Digital space modeling-based intelligent arrangement of fabricated building components and construction scheduling method

Abstract

This invention relates to the field of intelligent management of prefabricated building construction, and discloses a method for intelligent arrangement and construction scheduling of prefabricated building components based on digital spatial modeling. The method acquires component model data, construction site data, hoisting equipment data, and construction plan data to establish a digital spatial model with time attributes. It generates the spatiotemporal occupancy envelope of components in stacking, transportation, hoisting, and installation states, and generates a construction space release topology based on pre-installation conditions, temporary support occupancy relationships, installation work surface release relationships, and hoisting path release relationships. Based on the digital spatial model, spatiotemporal occupancy envelope, and construction space release topology, it generates component arrangement schemes and construction scheduling schemes. During construction, it performs local rearrangement of unlocked components within affected construction waves according to the site conditions. This invention can reduce component retrieval obstructions, hoisting path conflicts, and repeated adjustments to construction scheduling.

Description

Technical Field

[0001] This invention relates to the field of intelligent management of prefabricated building construction, specifically to a method for intelligent arrangement and construction scheduling of prefabricated building components based on digital spatial modeling. Background Technology

[0002] Prefabricated construction is a construction method in which prefabricated components such as beams, columns, wall panels, floor slabs, stairs, and balcony slabs are manufactured in a factory, transported to the construction site, and assembled on-site through processes such as hoisting, positioning, connection, and alignment. Compared to traditional cast-in-place construction, prefabricated construction places higher demands on the order of component arrival, yard layout, use of hoisting equipment, organization of transportation channels, and connection of installation work surfaces. Because prefabricated components are typically large in size, heavy in weight, have many component numbers, and have a strong correlation in installation sequence, the matching of on-site component layout and construction scheduling directly affects the efficiency of component retrieval, tower crane utilization, and the continuity of installation operations.

[0003] In existing prefabricated building construction management, BIM models, component lists, construction schedules, or yard management systems are typically used to help determine the stacking location and hoisting sequence of components. Some methods can optimize component stacking or hoisting tasks based on component arrival time, yard capacity, transportation distance, number of turnings, or hoisting equipment operation time. However, these methods often treat component yard layout and construction hoisting scheduling as relatively independent management objects. Yard layout focuses on solving component placement and warehousing management issues, while hoisting scheduling focuses on solving tower crane operation sequence and schedule issues. There is a lack of linkage constraints between the two regarding the actual space occupation process of components.

[0004] In actual construction, the process of components moving from the yard, through transportation, hoisting, rotation, lifting, placement, and installation, does not occupy a single static location but rather forms a continuously changing spatial footprint at different stages. If the layout is based solely on yard capacity or the order of component arrival, problems can easily arise such as components installed earlier being obstructed by later ones, obstructed retrieval directions, conflicts between hoisting sweep paths and already installed components or temporary supports, and components arriving and occupying positions before the installation work surface is released. Furthermore, when component arrival is delayed, the actual stacking location shifts, transport channels are blocked, hoisting equipment is temporarily unavailable, or the release of the installation work surface is delayed, existing methods often require manual re-coordination of the yard and hoisting plans, sometimes even involving large-scale rearrangements. This leads to significant disruptions to the construction schedule, numerous secondary handling operations, and reduced on-site organizational efficiency. Therefore, it is necessary to provide a prefabricated building component layout and construction scheduling method that can unify and link component space occupancy, hoisting paths, installation work surface release, and construction scheduling. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for intelligent layout and construction scheduling of prefabricated building components based on digital spatial modeling, in order to solve the technical problems existing in the prior art.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: A method for intelligent layout and construction scheduling of prefabricated building components based on digital spatial modeling includes the following steps: S1: Obtain component model data, construction site data, hoisting equipment data, and construction plan data for the target prefabricated building. Component model data includes component number, installation location, external dimensions, weight, lifting point location, center of gravity location, permissible stacking posture, lifting posture, placement posture, and pre-installation conditions. Construction site data includes storage area, transportation channel, hoisting operation area, installation operation surface, temporary support area, and prohibited area. Hoisting equipment data includes hoisting equipment number, rotation center coordinates, hoisting radius range, and hook height range. S2: Establish a digital spatial model based on the construction site data, divide the construction site into multiple spatial units with time attributes, and configure spatial type, available time, load-bearing capacity, clearance height, accessible hoisting equipment and safety distance attributes for each spatial unit. Generate spatial unit occupancy records according to the construction time slices in the construction plan data. S3: Generate the spatiotemporal occupancy envelope of each component based on the component model data. The spatiotemporal occupancy envelope includes the stacking occupancy envelope of the component in the stacking state, the transportation occupancy envelope in the transportation state, the hoisting sweep envelope in the hoisting state, and the installation operation envelope in the installation state. Among them, the hoisting sweep envelope is generated based on the rotation center coordinates of the hoisting equipment, the hoisting radius range, the hook height range, the component hoisting point position, the component center of gravity position, the component lifting posture, and the component placement posture. S4: Generate a construction space release topology based on the pre-installation conditions, temporary support occupancy relationships, installation work surface release relationships, and hoisting path release relationships between each component. The construction space release topology includes component nodes, spatial unit nodes, and structural pre-installation edges, temporary support occupancy edges, installation work surface release edges, and hoisting path release edges that connect component nodes and spatial unit nodes. S5: Based on the spatial unit occupancy record, spatiotemporal occupancy envelope, and construction space release topology in the digital spatial model, establish a coupled constraint model for component layout and construction scheduling. The coupled constraint model includes spatial occupancy constraints, stacking constraints, retrieval constraints, hoisting constraints, and installation constraints. Candidate stacking positions, candidate transfer paths, candidate hoisting time windows, and candidate installation work surfaces that overlap with spatial units in the same construction time slice as those in the occupied or locked state are removed from the candidate set. S6: Solve the coupled constraint model in units of construction waves to generate component layout scheme and construction scheduling scheme. The component layout scheme includes the stacking space unit, stacking posture and retrieval direction of each component. The construction scheduling scheme includes the hoisting sequence, hoisting equipment, hoisting time window and installation work surface of each component. S7: Collect the actual arrival time of components at the construction site, the actual stacking location, the status of hoisting equipment, the status of transportation channels, and the completion status of the installation work surface, and map the collected results to the digital space model; S8: When the collection results meet the rearrangement trigger conditions, determine the affected construction wave, freeze the installed components, the components being hoisted, and the components that have entered the locking time window, and recalculate the stacking space unit, retrieval direction, and hoisting time window for the unlocked components in the affected construction wave while keeping the corresponding occupancy records of the frozen components unchanged.

