A hoisting construction method for prefabricated components of a multi-layer fabricated building

Abstract

The application provides a multi-layer assembly type building prefabricated component hoisting construction method, the method is deeply fused with a special hoisting coordinate system and a BIM model, three-axis high-precision positioning of a lifting hook and accurate mapping of a component coordinate are realized, combined with posture stability, dynamic obstacle avoidance and millimeter-level calibration technology, the problem of cross-floor space interference is solved, hoisting precision and overall efficiency are greatly improved, a three-dimensional multi-dimensional identification system is adopted, identification errors are completely eliminated, automatic identification and time consumption statistics of all process nodes are realized, hoisting sequence early warning and three-dimensional visual progress display are matched, the whole construction process is controllable, and the problems of low coordinate positioning precision, disconnection of multi-platform data and unquantifiable work efficiency in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of prefabricated component hoisting, and in particular to a method for hoisting prefabricated components for multi-story prefabricated buildings. Background Technology

[0002] Multi-story prefabricated buildings represent a crucial direction for the transformation and upgrading of the construction industry. As a core construction process, the hoisting of prefabricated components places high demands on coordinate positioning accuracy, multi-platform data collaboration, and the quantification of construction efficiency. Existing hoisting construction technologies still have significant shortcomings. Common issues include insufficient positioning accuracy due to the lack of a dedicated hoisting coordinate system, information gaps caused by poor multi-platform data interaction, and the inability to quantify efficiency due to the lack of a systematic efficiency analysis system. These issues severely restrict the digitalization and intelligentization of hoisting construction.

[0003] Existing related technical solutions also fail to simultaneously address the aforementioned issues. For example, CN212475857U, an automatic hoisting system for prefabricated components based on BIM, only achieves basic BIM linkage and automatic hoisting, lacks a dedicated hoisting coordinate system adapted to multi-story buildings, and does not achieve unified data management across multiple platforms, nor does it include efficiency quantitative design. CN117284937A, an intelligent hoisting system and method for prefabricated components, although achieving component identification and 3D display, only completes basic data interaction, has poor data linkage across multiple platforms, and does not construct an efficiency analysis index system. CN121341842A, an automatic hoisting positioning system and method for prefabricated components, focuses on high-precision positioning and inertia suppression of single components, does not cover synchronous management of data across multiple platforms, and also lacks the ability to quantitatively analyze and optimize hoisting efficiency.

[0004] To address these issues, this invention proposes a method for hoisting and constructing prefabricated components for multi-story prefabricated buildings. This method specifically solves the technical problems of low coordinate positioning accuracy, data disconnect between multiple platforms, and inability to quantify work efficiency, thereby improving the accuracy, coordination, and digital management level of hoisting and constructing prefabricated components for multi-story prefabricated buildings. Summary of the Invention

[0005] The main objective of this invention is to provide a method for hoisting and constructing prefabricated components for multi-story prefabricated buildings, which solves the problems of low coordinate positioning accuracy, data disconnect between multiple platforms, and inability to quantify work efficiency in the prior art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for hoisting and constructing prefabricated components for multi-story prefabricated buildings, the method comprising: S1. Construct a coordinate system for hoisting prefabricated components that is compatible with all floors of multi-story prefabricated buildings, and accurately match it with the 3D model of the building information management platform to establish a coordinate mapping relationship between component picking and installation. S2. Assign a unique identifier to each precast component and simultaneously input the component's basic information into the building information management platform, hoisting control system, and production management platform to achieve unified basic data across multiple platforms. S3. Based on the coordinate system and hoisting control system, the hoisting construction equipment is used to complete the automated picking, hoisting, anti-sway adjustment, path planning and obstacle avoidance, and precise alignment and installation of prefabricated components. S4. During the hoisting and process execution, the data acquisition and transmission module collects key construction parameters in all dimensions and transmits them in real time to the building information management platform, hoisting control system and production management platform. S5. Based on multi-dimensional identification methods, the system can accurately identify prefabricated components and automatically identify all stages of the hoisting process. It can also monitor the hoisting process and sequence in real time and update the construction progress information on the building information management platform simultaneously. S6. Based on the collected key parameters, construct an efficiency analysis index system, complete the quantitative analysis of hoisting efficiency and output construction optimization suggestions, realize full data linkage management through the building information management platform and the production management platform, and complete the storage, traceability and report generation of construction data.

