A full-process integrated building construction intelligent operation robot and a construction control system

Abstract

The application belongs to the technical field of intelligent control and robot collaborative operation of building construction, and discloses a full-process integrated building construction intelligent operation robot and a construction control system, which comprises a construction task analysis module, an operation scene modeling module, a multi-process operation scheduling module, a standardized execution module, a water, electricity and whole-house intelligence preprocessing module, a material consumption and process parameter control module, a construction quality self-checking module, a safety progress management module and a construction report generation module. Through the linkage of construction task analysis, operation scene modeling, multi-process operation scheduling, standardized execution, water, electricity and whole-house intelligence preprocessing, material consumption control, construction quality self-checking and report generation, nine core processes are realized to continuously operate, point reservation checking is realized, material loss control is realized, quality automatic detection is realized, and a repair closed loop is realized, so that the problems of scattered work types, idle multiple devices, fragmented processes, large manual errors, much material waste and asynchronous data management are solved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control and robot collaborative operation technology in building construction, and particularly relates to an integrated intelligent operation robot for building construction and its construction control system. Background Technology

[0002] The construction process typically involves multiple steps, including surveying and setting out, pre-embedded trenching for water and electricity, masonry, plastering, floor leveling and grinding, putty grinding, paint spraying, tile laying, and self-inspection of construction quality. There are strict sequential relationships, acceptance requirements, and material waiting times between different steps. Traditional construction relies on the coordination of multiple teams, equipment, and personnel, which can easily lead to problems such as overlapping steps, accumulated construction errors, increased material waste, and difficulty in tracing quality responsibility. Therefore, there is a need for an integrated intelligent construction robot and construction control system that can uniformly control the construction tasks, site conditions, step switching, material usage, quality self-inspection, and report output.

[0003] The existing construction equipment is mostly single-process equipment, including surveying and setting out, wall construction, opening repair, wall roughening and mesh installation, water and electricity pre-embedding trenching, water and electricity pressure testing and acceptance, pipe sound insulation and wrapping, base slope repair, thermal insulation construction, waterproofing, water tightness test, waterproof protective layer, door and window frame installation, plastering and leveling, wood component anti-corrosion and fireproofing, board cutting, ceiling joist construction, ceiling panel and plaster molding installation, wall and floor leveling and grinding, wall and floor tile laying, tile grouting, stone installation, putty application, putty sanding, primer application, topcoat spraying, and wood flooring. Laying, interior door installation, cabinet installation, switch and light fixture installation, sanitary ware and hardware installation, phased construction quality self-inspection, initial cleaning, and overall completion acceptance usually require different equipment or different teams. There is a lack of unified task queues, unified work paths, and unified process switching logic among the equipment. Small and medium-sized construction teams have high costs in terms of procurement, transportation, scheduling, and maintenance. Moreover, construction is prone to interruption between different processes due to incomplete preconditions, unaccepted concealed works, or waiting for materials, making it difficult to achieve continuous operation of the main secondary structure and interior decoration.

[0004] There is insufficient connection between existing digital management of building construction and on-site execution. BIM drawings, floor plans, construction lists, material usage, acceptance standards, and actual on-site conditions are often manually checked. The reservation of water and electricity points, low-voltage interfaces, smart panel points, and cleaning equipment base stations can easily conflict with furniture layout, wall structure, or pipeline routes. At the same time, construction quality relies heavily on manual measurement and acceptance, lacking automated recording of wall flatness, pipeline routing, tile gaps, paint coverage, material loss, and rework loops. This leads to a lot of rework in the later stages of smart home installation, inconsistent quality data, and insufficient management basis. Summary of the Invention

[0005] To address the above issues and overcome the shortcomings of existing technologies, this invention provides a fully integrated intelligent construction robot and control system. Through task analysis, scenario modeling, multi-process scheduling, standardized execution, intelligent pre-processing of water and electricity systems and the entire building, material usage control, construction quality self-inspection, and report generation, the system achieves the following: surveying and setting out, wall construction, opening repair, wall roughening and mesh installation, water and electricity pre-embedded trenching, water and electricity pressure testing and acceptance, pipe sound insulation and wrapping, base slope repair, insulation construction, waterproofing application, water tightness test, waterproof protective layer, door and window frame installation, plastering and leveling, and anti-corrosion treatment of wooden components. The system involves 32 core processes operating continuously, including fire control, board cutting, ceiling joist construction, ceiling panel and plaster molding installation, wall and floor leveling and sanding, wall and floor tile laying, tile grouting and sealing, stone installation, putty application, putty sanding, primer application, topcoat spraying, wood flooring installation, interior door installation, cabinet installation, switch and light fixture installation, sanitary ware and hardware installation, phased construction quality self-inspection, initial cleaning, and overall final acceptance. It also includes point reservation and verification, material loss control, automatic quality detection, and a closed-loop rework mechanism. This system solves the problems of scattered trades, idle equipment, fragmented processes, large human error, excessive material waste, and asynchronous data management.