[0007] Preferably, a digital spatial model is established based on construction site data, including: A unified coordinate system for the construction site is established, using the building grid coordinates of the target prefabricated building as the horizontal coordinate reference and the design elevation of the construction site as the vertical coordinate reference. The storage yard area, transportation channel, hoisting operation area, installation operation surface, temporary support area and prohibited occupation area are converted into boundary data under a unified coordinate system; The construction site is divided into multiple spatial units based on boundary data. For each spatial unit, the following information is recorded: spatial unit number, spatial type, plane boundary, elevation range, available time period, load-bearing capacity, clearance height, accessible hoisting equipment number, accessible hoisting equipment coverage relationship, and safety distance.

[0008] Preferably, the space unit generates an occupancy record according to the component arrival time, stacking time, transfer time, hoisting time, installation time and temporary support retention time in the construction plan data. Each occupancy record includes the space unit number, the occupancy object number, the occupancy start time, the occupancy end time and the occupancy status. The occupancy status includes the idle status, the pre-occupancy status, the occupied status and the locked status. The construction time slice is determined by the minimum value among the minimum duration of the transfer task, the minimum duration of the hoisting task, and the minimum duration of the installation operation record in the construction plan data.

[0009] Preferably, generating the spatiotemporal occupancy envelope of each component based on the component model data includes: The stacking occupancy envelope is generated based on the component's external dimensions, allowable stacking posture, pad block height, number of stacking layers, and safe distance in the storage yard; The transfer occupancy envelope is generated based on the component's external dimensions, the transfer equipment's external dimensions, the component's transfer posture, the transport channel width, and the transfer turning radius. An installation operation envelope is generated based on the component's external dimensions, installation location, connection node location, temporary support layout location, and reserved space for installation operations. The stacking occupancy envelope, the transfer occupancy envelope, and the installation operation envelope are respectively mapped to the corresponding spatial units and time periods in the digital spatial model.

[0010] Preferably, the hoisting sweep envelope is generated in the following manner: Based on the coordinates of the rotation center of the hoisting equipment, the range of hoisting radius, the range of hook height, the position of the component lifting point, the position of the component center of gravity, the lifting posture of the component, and the placement posture of the component, determine the pick-up point, turning point, and placement point of the component from the stacking position to the installation position; Generate discrete hoisting positions for components between two adjacent points with an angle step size of no more than 3 and a height step size of no more than 0.5m. The outer contours of components under each discrete hoisting pose are transformed into the unified coordinate system of the digital space model, and the transformed outer contours of components are subjected to union processing to obtain the hoisting sweep envelope. The lifting sweep envelope is mapped to the corresponding spatial unit and lifting time window.

[0011] Preferably, in the construction space release topology: The front edge of the structure records the order in which the next component enters the installation work surface after the previous component is installed; The temporary support occupancy edge records the occupancy relationship of the corresponding space unit in the temporary support area before the support is removed; The release edge of the installation work surface records the release relationship of the corresponding space unit after the component installation, correction and connection are completed; The hoisting path release edge records the occupancy relationship of the spatial unit corresponding to the hoisting sweep envelope before the previous component is hoisted; Based on the aforementioned structural front edge, temporary support occupation edge, installation work surface release edge, and hoisting path release edge, determine the arrangement time window and hoisting time window for each component.

[0012] Preferably, the space occupancy constraint limits the same spatial unit to one occupying object within the same construction time slice; The stacking constraints stipulate that the load-bearing capacity of the spatial unit corresponding to the stacking position of the component shall not be less than the sum of the weight of the component, the weight of the pad block, and the weight of the upper component in the same stacking group; The spatial unit corresponding to the direction of component retrieval, as defined by the retrieval constraint, is adjacent to the transportation channel or hoisting operation area. The hoisting constraint limits the same hoisting equipment to one hoisting task within the same construction time slice, and the hoisting sweep envelope does not occupy space units that are occupied or locked. The installation constraints stipulate that the start time of the installation of the next component shall not be earlier than the release time of its corresponding structural front edge, temporary support occupied edge, installation work surface release edge, and hoisting path release edge. When any candidate stacking space unit, transfer occupancy envelope, hoisting sweep envelope, or installation operation envelope overlaps with a space unit that is occupied or locked in the same construction time slice, the corresponding candidate scheme will be removed from the coupled constraint model.