[0007] In the preferred embodiment, the specific steps for constructing the hoisting coordinate system in step S1 are as follows: S1.1, with the center of the largest outer rectangle of the first floor of each unit in the multi-story prefabricated building as the origin of the coordinate system, a Cartesian coordinate system is established according to the right-hand rule, and a three-dimensional model of the entire floor is constructed on the building information management platform based on the architectural design drawings. S1.2, accurately match the 3D model with the Cartesian coordinate system, and input the installation coordinates and lifting point coordinates of each floor and each type of prefabricated component; S1.3, the positioning module realizes high-precision positioning of the hook in the Cartesian coordinate system along the XYZ axes, and at the same time, the fixed position of the assembly rack is entered into the Cartesian coordinate system to construct a precise mapping relationship between the component rack picking coordinates and the floor installation coordinates.

[0008] In the preferred scheme, the specific steps for assigning unique identifiers to prefabricated components and completing basic data entry in step S2 are as follows: S2.1, Affix a unique electronic tag to all prefabricated components, and enter the component name, specifications, weight, installation floor, installation coordinates, hoisting sequence and other attribute information into the electronic tag; S2.2 synchronizes electronic tag information, component weight information, floor-wide installation coordinate information, and hoisting sequence information into the building information management platform, hoisting control system, and production management platform to achieve unified storage and retrieval of basic data from the three platforms.

[0009] In the preferred embodiment, the specific steps for the hoisting equipment to complete automated part retrieval and hoisting into place in step S3 are as follows: S3.1 The hoisting equipment moves through the traveling mechanism, making the main beam of the equipment parallel to the X-axis of the Cartesian coordinate system, and the center projection of the upper frame coincides with the coordinate origin; S3.2, the hoisting control system drives the hoisting mechanism of the equipment to accurately lower the hook to the component retrieval coordinate position of the prefabricated rack through the positioning module according to the preset hoisting sequence, and realizes automatic hooking through the hooking mechanism of the equipment to complete the retrieval of prefabricated components.

[0010] In the preferred scheme, the specific steps for completing the anti-sway adjustment, path planning and obstacle avoidance, and precise alignment and installation of the prefabricated components in step S3 are as follows: S3.3 During the hoisting process, the attitude stabilization module collects relevant parameters of component swing in real time and dynamically adjusts the component attitude. If the swing amplitude of the component exceeds the preset threshold, the hoisting speed is dynamically reduced. S3.4 Based on the 3D model of the building information management platform, multi-story and cross-floor hoisting paths are planned in advance. The monitoring module collects obstacle information in the hoisting area in real time. If spatial interference is detected, the hoisting path is automatically adjusted. S3.5 The component is hoisted to the target floor installation coordinate position, and precise alignment is achieved by combining calibration methods. Installation is completed with manual assistance, and automatic unhooking is achieved through the hook mechanism.

[0011] In the preferred scheme, the specific steps for collecting key construction parameters from all dimensions in step S4 are as follows: S5.1, during the automated hoisting and process execution, collects four types of key construction parameters through the hoisting control system, identification module, data acquisition and transmission module, and monitoring module; S5.2 collects four types of key construction parameters, including component identification parameters, hoisting operation parameters, positioning and attitude parameters, and equipment operation parameters, to achieve parameter collection throughout the entire construction process.

[0012] In the preferred embodiment, in step S5, S5.1, all the collected component identification parameters, hoisting operation parameters, positioning and attitude parameters, and equipment operation parameters are transmitted through the wireless communication unit of the data acquisition and transmission module. S5.2, The parameters in step S5.1 are transmitted synchronously to the building information management platform, hoisting control system and production management platform in real time to realize real-time sharing of construction data among the three platforms.

[0013] In the preferred scheme, S5.3 combines lifting weight detection data, component unhooking position coordinate data, and electronic tag identification data to form a multi-dimensional component identification system; S5.4 The identification module automatically matches the collected multi-dimensional data with the preset component information to achieve accurate identification of prefabricated components.

[0014] In the preferred embodiment, the specific steps for identifying and real-time monitoring the entire hoisting process in step S6 are as follows: S6.1, based on the collected hoisting operation parameters, automatically identify all process nodes of the hoisting of prefabricated components, including lifting, translation, obstacle avoidance, alignment, unloading, and unhooking, and record the start and end times and time consumption of each process; S6.2 compares the actual number of hoisting operations and the hoisting sequence with the preset values ​​of the building information management platform in real time. If a chaotic hoisting sequence occurs, an early warning will be issued immediately. S6.3 synchronizes the hoisting progress to the 3D model of the building information management platform in real time, realizing a visual display of the construction progress, and updating the hoisting attributes of the components in the model in real time according to the hoisting status.