[0006] The technical solution adopted in this invention is as follows: a fully integrated intelligent construction robot and construction control system, including a construction task analysis module, a work scene modeling module, a multi-process work scheduling module, a standardized execution module, a water and electricity and whole-house intelligent pre-processing module, a material usage and process parameter control module, a construction quality self-inspection module, a safety and progress management module, and a construction report generation module.

[0007] As a preferred technical solution in this scheme, the construction task parsing module receives BIM drawings, floor plans, construction lists, process sequences, material specifications, acceptance standards, and construction area information, and generates a full-process task queue. The work scenario modeling module generates a construction scenario model and the results of deviations from the drawings based on construction site images, spatial boundaries, obstacles, base conditions, and BIM drawings. The multi-process operation scheduling module generates the process execution sequence, operation path, process switching instructions, and abnormal rollback instructions based on the full process task queue, on-site construction scenario model, on-site deviation results of drawings, and current process completion status; The standardized execution module calls the measurement and setting-out execution mode, water and electricity pre-embedded trenching execution mode, masonry execution mode, plastering execution mode, floor leveling and grinding execution mode, putty grinding execution mode, paint spraying execution mode, tile laying execution mode and quality self-inspection execution mode according to the process switching instructions; The water and electricity and whole-house smart pre-processing module generates a whole-house smart pre-processing solution based on the locations of strong and weak current points, water supply and drainage points, smart panel points, weak current interfaces, and smart device requirements. The material usage and process parameter control module generates material usage and process parameters based on process type, construction area, base condition, material specifications, and construction quality requirements. The construction quality self-inspection module generates quality inspection results and rework tasks after each process is completed. The safety and progress management module generates safety warning results, progress status results, and shutdown protection results; The construction report generation module generates construction quality reports, material loss reports, process progress reports, and intelligent reserved point reports.

[0008] As a preferred technical solution of this scheme, the construction task analysis module includes a drawing access unit, a construction list analysis unit, a process splitting unit, a task priority generation unit, a construction area binding unit, and a full-process task queue generation unit. The process splitting unit breaks down the construction project into surveying and setting out, water and electricity pre-embedded trenching, masonry, plastering, floor leveling and grinding, putty grinding, paint spraying, tile laying, and construction quality self-inspection. The task priority generation unit generates task priorities based on the relationship between processes, material waiting time, base drying time, concealed works acceptance requirements, and rework priority.

[0009] As a preferred technical solution of this scheme, the operation scenario modeling module includes a site image acquisition unit, a spatial boundary recognition unit, an obstacle recognition unit, a base layer status recognition unit, a BIM site registration unit, a drawing site deviation calculation unit, and a site construction scenario model generation unit. The BIM site registration unit performs coordinate registration between the site spatial boundary and the walls, ground, door openings, points, and pipelines in the BIM drawings. The drawing site deviation calculation unit generates wall deviations, door opening deviations, ground elevation deviations, embedded point deviations, and pipeline path deviations.

[0010] As a preferred technical solution of this scheme, the multi-process operation scheduling module includes a process status management unit, an operation path planning unit, a process switching judgment unit, a confined space adaptation unit, an anomaly rollback unit, and a continuous operation control unit. The process switching judgment unit generates process switching instructions based on the current process completion status, quality inspection results, material reserves, base layer status, and prerequisites for subsequent processes. The anomaly rollback unit generates an anomaly rollback instruction based on quality inspection failure, insufficient materials, personnel approaching, abnormal power supply, and path obstruction.

[0011] As a preferred technical solution of this scheme, the standardized execution module includes a measurement and layout execution unit, a water and electricity pre-embedded trenching execution unit, a masonry execution unit, a plastering execution unit, a floor leveling and grinding execution unit, a putty grinding execution unit, a paint spraying execution unit, a tile laying execution unit, and a quality self-inspection execution unit. When the quality self-inspection execution unit detects a measurement and layout deviation, the standardized execution module returns to the measurement and layout execution unit to regenerate the baseline. When the quality self-inspection execution unit detects a water and electricity point deviation, the standardized execution module returns to the water and electricity pre-embedded trenching execution unit to regenerate the correction path.

[0012] As a preferred technical solution of this scheme, the water and electricity and whole-house smart preprocessing module includes a water and electricity point analysis unit, a pipeline path planning unit, a low-voltage interface reservation unit, a smart panel point verification unit, a smart device scene matching unit, a preprocessing scheme generation unit, and a reserved conflict detection unit. The preprocessing scheme generation unit generates a whole-house smart preprocessing scheme based on the water and electricity pre-embedded paths, low-voltage interface reservation results, smart panel points, and scene adaptation results. The reserved conflict detection unit detects conflicts between water and electricity paths, low-voltage paths, wall structures, furniture installation positions, and smart device points.