[0013] Preferably, solving the coupled constraint model in units of construction waves includes: Construction waves are divided according to the relationship between component nodes in the construction space release topology. Components that are ready for installation after the preceding components are completed and correspond to the same hoisting operation area are classified into the same construction wave. A set of candidate stacking space units is generated for components within the same construction wave. The space units in the set of candidate stacking space units meet the requirements of stacking occupancy envelope, retrieval direction and accessibility of hoisting equipment for the corresponding components. According to the installation sequence of components within the same construction wave, the components to be installed first are assigned to the candidate stacking space unit with the fewest space units between the space units corresponding to the retrieval direction. The later-installed components are assigned to candidate stacking space units that do not overlap with the retrieval direction, transfer occupancy envelope, and hoisting sweep envelope of the earlier-installed components within the retrieval time window, transfer time window, and hoisting time window of the earlier-installed components. Based on the allocated stacking space units, stacking posture, retrieval direction, and hoisting time window, a component layout plan and a construction scheduling plan are generated.

[0014] Preferably, the rearrangement triggering condition includes at least one of the following: The actual arrival time of the components was later than the planned arrival time by a construction time segment. The actual stacking location corresponds to a space unit that is inconsistent with the stacking space unit recorded in the component layout plan; The hoisting equipment is in an unavailable state, and the unavailable time coincides with the component hoisting time window; The transport channel is in an occupied or locked state, and the transport channel coincides with the spatial unit corresponding to the component transfer occupancy envelope; The installation work surface has not reached the corresponding release status in the construction space release topology. The release status includes installation completion status, correction completion status, connection completion status, and temporary support removal completion status. The spatial unit corresponding to the hoisting sweep envelope overlaps with the occupancy records of installed components, temporary support areas, prohibited areas, or locked components within the same construction time slice.

[0015] Preferably, the component that has entered the locked time window is the component between one construction time segment before the planned start time of hoisting and the planned completion time of hoisting; When recalculating the stacking space unit, retrieval direction and hoisting time window for components that are not locked within the affected construction wave, retain the occupancy records of installed components, components being hoisted and components that have entered the locking time window in the digital space model; In space units that are not occupied or locked, the stacking space units, retrieval directions, and hoisting time windows of the unlocked components are reallocated, and the hoisting path release edge and installation work surface release edge corresponding to the unlocked components in the construction space release topology are updated. Records corresponding to the unlocked components in the component layout scheme and construction scheduling scheme are regenerated.

[0016] In summary, the present invention has the following main beneficial effects: By dividing the prefabricated building construction site into spatial units with time attributes, and expressing the space occupation formed by components in different stages of stacking, transportation, hoisting and installation as stacking occupation envelope, transportation occupation envelope, hoisting sweep envelope and installation operation envelope respectively, the component layout is no longer allocated solely based on the storage yard capacity, arrival order or transportation distance. Instead, it can simultaneously consider the continuous space occupation relationship of components during subsequent retrieval, transportation, hoisting and placement during the layout stage, thereby reducing the obstruction of component retrieval, hoisting path conflicts and secondary on-site handling.

[0017] By generating a construction space release topology based on pre-installation conditions, temporary support occupancy relationships, installation work surface release relationships, and hoisting path release relationships, and then using this construction space release topology, along with a digital space model and spatiotemporal occupancy envelope, as coupling constraints for component layout and construction scheduling, the component stacking space unit, stacking posture, retrieval direction, hoisting time window, and installation work surface can be collaboratively determined within the same construction wave. This avoids the separation between the stockpile layout scheme and the hoisting construction plan, achieving the effect that the component layout result directly adapts to the subsequent hoisting sequence, installation work surface release status, and temporary support occupancy status.

[0018] By collecting data on the actual arrival time of components, actual stacking location, hoisting equipment status, transportation channel status, and installation work completion status during construction, and freezing installed components, hoisting components, and components that have entered the locking time window when the rearrangement trigger condition is met, the stacking space unit, retrieval direction, and hoisting time window are recalculated only for the unlocked components within the affected construction wave. This eliminates the need to rearrange and reschedule all components for on-site deviation handling, thereby reducing the scope of construction plan disturbance, minimizing repeated adjustments to scheduled operations, and improving the stability of on-site scheduling. Attached Figure Description