[0015] In the preferred embodiment, in step S6, the building information management platform is a BIM model management platform, and the production management platform is a MES system; The specific steps for quantitative analysis of hoisting efficiency and multi-platform collaborative management are as follows: S6.4, based on the collected multi-dimensional key construction parameters, calculates core efficiency analysis indicators such as single component hoisting efficiency, equipment operation utilization rate, time consumption ratio of each process, floor hoisting efficiency, and positioning deviation qualification rate. S6.5 automatically analyzes efficiency bottlenecks in hoisting operations based on core indicators and outputs suggestions for optimizing construction organization. S6.6 synchronizes all data, including process identification results, efficiency analysis data, positioning deviation data, and hoisting progress data, to the BIM model management platform and MES system, enabling data storage, traceability, and automatic generation of construction reports. S6.7 also dynamically updates the construction plan in the BIM model management platform, completing the digital management of hoisting construction of multi-story prefabricated buildings.

[0016] This invention provides a method for hoisting and installing prefabricated components in multi-story prefabricated buildings, which has the following beneficial effects. 1. This method achieves high-precision three-axis positioning of the hook and accurate mapping of component coordinates through deep integration of a dedicated hoisting coordinate system with the BIM model. Combined with attitude stabilization, dynamic obstacle avoidance, and millimeter-level calibration technology, it solves the problem of cross-floor spatial interference, significantly improving hoisting accuracy and overall efficiency. It adopts a triple multi-dimensional identification system to completely eliminate identification errors, realize automatic identification and time statistics of all process nodes, and, with hoisting sequence early warning and three-dimensional visualization of progress display, the entire construction process is controllable. 2. Qualitative improvement in intelligent and digital management: Establish a multi-dimensional parameter collection system and a quantitative efficiency index system to achieve accurate efficiency analysis and construction optimization. The BIM and MES dual-platform linkage is based on the transformation of existing general equipment, eliminating the need for customized design, reducing equipment costs, minimizing manual intervention and safety risks, and adapting to multi-story prefabricated buildings of different house types and heights as well as various prefabricated components, making it highly versatile. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a flowchart of the construction method of the present invention. Detailed Implementation

[0018] Example 1 like Figure 1 As shown, a method for hoisting prefabricated components in multi-story prefabricated buildings is described, the method comprising: S1. Construct a coordinate system for hoisting prefabricated components that is compatible with all floors of multi-story prefabricated buildings, and accurately match it with the 3D model of the building information management platform to establish a coordinate mapping relationship between component picking and installation. S2. Assign a unique identifier to each precast component and simultaneously input the component's basic information into the building information management platform, hoisting control system, and production management platform to achieve unified basic data across multiple platforms. S3. Based on the coordinate system and hoisting control system, the hoisting construction equipment is used to complete the automated picking, hoisting, anti-sway adjustment, path planning and obstacle avoidance, and precise alignment and installation of prefabricated components. S4. During the hoisting and process execution, the data acquisition and transmission module collects key construction parameters in all dimensions and transmits them in real time to the building information management platform, hoisting control system and production management platform. S5. Based on multi-dimensional identification methods, the system can accurately identify prefabricated components and automatically identify all stages of the hoisting process. It can also monitor the hoisting process and sequence in real time and update the construction progress information on the building information management platform simultaneously. S6. Based on the collected key parameters, construct an efficiency analysis index system, complete the quantitative analysis of hoisting efficiency and output construction optimization suggestions, realize full data linkage management through the building information management platform and the production management platform, and complete the storage, traceability and report generation of construction data.

[0019] In the preferred embodiment, the specific steps for constructing the hoisting coordinate system in step S1 are as follows: S1.1, with the center of the largest outer rectangle of the first floor of each unit in the multi-story prefabricated building as the origin of the coordinate system, a Cartesian coordinate system is established according to the right-hand rule, and a three-dimensional model of the entire floor is constructed on the building information management platform based on the architectural design drawings. S1.2, accurately match the 3D model with the Cartesian coordinate system, and input the installation coordinates and lifting point coordinates of each floor and each type of prefabricated component; S1.3, the positioning module realizes high-precision positioning of the hook in the Cartesian coordinate system along the XYZ axes, and at the same time, the fixed position of the assembly rack is entered into the Cartesian coordinate system to construct a precise mapping relationship between the component rack picking coordinates and the floor installation coordinates.

[0020] In the preferred scheme, the specific steps for assigning unique identifiers to prefabricated components and completing basic data entry in step S2 are as follows: S2.1, Affix a unique electronic tag to all prefabricated components, and enter the component name, specifications, weight, installation floor, installation coordinates, hoisting sequence and other attribute information into the electronic tag; S2.2 synchronizes electronic tag information, component weight information, floor-wide installation coordinate information, and hoisting sequence information into the building information management platform, hoisting control system, and production management platform to achieve unified storage and retrieval of basic data from the three platforms.

