design method as described in claim 2, characterized in that, The comparison of the generated coverage values ​​using the set quality and cost parameters includes: If the robot is unable to complete the corresponding work action, determine whether it is because the size and specifications of a certain component do not meet the requirements or the function of a certain component is lacking. Record any functional deficiencies and, based on the principle of function-guided structure, provide feedback to the design department regarding the required component structure and functional requirements, and then customize them.

8. The construction process robot component planning and design method as described in claim 2, characterized in that, The final generated construction process planning route based on human and robot interaction includes: The assembly scheme includes the assembly method of each component of the robot at each construction stage and the changes of the corresponding components at different construction nodes. The final planned route is formed by re-performing the assembly scheme based on the construction simulation.

9. The construction process robot component planning and design method as described in claim 8, characterized in that, The final generated construction process planning route based on human and robot interaction includes: After the planning is completed, the work content of each node robot is clearly defined; Clearly define the remaining workload and methods for each worker type under the given total workload and coverage, and specify the corresponding personnel allocation and construction route regulations.

10. The construction process robot component planning and design method as described in claim 9, characterized in that, The content and method for specifying the remaining work allowance for each worker type under the conditions of the total workload and the coverage include: Clearly define the construction content and cooperation relationship between robots and workers at different construction nodes throughout the entire construction process; The robot and worker are given real-time instructions on the current construction work, and the construction speed and progress are specified, ultimately enabling the robot and worker to cooperate and complement each other.

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