[0019] Figure 1 This is a flowchart of the method of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1 refer to Figure 1 A method for intelligent layout and construction scheduling of prefabricated building components based on digital spatial modeling includes the following steps: S1: Obtain component model data, construction site data, hoisting equipment data, and construction plan data for the target prefabricated building. Component model data includes component number, installation location, external dimensions, weight, lifting point location, center of gravity location, permissible stacking posture, lifting posture, placement posture, and pre-installation conditions. Construction site data includes storage area, transportation channel, hoisting operation area, installation operation surface, temporary support area, and prohibited area. Hoisting equipment data includes hoisting equipment number, rotation center coordinates, hoisting radius range, and hook height range. S2: Establish a digital spatial model based on the construction site data, divide the construction site into multiple spatial units with time attributes, and configure spatial type, available time, load-bearing capacity, clearance height, accessible hoisting equipment and safety distance attributes for each spatial unit. Generate spatial unit occupancy records according to the construction time slices in the construction plan data. S3: Generate the spatiotemporal occupancy envelope of each component based on the component model data. The spatiotemporal occupancy envelope includes the stacking occupancy envelope of the component in the stacking state, the transportation occupancy envelope in the transportation state, the hoisting sweep envelope in the hoisting state, and the installation operation envelope in the installation state. Among them, the hoisting sweep envelope is generated based on the rotation center coordinates of the hoisting equipment, the hoisting radius range, the hook height range, the component hoisting point position, the component center of gravity position, the component lifting posture, and the component placement posture. S4: Generate a construction space release topology based on the pre-installation conditions, temporary support occupancy relationships, installation work surface release relationships, and hoisting path release relationships between each component. The construction space release topology includes component nodes, spatial unit nodes, and structural pre-installation edges, temporary support occupancy edges, installation work surface release edges, and hoisting path release edges that connect component nodes and spatial unit nodes. S5: Based on the spatial unit occupancy record, spatiotemporal occupancy envelope, and construction space release topology in the digital spatial model, establish a coupled constraint model for component layout and construction scheduling. The coupled constraint model includes spatial occupancy constraints, stacking constraints, retrieval constraints, hoisting constraints, and installation constraints. Candidate stacking positions, candidate transfer paths, candidate hoisting time windows, and candidate installation work surfaces that overlap with spatial units in the same construction time slice as those in the occupied or locked state are removed from the candidate set. S6: Solve the coupled constraint model in units of construction waves to generate component layout scheme and construction scheduling scheme. The component layout scheme includes the stacking space unit, stacking posture and retrieval direction of each component. The construction scheduling scheme includes the hoisting sequence, hoisting equipment, hoisting time window and installation work surface of each component. S7: Collect the actual arrival time of components at the construction site, the actual stacking location, the status of hoisting equipment, the status of transportation channels, and the completion status of the installation work surface, and map the collected results to the digital space model; S8: When the collection results meet the rearrangement trigger conditions, determine the affected construction wave, freeze the installed components, the components being hoisted, and the components that have entered the locking time window, and recalculate the stacking space unit, retrieval direction, and hoisting time window for the unlocked components in the affected construction wave while keeping the corresponding occupancy records of the frozen components unchanged.

[0022] This application applies to prefabricated concrete buildings, prefabricated steel structure buildings, and construction projects using prefabricated wall panels, prefabricated columns, prefabricated beams, composite slabs, stairs, balcony slabs, and external cladding panels for on-site assembly. This method can be implemented using a construction management terminal, a component information database, a construction site modeling module, a hoisting equipment parameter library, a field data acquisition terminal, and a scheduling and calculation module. The construction management terminal can be a construction site server, a project management platform, or a computer device with a construction scheduling program installed; the field data acquisition terminal can be a QR code scanner, RFID reader / writer, positioning tag, total station, tower crane status acquisition device, video recognition device, or a field mobile terminal. The aforementioned devices are used to complete data reading, spatial modeling, status acquisition, and scheduling output, and are not limited to specific brands or models.

[0023] In this embodiment, the component model data of the target prefabricated building comes from the component detailed design model, component processing list, component installation drawings, and hoisting-specific construction plan. The component model data includes component number, component type, installation location, external dimensions, weight, lifting point location, center of gravity location, permissible stacking posture, lifting posture, placement posture, and pre-installation conditions. The component number is consistent with the number in the component detailed design model, component QR code, or RFID tag; the installation location is the designed installation location of the component in the building's grid coordinates; the lifting point location and center of gravity location come from the component detailed design documents, component production drawings, or hoisting-specific construction plan; permissible stacking postures include flat placement, upright placement, inclined placement, or postures specified in the component-specific stacking plan; the lifting posture is the spatial posture of the component when it leaves the stacking location after being connected to the lifting point by slings; the placement posture is the spatial posture of the component before it enters the installation location, corresponding to the designed installation location. Pre-installation conditions include the completion of the previous component installation, the release of the installation work surface, temporary supports not obstructing the installation work envelope, the hoisting path not obstructing the hoisting sweep envelope, and the corresponding hoisting equipment being available within the hoisting time window.

[0024] Construction site data is derived from the overall construction layout plan, storage yard layout plan, tower crane layout plan, construction organization design, temporary support plan, transportation route layout plan, and on-site measured data. The construction site data includes storage yard areas, transportation routes, hoisting operation areas, installation work surfaces, temporary support areas, and prohibited areas. Prohibited areas include safety protection zones, edge protection zones, material storage prohibited zones, underground pipeline protection zones, tower crane foundation protection zones, fire lanes, and areas explicitly prohibited from occupation as specified in the construction organization design.

[0025] The data for lifting equipment comes from the equipment manuals, on-site installation and acceptance documents, and specific lifting construction plans for tower cranes, truck cranes, or crawler cranes. This data includes the equipment number, slewing center coordinates, lifting radius range, hook height range, rated lifting capacity curve, coverage area, and equipment availability time. The slewing center coordinates are determined in a unified coordinate system at the construction site; the lifting radius range is the allowable operating radius of the lifting equipment; the hook height range is the height the hook can reach when lifting, turning, raising, and lowering components; and the rated lifting capacity curve is used to determine whether the weight of the component to be lifted meets the lifting requirements at the corresponding lifting radius.

[0026] Construction schedule data is derived from the overall construction schedule, prefabricated component hoisting plan, component arrival plan, work team plan, and tower crane usage plan. The data includes planned component arrival time, planned stacking time, planned transfer time, planned hoisting time, planned installation time, and temporary support retention time. In this embodiment, the construction schedule data is discretized according to construction time slices. Each construction time slice is determined by the minimum duration of a transfer task, the minimum duration of a hoisting task, and the minimum duration of an installation operation record in the construction schedule data. When the project management system has a pre-set unified scheduling granularity, the construction time slices use this unified scheduling granularity. On-site temporary estimates are not used for the construction time slices.