[0021] In the preferred embodiment, the specific steps for the hoisting equipment to complete automated part retrieval and hoisting into place in step S3 are as follows: S3.1 The hoisting equipment moves through the traveling mechanism, making the main beam of the equipment parallel to the X-axis of the Cartesian coordinate system, and the center projection of the upper frame coincides with the coordinate origin; S3.2, the hoisting control system drives the hoisting mechanism of the equipment to accurately lower the hook to the component retrieval coordinate position of the prefabricated rack through the positioning module according to the preset hoisting sequence, and realizes automatic hooking through the hooking mechanism of the equipment to complete the retrieval of prefabricated components.

[0022] In the preferred scheme, the specific steps for completing the anti-sway adjustment, path planning and obstacle avoidance, and precise alignment and installation of the prefabricated components in step S3 are as follows: S3.3 During the hoisting process, the attitude stabilization module collects relevant parameters of component swing in real time and dynamically adjusts the component attitude. If the swing amplitude of the component exceeds the preset threshold, the hoisting speed is dynamically reduced. S3.4 Based on the 3D model of the building information management platform, multi-story and cross-floor hoisting paths are planned in advance. The monitoring module collects obstacle information in the hoisting area in real time. If spatial interference is detected, the hoisting path is automatically adjusted. S3.5 The component is hoisted to the target floor installation coordinate position, and precise alignment is achieved by combining calibration methods. Installation is completed with manual assistance, and automatic unhooking is achieved through the hook mechanism.

[0023] In the preferred scheme, the specific steps for collecting key construction parameters from all dimensions in step S4 are as follows: S5.1, during the automated hoisting and process execution, collects four types of key construction parameters through the hoisting control system, identification module, data acquisition and transmission module, and monitoring module; S5.2 collects four types of key construction parameters, including component identification parameters, hoisting operation parameters, positioning and attitude parameters, and equipment operation parameters, to achieve parameter collection throughout the entire construction process.

[0024] In the preferred embodiment, in step S5, S5.1, all the collected component identification parameters, hoisting operation parameters, positioning and attitude parameters, and equipment operation parameters are transmitted through the wireless communication unit of the data acquisition and transmission module. S5.2, The parameters in step S5.1 are transmitted synchronously to the building information management platform, hoisting control system and production management platform in real time to realize real-time sharing of construction data among the three platforms.

[0025] In the preferred scheme, S5.3 combines lifting weight detection data, component unhooking position coordinate data, and electronic tag identification data to form a multi-dimensional component identification system; S5.4 The identification module automatically matches the collected multi-dimensional data with the preset component information to achieve accurate identification of prefabricated components.

[0026] In the preferred embodiment, the specific steps for identifying and real-time monitoring the entire hoisting process in step S6 are as follows: S6.1, based on the collected hoisting operation parameters, automatically identify all process nodes of the hoisting of prefabricated components, including lifting, translation, obstacle avoidance, alignment, unloading, and unhooking, and record the start and end times and time consumption of each process; S6.2 compares the actual number of hoisting operations and the hoisting sequence with the preset values ​​of the building information management platform in real time. If a chaotic hoisting sequence occurs, an early warning will be issued immediately. S6.3 synchronizes the hoisting progress to the 3D model of the building information management platform in real time, realizing a visual display of the construction progress, and updating the hoisting attributes of the components in the model in real time according to the hoisting status.

[0027] In the preferred embodiment, in step S6, the building information management platform is a BIM model management platform, and the production management platform is a MES system; The specific steps for quantitative analysis of hoisting efficiency and multi-platform collaborative management are as follows: S6.4, based on the collected multi-dimensional key construction parameters, calculates core efficiency analysis indicators such as single component hoisting efficiency, equipment operation utilization rate, time consumption ratio of each process, floor hoisting efficiency, and positioning deviation qualification rate. S6.5 automatically analyzes efficiency bottlenecks in hoisting operations based on core indicators and outputs suggestions for optimizing construction organization. S6.6 synchronizes all data, including process identification results, efficiency analysis data, positioning deviation data, and hoisting progress data, to the BIM model management platform and MES system, enabling data storage, traceability, and automatic generation of construction reports. S6.7 also dynamically updates the construction plan in the BIM model management platform, completing the digital management of hoisting construction of multi-story prefabricated buildings.

[0028] Example 2 Further explanation in conjunction with Example 1, such as Figure 1 The detailed construction embodiment of a method for hoisting prefabricated components of multi-story prefabricated buildings is as follows: A coordinate system is established, and a dedicated hoisting coordinate system adapted to the entire floor of a 3-story prefabricated residential building is constructed to achieve precise matching between the 3D model and the coordinate system, and to establish the coordinate mapping relationship between component picking and installation. The specific operating procedure is as follows: First, the flatness of the first floor of the 3-story prefabricated residential building is calibrated. A level is used to check the flatness of the floor to ensure that there is no obvious tilt, and the tilt is ≤0.1%. Then, the maximum outer rectangle of the first floor of each unit is determined. A measuring tape is used to accurately measure the two diagonals of this rectangle. The intersection of the two diagonals is the origin of the coordinate system. ; A Cartesian coordinate system is established with the origin as the reference point, strictly following the right-hand rule, where... The axis is the horizontal direction of the building. The axis is the longitudinal direction of the building, that is, the horizontal direction. The axis represents the vertical height, i.e., the vertical direction, which is clearly defined. Coordinate range of each floor along the axis: Floor 1 ~ 2nd floor ~ 3rd floor ~ ,Right now All coordinate units are .