[0013] As a preferred technical solution of this scheme, the material usage and process parameter control module includes a material list receiving unit, a construction area calculation unit, a standard usage matching unit, a loss threshold setting unit, an actual consumption recording unit, a process parameter matching unit, and a material deviation correction unit; the material deviation correction unit corrects the material usage and process parameters of subsequent processes based on the deviation between the actual consumption and the standard material usage.

[0014] As a preferred technical solution in this plan, the construction quality self-inspection module includes a process acceptance standard library unit, a construction result collection unit, a deviation calculation unit, a quality grade judgment unit, a rework task generation unit, and a quality evidence retention unit; the safety and progress management module includes a personnel proximity recognition unit, a dust environment recognition unit, a work area risk recognition unit, an electricity status recognition unit, a progress statistics unit, and a shutdown protection unit; the construction report generation module includes a quality report generation unit, a material loss report generation unit, a progress report generation unit, an intelligent reserved point report generation unit, a problem list generation unit, and a management terminal synchronization unit.

[0015] The beneficial effects of this invention are as follows: (1) By combining construction task analysis, operation scenario modeling and multi-process operation scheduling, BIM drawings, floor plans, construction lists, process sequences, acceptance standards and site scene models are uniformly converted into full-process task queues, operation paths, process switching instructions and abnormal rollback instructions. This enables continuous scheduling of surveying and setting out, water and electricity pre-embedded trenching, masonry, plastering, floor leveling and grinding, putty grinding, paint spraying, tile laying and construction quality self-inspection, solving the technical problems of traditional construction trades being scattered, multiple equipment being idle, process connection relying on manual coordination and long construction cycle.

[0016] (2) Through standardized execution, water and electricity and whole-house intelligent pre-processing, and material usage and process parameter control linkage, the execution results of corresponding procedures, whole-house intelligent pre-processing scheme, material usage and process parameters are generated based on the on-site construction scenario model, on-site deviation results of drawings, strong and weak current points, water supply and drainage points, intelligent equipment requirements, construction area and base status. This realizes water and electricity pre-embedded path, weak current interface reservation, intelligent panel point verification, material loss control and process parameter dynamic correction, and solves the technical problems of large deviation of manual construction points, many rework in whole-house intelligent installation, and serious waste of materials such as mortar, ceramic tiles and conduits.

[0017] (3) By creating a closed loop of construction quality self-inspection, safety progress management and construction report generation, after each process is completed, construction result data is collected and deviation calculation, quality grade judgment, rework task generation and quality evidence retention are performed. At the same time, safety warning, progress status and shutdown protection results are generated based on personnel proximity, dust environment, work area risk, power status and task progress. This realizes quality inspection, rework closed loop, material loss statistics, progress synchronization and management end report output, and solves the technical problems of traditional construction relying on manual acceptance, data not being able to be managed synchronously, safety risk warning being delayed and quality responsibility being difficult to trace. Attached Figure Description

[0018] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the invention and do not constitute a limitation thereof.

[0019] Figure 1 This is a flowchart of the construction task analysis and full-process task queue generation proposed in this invention; Figure 2 This is a flowchart of the work scenario modeling and anomaly handling proposed in this invention. Detailed Implementation

[0020] Example 1, see Figures 1-2The present invention provides an integrated intelligent construction robot and construction control system for all processes, including a construction task analysis module, a work scene modeling module, a multi-process work scheduling module, a standardized execution module, a water and electricity and whole-house intelligent pre-processing module, a material usage and process parameter control module, a construction quality self-inspection module, a safety and progress management module, and a construction report generation module.

[0021] The construction task parsing module receives BIM drawings, floor plans, construction lists, process sequences, material specifications, acceptance standards, and construction area information. It then divides surveying and setting out, water and electricity pre-embedded trenching, masonry, plastering, floor leveling and grinding, putty grinding, paint spraying, tile laying, and construction quality self-inspection into schedulable process tasks, generating a full process task queue.

[0022] The work scene modeling module receives construction site images, laser ranging data, spatial boundary data, obstacle data, wall and floor flatness data, door opening size data, and construction area coordinates, generates a construction scene model, and compares the construction scene model with the BIM drawings to obtain the deviation results between the drawings and the actual site.

[0023] The multi-process operation scheduling module generates the process execution sequence, operation path, process switching instructions, and abnormal rollback instructions based on the full process task queue, on-site construction scenario model, on-site deviation results of drawings, access conditions of the construction area, and current process completion status, enabling the same construction platform to switch continuously between different processes.

[0024] The standardized execution module receives the process switching instructions output by the multi-process operation scheduling module, and calls the measurement and setting out execution mode, water and electricity pre-embedded trenching execution mode, masonry execution mode, plastering execution mode, floor leveling and grinding execution mode, putty grinding execution mode, paint spraying execution mode, tile laying execution mode and quality self-inspection execution mode according to the corresponding process.