[0027] When establishing the digital spatial model, the building grid coordinates of the target prefabricated building are used as the horizontal coordinate reference, and the design elevation of the construction site is used as the vertical coordinate reference to establish a unified coordinate system for the construction site. If the component detailed design model, the general construction plan, and the hoisting equipment layout plan use different coordinate references, the coordinates from each data source are converted to the unified coordinate system through translation, rotation, and elevation conversion based on the building grid control points, on-site measurement control points, or model reference points.

[0028] After coordinate unification, the yard area, transport corridor, hoisting operation area, installation work surface, temporary support area, and prohibited area are converted into boundary data under a unified coordinate system. Boundary data can be a combination of two-dimensional planar polygons and elevation ranges, or a three-dimensional enclosed space. Boundary data for the yard area includes planar boundaries, ground elevation, allowable load capacity, and passable direction; boundary data for transport corridors includes corridor width, turning radius, clearance height, and passable direction; boundary data for hoisting operation areas includes the coverage area of ​​hoisting equipment, prohibited turning areas, and hook-dropping areas; boundary data for installation work surfaces includes floor level, axis range, work surface opening time, and work surface closing time; boundary data for temporary support areas includes support location, support occupation area, support retention start time, and support dismantling completion time; boundary data for prohibited areas includes the prohibited planar boundaries, elevation range, and prohibited occupation time period.

[0029] The construction site modeling module divides the construction site into multiple spatial units. A spatial unit is a three-dimensional spatial object with planar boundaries and elevation ranges, not limited to a two-dimensional mesh. Spatial units can be divided according to storage yard zones, transportation channel segments, hoisting coverage areas, installation work surface zones, and temporary support zones; for regularly shaped areas, they can also be divided according to the construction site mesh. Each spatial unit contains a spatial unit number, spatial type, planar boundaries, elevation range, available occupancy time period, load-bearing capacity, clearance height, accessible hoisting equipment numbers, accessible hoisting equipment coverage relationships, and safety distances. Spatial types include storage space units, passage space units, hoisting space units, installation work space units, temporary support space units, and prohibited occupancy space units.

[0030] The reachability coverage relationship of the lifting equipment is determined based on the slewing center coordinates, lifting radius range, hook height range, and rated lifting capacity curve of the lifting equipment. For any spatial unit, if the center point or operation control point of the spatial unit is within the lifting radius of the lifting equipment, the elevation range of the spatial unit is within the hook height range, and the weight of the component to be lifted does not exceed the rated lifting capacity under the corresponding lifting radius, then a reachability coverage relationship is established between the spatial unit and the corresponding lifting equipment; otherwise, no coverage relationship is established. The center point or operation control point of the spatial unit is determined by the construction site modeling module based on the spatial unit's planar boundaries and elevation range.

[0031] Each spatial unit generates a spatial unit occupancy record according to the construction time slice. The spatial unit occupancy record includes the spatial unit number, the occupancy object number, the occupancy start time, the occupancy end time, and the occupancy status. The occupancy object number can be the component number, hoisting equipment number, transfer equipment number, temporary support number, work team number, or obstacle number. The occupancy status includes idle status, pre-occupied status, occupied status, and locked status. Idle status indicates that the spatial unit is not occupied by components, equipment, or work activities within the corresponding construction time slice; pre-occupied status indicates that the spatial unit has been scheduled in the construction plan but has not yet entered the work locking stage; occupied status indicates that the spatial unit is being occupied by components, transfer equipment, hoisting activities, installation work, or temporary supports; locked status indicates that the component or work corresponding to the spatial unit has entered the period from the construction time slice before the planned hoisting start time to the planned hoisting completion time, and the scheduling calculation module must not reassign the spatial unit to other components or other work.

[0032] The same spatial unit corresponds to one occupying object within the same construction time slice, meaning that the primary occupying object of that spatial unit is unique. When a component and its corresponding sling, pad, temporary support, or installation auxiliary part are subordinate objects under the same construction action, the subordinate object is written as an associated record of the primary occupying object and is not treated as an independent free spatial unit available for use by other components.

[0033] The scheduling calculation module generates the spatiotemporal occupancy envelope for each component based on the component model data. The spatiotemporal occupancy envelope includes the stacking occupancy envelope for the component in the stacking state, the transportation occupancy envelope for the transportation state, the hoisting sweep envelope for the hoisting state, and the installation operation envelope for the installation state. Each envelope represents the spatial range occupied by a component or operation activity within a corresponding state and time period, and includes construction safety clearances.

[0034] The stacking occupancy envelope is generated based on the component's external dimensions, permissible stacking posture, pad height, number of stacking layers, and safe storage distance. For horizontally placed components, the stacking occupancy envelope is formed by the component's horizontal projection outline, pad height, number of stacking layers, and safe storage distance. For upright or inclined components, the stacking occupancy envelope is formed by the component's elevation projection, the support's occupied area, the component's tilt angle, and safe storage distance. The number of stacking layers is derived from the component's specific stacking requirements or the stacking instructions provided by the component manufacturer; the pad height is derived from the component stacking plan or the standardized pad specifications on site; and the safe storage distance is derived from the construction organization design or on-site safety briefing requirements.

[0035] The transport occupancy envelope is generated based on the component's external dimensions, the transport equipment's external dimensions, the component's transport posture, the transport channel width, and the transport turning radius. If the component is transported by a flatbed truck, forklift, or dedicated transport vehicle, the transport occupancy envelope includes the outer contour of the transport equipment, the component's extension beyond the transport equipment, the sweeping range of the component during turning, and the safety clearance. The external dimensions of the transport equipment and the transport turning radius are derived from the transport equipment's instruction manual or the on-site transport plan; the transport channel width is derived from the overall construction layout plan and on-site measurement records.