[0029] Based on the architectural design CAD drawings, a full-floor 3D model of the 3-story prefabricated residential building is constructed using Revit modeling technology on the BIM management platform, i.e., the building information management platform. The model must completely include the location, specifications and other information of all 36 wall panel components. The completed 3D model is precisely matched with the Cartesian coordinate system mentioned above. The matching process uses professional calibration tools to ensure that the matching error is within the design range and without deviation. Then, the installation coordinates and lifting point coordinates of each floor and each type of prefabricated wall panel are entered into the BIM management platform one by one to ensure that each wall panel corresponds to a unique installation coordinate and lifting point coordinate, providing accurate coordinate basis for subsequent hoisting and positioning.

[0030] Activate the positioning module of the lifting equipment. Gray busbar positioning combined with winch coding can be used to adjust the positioning module's accuracy, ensuring the hook can be positioned in the Cartesian coordinate system. Three-axis high-precision positioning, with fixed positioning deviations. ,Right now ; At the same time, after accurately measuring the fixed position of the assembly rack, the coordinates of each wall panel on the rack are recorded in the Cartesian coordinate system to clarify the retrieval coordinates of each wall panel on the rack. A precise mapping relationship is constructed between the retrieval coordinates of the component rack and the floor installation coordinates, ensuring that the hook can accurately retrieve the component from the rack and hoist it to the target installation position according to the mapping relationship, avoiding retrieval errors or hoisting position deviations.

[0031] All precast wall panels are uniquely identified, and basic component information is simultaneously entered into three platforms to ensure data consistency across multiple platforms. This provides data support for subsequent component identification, hoisting monitoring, and efficiency calculations. The specific operation process is as follows: There are 36 wall panels, 12 per layer, for a total of 36 panels across 3 layers. Each panel is affixed with a unique RFID electronic tag. The tags are waterproof and impact-resistant. The tags are affixed to the top side of the wall panel for easy reading by the identification module and without affecting hoisting and installation. Each wall panel's RFID electronic tag is individually entered with complete component attribute information, including component name, specifications, weight, installation floor, installation coordinates, and hoisting sequence, ensuring that the electronic tag information for each wall panel is unique and complete. The data acquisition and transmission module is activated to simultaneously input the RFID electronic tag information of all wall panels, component weight information, floor-wide installation coordinate information, and hoisting sequence information into the BIM management platform, hoisting control system, and MES production management system, i.e., the production management platform. During data transmission, ensure stable transmission with no data loss or deviation. After synchronization, verify the basic data of the three platforms one by one to ensure that the component information, coordinate information, and hoisting sequence information of the three platforms are completely consistent, realize the unified storage and retrieval of basic data, and provide data support for the multi-platform linkage of subsequent hoisting processes.

[0032] Using general-purpose hoisting equipment, the automated processes of picking up, hoisting, anti-sway adjustment, path planning and obstacle avoidance, and precise alignment and installation of precast wall panels are completed. All operations are performed according to fixed parameters to ensure a stable, accurate, and repeatable hoisting process. The specific operation procedure is as follows: Start the general-purpose hoisting equipment and use its traveling mechanism to move it linearly or laterally. Adjust the equipment's position so that its main beam is aligned with the Cartesian coordinate system. The axes remain parallel, and the center projection of the upper frame of the equipment is aligned with the coordinate origin. completely coincident; After adjustment, the positioning module is used to detect the positioning deviation of the equipment to ensure that the positioning deviation is fixed. ,Right now If the deviation exceeds this value, adjust the equipment position in a timely manner until the positioning requirements are met to ensure accurate equipment positioning and lay the foundation for subsequent hoisting operations.

[0033] The hoisting control system calls the preset hoisting sequence and component pick-up coordinates to drive the hoisting mechanism of the equipment. Through the positioning module, the Gray busbar can be combined with the winch coding to accurately control the movement trajectory of the hook and accurately lower the hook to the corresponding component pick-up coordinate position on the assembly rack. Once the hook is in position, the automatic hooking mechanism of the equipment is activated, automatically hooking the hook to the wall panel suspension point. After hooking is completed, the weight sensor detects the weight of the hook and confirms that the weight is correct. ,Right now After confirming that the weight of the precast component matches the preset weight and that the hook is secure and not loose, the lifting mechanism is activated to slowly lift the wall panel, completing the automated removal of the precast component. The removal process takes approximately [time missing]. That is, the picking-up process .