[0025] The water and electricity and whole-house smart pre-processing module generates water and electricity pre-embedded paths, low-voltage reserved paths, smart device interface reserved results, and whole-house smart pre-processing solutions based on BIM drawings, floor plans, strong and weak current points, water supply and drainage points, smart panel points, gateway locations, sensor locations, cleaning equipment base station locations, and pipeline route requirements.

[0026] The material usage and process parameter control module generates mortar usage, tile usage, conduit usage, putty usage, paint usage, and process parameters based on process type, construction area, base layer condition, material specifications, upper limit of loss, and construction quality requirements. It also corrects the material usage results based on the actual consumption during construction.

[0027] The construction quality self-inspection module collects construction result data after each process is completed, and generates quality inspection results based on wall verticality, wall flatness, groove location, pipeline direction, floor flatness, putty surface uniformity, spray coverage, tile gap width, and tile laying flatness. When the quality inspection results do not meet the acceptance standards of the corresponding process, the construction quality self-inspection module generates deviation location, deviation type, and rework task.

[0028] The safety and progress management module generates safety warning results, progress status results, and shutdown protection results based on personnel proximity status, dust concentration, obstacles in the work area, construction power status, current process risk level, task completion rate, and abnormal shutdown records.

[0029] The construction report generation module generates construction quality reports, material loss reports, process progress reports, and smart reserved point reports based on the task queue of the entire process, process completion records, material consumption records, quality inspection results, rework tasks, safety warning results, whole-house smart pre-processing solutions, and construction video evidence.

[0030] Through the aforementioned system, this invention integrates surveying and setting out, water and electricity pre-embedded trenching, masonry, plastering, floor leveling and grinding, putty grinding, paint spraying, tile laying, and construction quality self-inspection into a single intelligent construction control system. This transforms the construction process from scattered operations by multiple trades into a continuous operation process with unified task analysis, unified path planning, unified process switching, unified quality self-inspection, and unified data recording. It solves the problems of scattered trades, complex manual coordination, large construction errors, frequent rework, high material loss, disconnect between BIM drawings and the site, and large deviations in the intelligent pre-reserved points throughout the house in traditional construction.

[0031] Example 2: Based on all the above examples, the construction task parsing module specifically includes a drawing access unit, a construction list parsing unit, a process splitting unit, a task priority generation unit, a construction area binding unit, and a full process task queue generation unit.

[0032] The drawing access unit receives BIM drawings, floor plans, wall locations, door opening locations, floor elevations, pipeline routes, switch and socket locations, low-voltage electrical locations, and reserved locations for smart devices. The construction list parsing unit receives construction items, material specifications, construction area, process requirements, and acceptance standards. The process breakdown unit breaks down the construction items into surveying and setting out, water and electricity pre-embedded trenching, masonry, plastering, floor leveling and grinding, putty grinding, paint spraying, tile laying, and construction quality self-inspection. The task priority generation unit generates task priorities based on the sequential relationship of processes, material waiting time, base drying time, concealed works acceptance requirements, and rework priorities. The construction area binding unit binds each process task with room number, wall number, ground area number, point number, and coordinate range. The full process task queue generation unit generates a full process task queue based on task priorities and construction area binding results.

[0033] When the water and electricity pre-embedded trenching task is not completed, the task priority generation unit restricts the plastering, putty sanding and paint spraying tasks from entering the execution state; when the masonry task is not completed, the task priority generation unit restricts the subsequent plastering and spraying tasks of the corresponding wall area from entering the execution state; when the construction quality self-inspection module generates a rework task, the task priority generation unit inserts the rework task before the corresponding subsequent process.

[0034] Through the above processing, the construction task parsing module can transform drawings, lists, and acceptance standards into a queue of continuously executable construction tasks, avoiding the disorder and waiting caused by multiple shifts working together.

[0035] Example 3: Based on all the above examples, the operation scenario modeling module specifically includes a site image acquisition unit, a spatial boundary recognition unit, an obstacle recognition unit, a base layer status recognition unit, a BIM site registration unit, a drawing site deviation calculation unit, and a site construction scenario model generation unit.

[0036] The on-site image acquisition unit acquires images and video frames of the construction area; the spatial boundary recognition unit identifies wall boundaries, ground boundaries, top boundaries, doorway boundaries, and construction area boundaries; the obstacle recognition unit identifies construction personnel, stockpiled materials, temporary pipelines, construction waste, and non-operational areas; the base condition recognition unit identifies wall hollowness, cracks, sandblasting, pollution, dampness, uneven ground, and base defects; the BIM on-site registration unit registers the on-site spatial boundaries with the walls, ground, doorways, points, and pipelines in the BIM drawings; the drawing on-site deviation calculation unit calculates wall deviations, doorway deviations, ground elevation deviations, embedded point deviations, and pipeline path deviations based on the registration results; and the on-site construction scene model generation unit generates an on-site construction scene model based on the spatial boundaries, obstacles, base condition, and drawing on-site deviation results.