[0036] The installation work envelope is generated based on the component's external dimensions, installation location, connection node location, temporary support layout, and reserved space for installation work. The reserved space for installation work includes the personnel operating space and equipment placement space required for component placement, alignment, connection, grouting, or welding. For wall panel components, the installation work envelope includes the wall panel's designed installation location, the space for alignment on both sides, the area occupied by diagonal supports, and the operating space for connection nodes; for beam components, the installation work envelope includes the beam placement space, the support connection space, and the temporary support space; for composite slab components, the installation work envelope includes the plate placement space, the plate joint adjustment space, and the space reserved for the support system. The reserved space for installation work originates from the construction organization design, the specific installation construction plan, or on-site safety operation requirements.

[0037] The lifting sweep envelope is generated based on the coordinates of the lifting equipment's rotation center, lifting radius range, hook height range, component lifting point position, component center of gravity position, component lifting posture, and component placement posture. The scheduling calculation module first determines the pick-up point, turning point, and placement point of the component from its stacking position to its installation position. The pick-up point is the position where the hook is above the component's stacking position and the sling can connect to the lifting point; the turning point is the intermediate posture point set when the component enters the lifting operation area from the storage area or avoids already installed components, temporary support areas, or prohibited areas; the placement point is the posture point of the component before entering the installation position. The pick-up point, turning point, and placement point are all represented in a unified coordinate system.

[0038] Between two adjacent points, the scheduling calculation module generates discrete lifting poses for the components with an angle step size not exceeding 3 and a height step size not exceeding 0.5m. The angle step size is determined based on the slewing angle recording accuracy of the lifting equipment, the slewing control requirements in the lifting-specific construction plan, and the safety verification requirements corresponding to the maximum external dimensions of the component, and shall not exceed 3. The height step size is determined based on the hook height acquisition accuracy, the component height, the lifting clearance requirements, and the on-site safety distance, and shall not exceed 0.5m. When the slewing angle recording accuracy output by the lifting equipment status acquisition system is less than 3 or the hook height recording accuracy is less than 0.5m, the smaller recording accuracy output by the acquisition system shall be used as the discrete step size. The angle step size and height step size are the upper limit control values ​​for the discrete calculation of the lifting sweep envelope and shall not be used as arbitrary on-site settings.

[0039] The lifting sweep envelope is generated according to the following formula: ; In the formula, Indicates the first The sweeping envelope of the hoisting of each component; Indicates the first The number of discrete hoisting poses generated for each component from the pick-up point to the landing point; Indicates the first The component in the first The pose transformation matrix for transforming a component's own coordinate system to a unified coordinate system under a discrete hoisting pose; Indicates the first The geometric set of the outer contour of each component; Indicates the first The set of safety clearances corresponding to each component in the hoisting state; This indicates that the outer contour of the component will be expanded outward according to a safe distance. This represents the union of extended outer contours under all discrete lifting poses. The geometric set of the component's outer contour is derived from the component model data, and the pose transformation matrix is ​​derived from the rotation center of the lifting equipment, lifting radius, hook height, component lifting point position, component center of gravity position, lifting posture, and placement posture.

[0040] After generating various envelopes, the stacking occupancy envelope, the transportation occupancy envelope, the hoisting sweeping envelope, and the installation operation envelope are mapped to the corresponding spatial units and time periods in the digital spatial model, respectively. During mapping, if the spatial range of a certain envelope overlaps with that of a certain spatial unit, and this overlap occurs within the corresponding construction time slice, the corresponding component number and occupancy status are written into the occupancy record of that spatial unit.

[0041] This embodiment further generates a construction space release topology based on the pre-installation conditions, temporary support occupancy relationships, installation work surface release relationships, and hoisting path release relationships between each component. The construction space release topology includes component nodes, spatial unit nodes, and structural pre-installation edges, temporary support occupancy edges, installation work surface release edges, and hoisting path release edges that connect component nodes and spatial unit nodes.

[0042] Each component node corresponds one-to-one with its component number. Each spatial element node corresponds one-to-one with its spatial element number in the digital spatial model. The "Structural Pre-installation Edge" records the sequential relationship where the next component can only enter the installation work surface after the previous component is installed. The "Temporary Support Occupation Edge" records the occupancy relationship of the corresponding spatial element in the temporary support area before the support is removed. The "Installation Work Surface Release Edge" records the release relationship of the corresponding spatial element in the installation work surface after component installation, alignment, and connection are completed. The "Lifting Path Release Edge" records the occupancy relationship of the spatial element corresponding to the lifting sweep envelope before the previous component is lifted.

[0043] In the construction space release topology, each release edge records the release conditions and release time. Release conditions include installation completion status, alignment completion status, connection completion status, and temporary support removal completion status. The installation completion status is determined by the component placement confirmation record or installation team confirmation record; the alignment completion status is determined by the measurement verification record; the connection completion status is determined by the node connection construction record, welding record, grouting record, or bolt connection acceptance record; and the temporary support removal completion status is determined by the support removal record or on-site safety officer confirmation record. The completion time recorded in the construction management terminal is used as the release time for each release status. When the same component corresponds to multiple release statuses, the release time corresponding to the last completed release status is used as the release time for the relevant installation work surface release edge of that component.