[0034] After the wall panel is removed, the lifting mechanism drives the wall panel upward. During the lifting process, the equipment's attitude stabilization module collects relevant parameters such as the component's swing acceleration and angular velocity in real time, dynamically adjusting the component's attitude to ensure that the component's swing amplitude remains constant. ; Simultaneously, a preset threshold for component sway amplitude is established. If the component sway amplitude is detected to exceed the threshold, the hoisting speed is immediately and dynamically reduced to 70% of its original speed until the component sway amplitude returns to normal. This effectively suppresses the inertial sway of the components, preventing excessive sway from affecting hoisting safety and positioning accuracy. The attitude adjustment process takes approximately [time missing]. That is, the posture adjustment process .

[0035] Based on the full-floor 3D model of the BIM management platform, the hoisting path across multiple floors is planned in advance. During the path planning process, obstacles such as building walls, beams and columns are avoided to ensure that the hoisting path is unobstructed. During the hoisting process, the equipment's monitoring module uses a combination of PTZ camera monitoring and obstacle detection sensors to collect obstacle information in the hoisting area in real time. If spatial interference is detected on the hoisting path, a signal is immediately sent to the hoisting control system. The control system automatically adjusts the hoisting path to ensure that the wall panel can be hoisted smoothly across floors without collision or interference. The obstacle avoidance process is integrated into the translation process and is not calculated separately. The translation process is included in the total hoisting time for each floor.

[0036] After the wall panel is hoisted to the installation coordinates of the target floor, infrared calibration technology is activated to precisely calibrate the installation position of the wall panel, ensuring that the alignment deviation of the wall panel is ≤ ,Right now Achieving millimeter-level precision alignment; After alignment, two construction workers will manually fix the wall panel in the preset installation position. The fixing process will take approximately [time missing]. Fixed process ); After fixing, the hook mechanism of the equipment automatically unhooks the wall panel. After unhooking, the detection module is activated to check the installation quality and positioning deviation of the wall panel. The detection process takes approximately [time missing]. That is, the testing process After passing the inspection, the hoisting and installation of a single wall panel is completed, and the hoisting process for the next wall panel begins.

[0037] Based on the multi-dimensional key construction parameters collected in step 3, quantitative analysis is performed by substituting them into the quantitative formula. The specific operation process is as follows: First, organize all the key construction parameters collected in step 3, including the weight of a single wall panel. Density of wall panel materials Instantaneous speed of hoisting Time required for hoisting a single component Floor height Natural constant Equipment idle time Equipment operating angle Total work time Equipment placement angle Time consumption of each process Including pickup Posture adjustment Alignment ,fixed , testing Process operation tilt angle Pi is taken as Number of components per floor Time required for hoisting blocks / layers and single floors Floor hoisting tilt angle Positioning deviation Positioning reference length All parameters are fixed, with no variables.

[0038] Based on the above key construction parameters, the work efficiency indicators were calculated one by one: 1. Substitute the hoisting efficiency of a single component ( Calculation formula: (1) First calculate Then calculate its cube root. ;calculate ;calculate Its natural logarithm ;calculate ; Final calculation Converted to blocks per hour, that is Blocks per hour.

[0039] 2. Substitute equipment operation utilization rate ( Calculation formula: (2) First calculate , its fourth root ;calculate , ;calculate ; Final calculation .

[0040] 3. Calculate the time consumption percentage of each process ( The following is a sample pickup process: For example, substituting into the formula: (3) Substitution process: Calculation its fifth root ;calculate ;calculate its cube root ;calculate ; Final calculation Other processes, such as posture adjustment, alignment, fixation, and inspection, can be substituted into the corresponding steps using the same method. The numerical value gives the percentage of time spent on each process.

[0041] 4. Substitute floor hoisting efficiency ( Calculation formula: (4) calculate its sixth root ;calculate ;calculate ; calculate ; final calculation Converted to blocks per hour, that is Blocks per hour.

[0042] 5. Substitute the positioning deviation pass rate ( )formula: (5) Substitution process: Calculation its seventh root ;calculate ; Final calculation .

[0043] 6. Organize the calculation process and results of the above 5 work efficiency indicators one by one, form a work efficiency quantitative analysis report, clarify the specific values ​​of each indicator, and provide data support for subsequent construction optimization.