[0037] When the deviation results from the drawings on site exceed the preset deviation threshold, the operation scenario modeling module sends the deviation results to the multi-process operation scheduling module and the construction report generation module; when the obstacle recognition unit detects an unavoidable obstacle in the work area, the operation scenario modeling module generates a pause work marker; when the base layer status recognition unit detects wall hollowing or ground sanding, the operation scenario modeling module generates a base layer preprocessing task.

[0038] Through the above processing, the work scenario modeling module can establish a correspondence between BIM drawings and the actual site conditions, solving the problems of disconnect between drawings and the site, untimely manual measurement, and difficulty in tracing hidden deviations in traditional construction.

[0039] Example 4: Based on all the above examples, the multi-process operation scheduling module specifically includes a process status management unit, an operation path planning unit, a process switching judgment unit, a confined space adaptation unit, an abnormal rollback unit, and a continuous operation control unit.

[0040] The process status management unit records the status of each process task as not started, in progress, awaiting self-inspection, awaiting rework, and completed. The operation path planning unit generates the operation path based on the on-site construction scene model, construction area coordinates, passage width, obstacle position, and process task position. The process switching judgment unit generates process switching instructions based on the current process completion status, quality inspection results, material surplus, base layer status, and prerequisites for subsequent processes. The confined space adaptation unit generates low-speed passage, partial avoidance, and zoned operation strategies based on room area, passage width, doorway width, and obstacle position. The abnormal rollback unit generates abnormal rollback instructions based on quality inspection failure, insufficient materials, personnel approaching, abnormal power supply, and path blockage. The continuous operation control unit controls the standardized execution module to switch between different processes based on the process switching instructions and abnormal rollback instructions.

[0041] When the construction quality self-inspection module outputs a qualified quality inspection result, the process switching judgment unit releases the next process task; when the construction quality self-inspection module outputs a qualified quality inspection result, the abnormal rollback unit rolls back the rework task to the corresponding process; when the confined space adaptation unit detects rural self-built houses, small-sized construction sites, or narrow passage scenarios, the operation path planning unit generates segmented operation paths and restricts the cross-execution of multiple processes in the same area.

[0042] Through the above processing, the multi-process operation scheduling module can continuously schedule between the main secondary structure and the interior decoration process, solving the problems of single machine use, multiple idle equipment, and high coordination costs of multiple shifts.

[0043] Example 5: This example is based on all the above examples. The standardized execution module specifically includes a measurement and layout execution unit, a water and electricity pre-embedded trenching execution unit, a masonry execution unit, a plastering execution unit, a floor leveling and grinding execution unit, a putty grinding execution unit, a paint spraying execution unit, a tile laying execution unit, and a quality self-inspection execution unit.