[0044] For the For a given component, the start time of its hoisting time window is no earlier than the maximum value among the release times of all associated structural front edges, temporary support occupancy edges, installation work surface release edges, and hoisting path release edges, which can be expressed as: ; In the formula, Indicates the first The start time of the time window for hoisting each component; Indicates the relationship with the first The release time of the structural front edge related to each component; Indicates the relationship with the first The release time of temporary support occupancy associated with each component; Indicates the relationship with the first Release time of the installation operation surface related to each component; Indicates the relationship with the first The release time of the lifting path release edge related to each component. When a certain type of release edge is related to the first... When a component is not associated with another component, the release time for this type of component is taken as the start time of the construction wave to which the component belongs in the construction plan data. The time window for the arrangement of each component is determined based on its planned arrival time, the available time of the yard space unit, and the time period during which the direction of the first component to be installed within the same construction wave is not blocked.

[0045] In this embodiment, component arrangement and construction scheduling are not two unrelated calculation processes, but rather a unified coupled constraint model established based on the spatial unit occupancy records in the digital spatial model, the spatiotemporal occupancy envelope of each component, and the construction space release topology. The coupled constraint model includes spatial occupancy constraints, stacking constraints, retrieval constraints, hoisting constraints, and installation constraints.

[0046] Space occupancy constraints limit the same spatial unit to one primary occupant within the same construction time slice. If a candidate stacking location, candidate transfer path, candidate hoisting time window, or candidate installation work surface overlaps with a spatial unit that is occupied or locked within the same construction time slice, the corresponding candidate solution will be removed from the candidate set.

[0047] Stacking constraints stipulate that the load-bearing capacity of the spatial unit corresponding to the component stacking location must not be less than the sum of the component weight, the weight of the pad block, and the weight of the upper-level components in the same stacking group. The weight of each component is derived from the component model data or component fabrication list, and the load-bearing capacity of the spatial unit is derived from the yard layout plan, construction organization design, or on-site load-bearing verification records. If the load-bearing capacity of the candidate stacking spatial unit is insufficient, the corresponding candidate stacking location will be removed from the candidate set.

[0048] The retrieval constraint restricts the spatial unit corresponding to the retrieval direction of the component to be adjacent to the transportation channel or hoisting operation area. If the retrieval direction of the component is blocked by subsequent components, temporary supports, prohibited areas, or locked spatial units, the corresponding stacking spatial unit shall not be used as a candidate stacking location for the component.

[0049] Lifting constraints limit the number of lifting tasks to one per lifting equipment within the same construction time slice, and the lifting sweep envelope does not occupy space units that are occupied or locked. Lifting constraints also limit the weight of components to not exceeding the rated lifting capacity of the lifting equipment at the corresponding lifting radius, and whether the lifting equipment covers the corresponding space unit is determined by the coverage relationship of reachable lifting equipment.

[0050] Installation constraints stipulate that the start time of installation of the next component shall not be earlier than the release time of its corresponding structural front edge, temporary support occupied edge, installation work surface release edge, and hoisting path release edge. The next component shall not enter the corresponding installation work surface or hoisting time window until the previous component has been installed, aligned, or connected, or the temporary support has been removed, or the corresponding spatial unit of the previous component's hoisting sweep envelope has been released.

[0051] When a candidate stacking location, candidate transport path, candidate hoisting time window, or candidate installation work surface for a component is eliminated, the scheduling calculation module continues to select candidate solutions from the remaining candidate set that satisfy space occupancy constraints, stacking constraints, retrieval constraints, hoisting constraints, and installation constraints. If the remaining candidate set is empty, the construction wave containing the component is marked as awaiting manual confirmation, and the conflict reason is output. The conflict reasons include insufficient yard space, inaccessibility of hoisting equipment, occupied transport channels, unreleased installation work surface, or hoisting sweep envelope conflict. Newly added stacking space units, newly added hoisting time windows, or adjusted construction waves formed after manual confirmation are rewritten into the digital space model, and candidate solution elimination and local rearrangement are performed again.

[0052] When generating component layout and construction scheduling schemes, the scheduling calculation module solves the coupled constraint model on a per-construction-wave basis. Construction waves are defined based on the sequential relationships of component nodes in the construction space release topology. Meeting installation conditions means that the corresponding structural front edge, installation work surface release edge, temporary support occupation edge does not block the component's installation envelope, hoisting path release edge does not block the component's hoisting sweep envelope, and the corresponding hoisting equipment is available within the hoisting time window. Components that meet installation conditions after completion and correspond to the same hoisting work area can be classified into the same construction wave. The sequential relationship between different construction waves is determined by the structural front edge, installation work surface release edge, and hoisting path release edge.

[0053] For components within the same construction wave, a set of candidate stacking space units is first generated. Each space unit in the candidate stacking space unit set must simultaneously meet the requirements for the corresponding component's stacking occupancy envelope, retrieval direction, and accessibility by hoisting equipment. Candidate stacking space units must be in an idle or pre-occupied state, their load-bearing capacity must meet stacking constraints, their clearance height must meet the component stacking posture requirements, their retrieval direction must be adjacent to the transport channel or hoisting operation area, and their location must be within the coverage area of ​​the hoisting equipment or be transferable to the coverage area of ​​the hoisting equipment via transfer equipment.

[0054] Within the same construction wave, the scheduling calculation module arranges components according to their installation sequence. For components installed first, they are assigned to the candidate stacking space unit with the fewest interval space units between them and the corresponding space unit in the retrieval direction. The number of interval space units is determined based on the adjacency relationship of space units in the digital space model. Two space units are considered adjacent space units if they share a common boundary, a common passageway, or are continuously connected in the construction passage direction. The number of interval space units between a candidate stacking space unit and the space unit corresponding to the retrieval direction is the number of space units excluding the starting and ending space units in the shortest adjacent space unit sequence from the candidate stacking space unit to the space unit corresponding to the retrieval direction. If there is no continuous adjacent space unit sequence, the candidate stacking space unit does not meet the retrieval constraints.