[0044] The entire hoisting process is monitored in real time to achieve accurate component identification, process node identification, and hoisting sequence monitoring. All construction data is also retained to ensure traceability. The specific operation procedure is as follows: Real-time monitoring of the entire hoisting process: The hoisting control system, identification module, data acquisition and transmission module, and monitoring module are activated to monitor the entire hoisting process in real time; Component identification is achieved through a triple identification system combining RFID electronic tags, weight detection, and coordinate detection to ensure accurate component identification. Lifting operation parameters include lifting weight, lifting height, travel distance, number of lifting operations, time consumption for each process, and positioning and attitude parameters, including hook parameters. Coordinates, component swing amplitude, positioning deviation, and equipment operating parameters are monitored in real time to ensure that all key parameters are within the real-time monitoring range.

[0045] By combining lifting weight detection data, component unhooking position coordinate data, and RFID electronic tag identification data, a multi-dimensional component identification system is formed; The identification module automatically matches the collected multi-dimensional data with the component information preset on the three platforms. If all three data are consistent, the component is identified successfully; otherwise, an alarm is triggered immediately, the hoisting operation is stopped, and the problem is investigated before the operation continues. At the same time, based on the collected hoisting operation parameters, the system automatically identifies all process nodes of the precast component hoisting, including lifting, translation, obstacle avoidance, alignment, unloading, and unhooking, and records the start and end times and time consumption of each process simultaneously to ensure accurate process identification and accurate time consumption recording.

[0046] The actual number of hoisting operations and the hoisting sequence are compared with the preset values ​​of the BIM management platform in real time. If the hoisting sequence is disordered, such as not hoisting in the order of floors 1 to 3 or from left to right on the same floor, an audible and visual warning will be issued immediately to remind the construction personnel to make timely adjustments and avoid hoisting errors. Meanwhile, the hoisting progress of each wall panel is synchronized to the 3D model of the BIM management platform in real time. Wall panels that have been hoisted, are being hoisted, and are waiting to be hoisted are marked with different colors, such as green for completed, yellow for being hoisted, and gray for waiting to be hoisted, to achieve a visual display of the construction progress. The hoisting attributes of the components in the model are updated in real time according to the hoisting status to ensure that the construction progress is clear and traceable.

[0047] All data throughout the hoisting process will be retained, including basic parameters, hoisting operation records, efficiency calculation process and results, monitoring videos, data transmission records, etc. All data will be stored in the BIM management platform and MES production management system to achieve long-term data storage and traceability. At the same time, construction reports are automatically generated, which contain all efficiency indicators, hoisting parameters, construction progress and other information, making it easy to review, audit and optimize the construction later, and ensuring that the entire implementation process is traceable.

[0048] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for hoisting and installing prefabricated components in multi-story prefabricated buildings, characterized by: The method includes: S1. Construct a coordinate system for hoisting prefabricated components that is compatible with all floors of multi-story prefabricated buildings, and accurately match it with the 3D model of the building information management platform to establish a coordinate mapping relationship between component picking and installation. S2. Assign a unique identifier to each precast component and simultaneously input the component's basic information into the building information management platform, hoisting control system, and production management platform to achieve unified basic data across multiple platforms. S3. Based on the coordinate system and hoisting control system, the hoisting construction equipment is used to complete the automated picking, hoisting, anti-sway adjustment, path planning and obstacle avoidance, and precise alignment and installation of prefabricated components. S4. During the hoisting and process execution, the data acquisition and transmission module collects key construction parameters in all dimensions and transmits them in real time to the building information management platform, hoisting control system and production management platform. S5. Based on multi-dimensional identification methods, the system can accurately identify prefabricated components and automatically identify all stages of the hoisting process. It can also monitor the hoisting process and sequence in real time and update the construction progress information on the building information management platform simultaneously. S6. Based on the collected key parameters, construct an efficiency analysis index system, complete the quantitative analysis of hoisting efficiency and output construction optimization suggestions, realize full data linkage management through the building information management platform and the production management platform, and complete the storage, traceability and report generation of construction data.

2. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 1, characterized in that: In step S1, the specific steps for constructing the hoisting coordinate system are as follows: S1.1, with the center of the largest outer rectangle of the first floor of each unit in the multi-story prefabricated building as the origin of the coordinate system, a Cartesian coordinate system is established according to the right-hand rule, and a three-dimensional model of the entire floor is constructed on the building information management platform based on the architectural design drawings. S1.2, accurately match the 3D model with the Cartesian coordinate system, and input the installation coordinates and lifting point coordinates of each floor and each type of prefabricated component; S1.3, the positioning module realizes high-precision positioning of the hook in the Cartesian coordinate system along the XYZ axes, and at the same time, the fixed position of the assembly rack is entered into the Cartesian coordinate system to construct a precise mapping relationship between the component rack picking coordinates and the floor installation coordinates.

3. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 1, characterized in that: In step S2, the specific steps for assigning unique identifiers to prefabricated components and completing the basic data entry are as follows: S2.1, Affix a unique electronic tag to all prefabricated components, and enter the component name, specifications, weight, installation floor, installation coordinates, hoisting sequence and other attribute information into the electronic tag; S2.2 synchronizes electronic tag information, component weight information, floor-wide installation coordinate information, and hoisting sequence information into the building information management platform, hoisting control system, and production management platform to achieve unified storage and retrieval of basic data from the three platforms.

4. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 1, characterized in that: In step S3, the specific steps for the hoisting equipment to complete automated part retrieval and hoisting into place are as follows: S3.1 The hoisting equipment moves through the traveling mechanism, making the main beam of the equipment parallel to the X-axis of the Cartesian coordinate system, and the center projection of the upper frame coincides with the coordinate origin; S3.2, the hoisting control system drives the hoisting mechanism of the equipment to accurately lower the hook to the component retrieval coordinate position of the prefabricated rack through the positioning module according to the preset hoisting sequence, and realizes automatic hooking through the hooking mechanism of the equipment to complete the retrieval of prefabricated components.

5. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 4, characterized in that: In step S3, the specific steps for completing the anti-sway adjustment, path planning and obstacle avoidance, and precise alignment and installation of prefabricated components are as follows: S3.3 During the hoisting process, the attitude stabilization module collects relevant parameters of component swing in real time and dynamically adjusts the component attitude. If the swing amplitude of the component exceeds the preset threshold, the hoisting speed is dynamically reduced. S3.4 Based on the 3D model of the building information management platform, multi-story and cross-floor hoisting paths are planned in advance. The monitoring module collects obstacle information in the hoisting area in real time. If spatial interference is detected, the hoisting path is automatically adjusted. S3.5 The component is hoisted to the target floor installation coordinate position, and precise alignment is achieved by combining calibration methods. Installation is completed with manual assistance, and automatic unhooking is achieved through the hook mechanism.

6. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 1, characterized in that: In step S4, the specific steps for collecting key construction parameters from all dimensions are as follows: S5.1, during the automated hoisting and process execution, collects four types of key construction parameters through the hoisting control system, identification module, data acquisition and transmission module, and monitoring module; S5.2 collects four types of key construction parameters, including component identification parameters, hoisting operation parameters, positioning and attitude parameters, and equipment operation parameters, to achieve parameter collection throughout the entire construction process.

7. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 1, characterized in that: In step S5, S5.1, all the collected component identification parameters, hoisting operation parameters, positioning and attitude parameters, and equipment operation parameters are transmitted through the wireless communication unit of the data acquisition and transmission module. S5.2, The parameters in step S5.1 are transmitted synchronously to the building information management platform, hoisting control system and production management platform in real time to realize real-time sharing of construction data among the three platforms.

8. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 7, characterized in that: S5.3 combines lifting weight detection data, component unhooking position coordinate data, and electronic tag identification data to form a multi-dimensional component identification system; S5.4 The identification module automatically matches the collected multi-dimensional data with the preset component information to achieve accurate identification of prefabricated components.

9. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 1, characterized in that: In step S6, the specific steps for identifying the entire hoisting process and real-time monitoring are as follows: S6.1, based on the collected hoisting operation parameters, automatically identify all process nodes of the hoisting of prefabricated components, including lifting, translation, obstacle avoidance, alignment, unloading, and unhooking, and record the start and end times and time consumption of each process; S6.2 compares the actual number of hoisting operations and the hoisting sequence with the preset values ​​of the building information management platform in real time. If a chaotic hoisting sequence occurs, an early warning will be issued immediately. S6.3 synchronizes the hoisting progress to the 3D model of the building information management platform in real time, realizing a visual display of the construction progress, and updating the hoisting attributes of the components in the model in real time according to the hoisting status.

10. The method for hoisting and constructing prefabricated components for multi-story prefabricated buildings according to claim 9, characterized in that: In step S6, the building information management platform is a BIM model management platform, and the production management platform is a MES system; The specific steps for quantitative analysis of hoisting efficiency and multi-platform collaborative management are as follows: S6.4, based on the collected multi-dimensional key construction parameters, calculates core efficiency analysis indicators such as single component hoisting efficiency, equipment operation utilization rate, time consumption ratio of each process, floor hoisting efficiency, and positioning deviation qualification rate. S6.5 automatically analyzes efficiency bottlenecks in hoisting operations based on core indicators and outputs suggestions for optimizing construction organization. S6.6 synchronizes all data, including process identification results, efficiency analysis data, positioning deviation data, and hoisting progress data, to the BIM model management platform and MES system, enabling data storage, traceability, and automatic generation of construction reports. S6.7 also dynamically updates the construction plan in the BIM model management platform, completing the digital management of hoisting construction of multi-story prefabricated buildings.

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