[0044] The surveying and setting-out execution unit generates wall lines, floor elevation lines, pipeline route lines, and equipment location lines based on BIM drawings, on-site construction scene models, and on-site deviation results. The water and electricity pre-embedded trenching execution unit generates trenching control results based on water and electricity pre-embedded paths, trenching depth, trenching width, avoidance areas, and pipeline intersection relationships. The masonry execution unit generates masonry control results based on wall location, wall height, block specifications, mortar joint width, and verticality requirements. The plastering execution unit generates plastering control results based on wall base condition, plastering thickness, and flatness requirements. The floor leveling and grinding unit... The execution unit generates floor treatment results based on floor elevation, flatness deviation, and sanding area. The putty sanding execution unit generates putty treatment results based on wall flatness, putty thickness, corner positions, and surface uniformity requirements. The paint spraying execution unit generates spraying control results based on spraying area, coverage, color consistency, and coating thickness requirements. The tile laying execution unit generates laying control results based on tile specifications, laying baseline, gap width, layout plan, and flatness requirements. The quality self-inspection execution unit generates self-inspection results for the corresponding process based on the acceptance standards for each process. When the quality self-inspection execution unit detects a measurement and layout deviation, the standardization execution module returns to the measurement and layout execution unit to regenerate the baseline; when the quality self-inspection execution unit detects a deviation in the water and electricity point locations, the standardization execution module returns to the water and electricity pre-embedded trenching execution unit to regenerate the correction path; when the quality self-inspection execution unit detects a deviation in tile gaps or a defect in wall spraying, the standardization execution module generates a local rework task. Through the above processing, the standardized execution module can cover nine core processes and support continuous construction of multiple processes with unified task data and acceptance data, reducing the need for switching between multiple equipment and waiting time for different types of workers. Example 6: This example is based on all the above examples. The water and electricity and whole-house smart preprocessing module specifically includes a water and electricity point analysis unit, a pipeline path planning unit, a low-voltage interface reservation unit, a smart panel point verification unit, a smart device scene matching unit, a preprocessing scheme generation unit, and a reserved conflict detection unit. The water and electricity point analysis unit extracts high-voltage, low-voltage, water supply, drainage, lighting circuits, and switch circuits based on the floor plan, BIM drawings, and construction list. The pipeline route planning unit generates water and electricity pre-embedded routes based on wall locations, beam and column locations, door opening locations, avoidance areas, and construction specifications. The low-voltage interface reservation unit generates low-voltage interface reservation results based on the installation requirements of gateways, routers, cameras, smart door locks, smart curtains, sensors, and cleaning equipment base stations. The smart panel point verification unit verifies smart panel points based on room functions, furniture layout, switch heights, socket heights, and usage scenarios. The smart device scene matching unit generates scene adaptation results based on the smart device requirements of the living room, bedroom, kitchen, bathroom, balcony, and entryway. The pre-processing scheme generation unit generates a whole-house smart pre-processing scheme based on the water and electricity pre-embedded routes, low-voltage interface reservation results, smart panel points, and scene adaptation results. The reserved conflict detection unit detects conflicts between water and electricity routes, low-voltage routes, wall structures, furniture installation locations, and smart device points. When the conflict detection unit detects an overlap between a low-voltage wiring point and a furniture installation area, the preprocessing solution generation unit regenerates the low-voltage interface reservation results; when the smart panel point verification unit detects a conflict between the switch panel position and the door frame or cabinet, the preprocessing solution generation unit generates point adjustment results; when the pipeline path planning unit detects excessively dense intersections of water and electricity paths, the conflict detection unit generates a key verification mark. Through the above processing, the pre-processing module for water and electricity systems and whole-house smart home systems can resolve the interface reservation issues for smart panels, low-voltage equipment, and cleaning equipment base stations during the water and electricity construction phase, reducing rework during the later installation of whole-house smart home systems. Example 7: This example is based on all the above examples. The material usage and process parameter control module specifically includes a material list receiving unit, a construction area calculation unit, a standard usage matching unit, a loss threshold setting unit, an actual consumption recording unit, a process parameter matching unit, and a material deviation correction unit.

[0045] The materials list receiving unit receives the specifications of mortar, blocks, tiles, conduits, putty, paint, adhesives, and auxiliary materials. The construction area calculation unit calculates the wall area, floor area, groove length, masonry area, spraying area, and tiling area based on the on-site construction scenario model. The standard usage matching unit generates standard material usage based on the construction area, material specifications, process requirements, and substrate condition. The loss threshold setting unit sets the upper limit of loss based on the process type, material unit price, labor loss experience value, and green construction requirements. The actual consumption recording unit records the actual material consumption of each process. The process parameter matching unit generates the tiling thickness, groove size, plaster thickness, number of sanding times, spray coverage, and tile gap width based on the material type, substrate condition, construction area, and quality requirements. The material deviation correction unit corrects the material usage and process parameters of subsequent processes based on the deviation between the actual consumption and the standard material usage.

[0046] When the actual consumption exceeds the upper limit of loss, the material deviation correction unit generates a material abnormality prompt; when the base layer condition identification unit detects sanding on the wall or unevenness on the ground, the process parameter matching unit increases the base layer treatment level of the corresponding area; when the construction quality self-inspection module detects insufficient spray coverage or insufficient flatness of tile laying, the process parameter matching unit adjusts the local rework parameters.

[0047] Through the above processing, the material usage and process parameter control module can reduce the waste of mortar, tiles, conduits, putty and paint, and solve the problems of high material loss, untraceable usage and high rework costs in manual construction.

[0048] Example 8: This example is based on all the above examples. The construction quality self-inspection module, the safety and progress management module, and the construction report generation module work together to form a construction closed loop.

[0049] The construction quality self-inspection module specifically includes a process acceptance standard library unit, a construction result collection unit, a deviation calculation unit, a quality grade judgment unit, a rework task generation unit, and a quality evidence retention unit. The process acceptance standard library unit stores the acceptance standards corresponding to measurement and setting out, water and electricity pre-embedded trenching, masonry, plastering, floor leveling and grinding, putty grinding, paint spraying, tile laying, and construction quality self-inspection. The construction result collection unit collects construction images, point coordinates, dimensional data, surface condition data, and material consumption data after each process is completed. The deviation calculation unit generates construction deviations based on the construction result data and acceptance standards. The quality grade judgment unit generates three quality grades: qualified, requiring review, and requiring rework. The rework task generation unit generates rework location, rework type, and rework process based on the construction deviations. The quality evidence retention unit saves construction images, test results, rework records, and re-inspection results.

[0050] The safety and progress management module specifically includes a personnel proximity identification unit, a dust environment identification unit, a work area risk identification unit, an electricity status identification unit, a progress statistics unit, and a shutdown protection unit. The personnel proximity identification unit identifies the status of personnel entering the work area; the dust environment identification unit generates dust concentration results; the work area risk identification unit identifies obstacles, blocked passages, and risks associated with working at heights; the electricity status identification unit identifies the status of construction electricity use; the progress statistics unit generates progress status results based on the task queue and completion records of all processes; and the shutdown protection unit generates shutdown protection results based on personnel proximity, excessive dust, abnormal electricity use, and path blockage.

[0051] The construction report generation module specifically includes a quality report generation unit, a material loss report generation unit, a progress report generation unit, a smart reserved point report generation unit, a problem list generation unit, and a management synchronization unit. The quality report generation unit generates quality inspection results and rework closed-loop records for each process. The material loss report generation unit generates the actual material consumption, standard material usage, and loss deviation. The progress report generation unit generates the process completion ratio, delayed tasks, and waiting tasks. The smart reserved point report generation unit generates the reserved status of strong and weak current points, smart panel points, weak current interfaces, and cleaning equipment base stations. The problem list generation unit generates quality problems, safety problems, material problems, and on-site deviations from drawings. The management synchronization unit synchronizes the construction quality report, material loss report, process progress report, and smart reserved point report to the management terminal.

[0052] When the quality grade determination unit generates a quality grade that requires rework, the rework task generation unit sends the rework task to the multi-process operation scheduling module; when the shutdown protection unit generates a shutdown protection result, the multi-process operation scheduling module suspends the current process; when the re-inspection result is qualified, the construction report generation module generates a rework closed-loop record and releases the next process task.

[0053] Through the above processing, the present invention can realize automated quality inspection, data synchronization management, rework closed loop, and management terminal visualization output, solving the problems of traditional construction relying on manual measurement and acceptance, data not being able to be synchronized and management, and difficulty in tracing quality responsibility.

Claims

1. A fully integrated intelligent construction robot and its control system, characterized in that: It includes a construction task analysis module, a work scenario modeling module, a multi-process work scheduling module, a standardized execution module, a water and electricity and whole-house smart pre-processing module, a material usage and process parameter control module, a construction quality self-inspection module, a safety and progress management module, and a construction report generation module; The construction task parsing module receives BIM drawings, floor plans, construction lists, process sequences, material specifications, acceptance standards, and construction area information, and generates a full-process task queue. The work scenario modeling module generates a construction scenario model and the results of deviations from the drawings based on construction site images, spatial boundaries, obstacles, base conditions, and BIM drawings. The multi-process operation scheduling module generates the process execution sequence, operation path, process switching instructions, and abnormal rollback instructions based on the full process task queue, on-site construction scenario model, on-site deviation results of drawings, and current process completion status; The standardized execution module calls the measurement and setting-out execution mode, water and electricity pre-embedded trenching execution mode, masonry execution mode, plastering execution mode, floor leveling and grinding execution mode, putty grinding execution mode, paint spraying execution mode, tile laying execution mode and quality self-inspection execution mode according to the process switching instructions; The water and electricity and whole-house smart pre-processing module generates a whole-house smart pre-processing solution based on the locations of strong and weak current points, water supply and drainage points, smart panel points, weak current interfaces, and smart device requirements. The material usage and process parameter control module generates material usage and process parameters based on process type, construction area, base condition, material specifications, and construction quality requirements. The construction quality self-inspection module generates quality inspection results and rework tasks after each process is completed. The safety and progress management module generates safety warning results, progress status results, and shutdown protection results; The construction report generation module generates construction quality reports, material loss reports, process progress reports, and intelligent reserved point reports.

2. The integrated intelligent construction robot and construction control system for all processes as described in claim 1, characterized in that: The construction task parsing module includes a drawing access unit, a construction list parsing unit, a process breakdown unit, a task priority generation unit, a construction area binding unit, and a full-process task queue generation unit. The process breakdown unit breaks down the construction project into surveying and setting out, water and electricity pre-embedded trenching, masonry, plastering, floor leveling and grinding, putty grinding, paint spraying, tile laying, and construction quality self-inspection. The task priority generation unit generates task priorities based on the sequential relationship of processes, material waiting time, base drying time, concealed works acceptance requirements, and rework priority. The construction area binding unit binds process tasks with room numbers, wall numbers, ground area numbers, point numbers, and coordinate ranges.

3. The integrated intelligent construction robot and construction control system for all processes as described in claim 1, characterized in that: The work scenario modeling module includes a site image acquisition unit, a spatial boundary recognition unit, an obstacle recognition unit, a base layer status recognition unit, a BIM site registration unit, a drawing site deviation calculation unit, and a site construction scenario model generation unit. The BIM site registration unit registers the site spatial boundaries with the walls, ground, doorways, points, and pipelines in the BIM drawings. The drawing site deviation calculation unit generates wall deviations, doorway deviations, ground elevation deviations, embedded point deviations, and pipeline path deviations based on the registration results. The site construction scenario model generation unit generates a site construction scenario model based on the spatial boundaries, obstacles, base layer status, and drawing site deviation results.

4. The integrated intelligent construction robot and construction control system for all processes as described in claim 1, characterized in that: The multi-process operation scheduling module includes a process status management unit, an operation path planning unit, a process switching judgment unit, a confined space adaptation unit, an anomaly rollback unit, and a continuous operation control unit. The process status management unit records the status of process tasks as not started, in progress, awaiting self-inspection, awaiting rework, and completed. The operation path planning unit generates operation paths based on the on-site construction scene model, construction area coordinates, passage width, obstacle positions, and process task positions. The process switching judgment unit generates process switching instructions based on the current process completion status, quality inspection results, material reserves, base layer status, and prerequisites for subsequent processes. The anomaly rollback unit generates anomaly rollback instructions based on quality inspection failures, insufficient materials, personnel approaching, abnormal power supply, and path obstruction.

5. The integrated intelligent construction robot and construction control system for all processes as described in claim 1, characterized in that: The standardized execution module includes a measurement and layout execution unit, a water and electricity pre-embedded trenching execution unit, a masonry execution unit, a plastering execution unit, a floor leveling and grinding execution unit, a putty grinding execution unit, a paint spraying execution unit, a tile laying execution unit, and a quality self-inspection execution unit; the measurement and layout execution unit generates wall lines, floor elevation lines, pipeline route lines, and equipment location lines based on BIM drawings, on-site construction scene models, and on-site deviation results of the drawings; When the quality self-inspection execution unit detects a measurement and layout deviation, the standardization execution module returns to the measurement and layout execution unit to regenerate the baseline. When the quality self-inspection execution unit detects a deviation in the location of water and electricity points, the standardization execution module returns to the water and electricity pre-embedded trenching execution unit to regenerate the correction path. When the quality self-inspection execution unit detects deviations in tile gaps or defects in wall coating, the standardized execution module generates a local rework task.

6. The integrated intelligent construction robot and construction control system for all processes as described in claim 1, characterized in that: The water and electricity and whole-house smart preprocessing module includes a water and electricity point analysis unit, a pipeline path planning unit, a low-voltage interface reservation unit, a smart panel point verification unit, a smart device scene matching unit, a preprocessing scheme generation unit, and a reserved conflict detection unit; the water and electricity point analysis unit extracts the high-voltage points, low-voltage points, water supply points, drainage points, lighting circuits, and switch circuits based on the floor plan, BIM drawings, and construction list; The preprocessing scheme generation unit generates a whole-house smart preprocessing scheme based on the water and electricity pre-embedded paths, low-voltage interface reservation results, smart panel locations, and scene adaptation results; the reserved conflict detection unit detects conflicts between water and electricity paths, low-voltage paths, wall structures, furniture installation locations, and smart device locations.

7. The integrated intelligent construction robot and construction control system for all processes as described in claim 1, characterized in that: The material usage and process parameter control module includes a material list receiving unit, a construction area calculation unit, a standard usage matching unit, a loss threshold setting unit, an actual consumption recording unit, a process parameter matching unit, and a material deviation correction unit. The construction area calculation unit generates wall area, floor area, groove length, masonry area, spraying area, and tiling area based on the on-site construction scene model. The standard usage matching unit generates standard material usage based on the construction area, material specifications, process requirements, and substrate condition. The process parameter matching unit generates paving thickness, groove size, plaster thickness, number of grinding passes, spray coverage, and tile gap width based on material type, substrate condition, construction area, and quality requirements. The material deviation correction unit corrects the material usage and process parameters for subsequent processes based on the deviation between the actual consumption and the standard material usage.

8. The integrated intelligent construction robot and construction control system for all processes as described in claim 1, characterized in that: The construction quality self-inspection module includes a process acceptance standard library unit, a construction result collection unit, a deviation calculation unit, a quality grade judgment unit, a rework task generation unit, and a quality evidence retention unit. The quality grade judgment unit generates three quality grades: qualified, requiring review, and requiring rework. The rework task generation unit generates rework location, rework type, and rework process based on construction deviations. The safety and progress management module includes a personnel proximity recognition unit, a dust environment recognition unit, a work area risk recognition unit, an electrical status recognition unit, a progress statistics unit, and a shutdown protection unit. The construction report generation module includes a quality report generation unit, a material loss report generation unit, a progress report generation unit, an intelligent reserved point report generation unit, a problem list generation unit, and a management terminal synchronization unit.

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