[0055] For components installed later, they are assigned to candidate stacking space units that do not overlap with the space units corresponding to the retrieval direction, transfer occupancy envelope, and hoisting sweep envelope of the components installed earlier, within the retrieval time window, transfer time window, and hoisting time window of the components installed earlier. In this way, even if the components installed later arrive first, their stacking position or posture will not obstruct the retrieval direction, transfer path, or hoisting sweep path of the components installed earlier.

[0056] The component layout plan includes component number, stacking space unit, stacking posture, retrieval direction, and permitted retrieval time. The construction scheduling plan includes component number, hoisting sequence, hoisting equipment, hoisting time window, installation work surface, and corresponding construction wave. Both the component layout plan and the construction scheduling plan are entered into the construction management terminal and synchronized to the on-site mobile terminal or hoisting operation management terminal.

[0057] During construction, on-site data acquisition terminals collect data on the actual arrival time of components, their actual stacking locations, the status of hoisting equipment, the status of transportation channels, and the completion status of the installation work area. The collected results are then mapped to a digital spatial model. The actual arrival time of components can be generated from entry barcode scanning records, vehicle arrival records, or manual confirmation records; the actual stacking location can be generated from positioning tags, on-site measurements, yard barcode scanning, or manual entry; the status of hoisting equipment can be generated from equipment operation status acquisition devices, tower crane black box data, or confirmation by on-site management personnel; the status of transportation channels can be generated from on-site positioning, video recognition, or manual inspection records; and the completion status of the installation work area can be generated from installation records, measurement verification records, connection construction records, or temporary support dismantling records.

[0058] When the data collection results meet the rearrangement trigger conditions, the scheduling calculation module determines the affected construction wave. The rearrangement trigger conditions include at least one of the following: the actual arrival time of the component is later than the planned arrival time by one construction time slice; the spatial unit corresponding to the actual stacking location is inconsistent with the stacking spatial unit recorded in the component layout plan; the hoisting equipment is in an unavailable state, and the unavailable time coincides with the component hoisting time window; the transportation channel is in an occupied or locked state, and the transportation channel coincides with the spatial unit corresponding to the component transfer occupancy envelope; the completion status of the installation work surface has not reached the corresponding release status in the construction space release topology; the spatial unit corresponding to the hoisting sweep envelope coincides with the occupancy record of an installed component, temporary support area, prohibited occupancy area, or a component in a locked state within the same construction time slice.

[0059] After identifying the affected construction waves, the scheduling calculation module freezes installed components, components being hoisted, and components that have entered the locking time window. Components that have entered the locking time window are those between the construction time slice before the planned hoisting start time and the planned hoisting completion time. After freezing, the scheduling calculation module retains the occupancy records of these components in the digital space model, without changing their stacking space units, retrieval direction, hoisting time window, and installation work surface. Subsequently, the scheduling calculation module only recalculates the stacking space units, retrieval direction, and hoisting time window for components that are not locked within the affected construction waves.

[0060] During partial rearrangement, the scheduling calculation module reallocates the stacking space units, retrieval directions, and hoisting time windows of unlocked components within space units that are not in an occupied or locked state. It also updates the hoisting path release edges and installation work surface release edges corresponding to the unlocked components in the construction space release topology. During recalculation, conflict elimination is still performed according to space occupancy constraints, stacking constraints, retrieval constraints, hoisting constraints, and installation constraints. After recalculation, the construction management terminal updates the stacking space units, retrieval directions, hoisting time windows, hoisting equipment, and installation work surfaces corresponding to the unlocked components with new valid records, and marks the original records as invalid. Invalid records are retained for construction traceability but no longer participate in the space occupancy calculation for subsequent construction time slices. The updated valid records are synchronized to the component storage yard management terminal, hoisting equipment scheduling terminal, and on-site mobile terminal.

[0061] To illustrate the specific application process of this embodiment, a prefabricated concrete building construction site is used as an example. This construction site includes three types of components: precast wall panels, precast beams, and composite slabs. The site includes a component storage yard, tower cranes, transport channels, and multiple installation work areas. The construction management terminal first imports the component detailed design model and construction plan data, reading the component number, installation location, component dimensions, weight, lifting point location, and pre-installation conditions. Then, it imports the overall construction layout plan, tower crane layout plan, and storage yard layout plan, converting the storage yard area, transport channels, tower crane coverage area, installation work areas, and temporary support areas to a unified coordinate system. Subsequently, it generates spatial units and spatial unit occupancy records.

[0062] For a given precast wall panel, the system generates a stacking occupancy envelope based on its external dimensions, permissible upright posture, support occupancy range, and safety clearance; a transfer occupancy envelope based on the shape of the transfer equipment and turning radius when the wall panel is moved from the storage yard to the hoisting and picking point; a hoisting sweep envelope based on the tower crane's slewing center, hoisting radius, hook height, wall panel lifting point, center of gravity, lifting posture, and placement posture; and an installation operation envelope based on the wall panel's installation position, diagonal support position, and connection node operating space. The scheduling and calculation module maps these four types of envelopes to spatial units and construction time slices, respectively.

[0063] If the precast wall panel is a prerequisite component for the construction of a composite slab, a pre-construction edge from the precast wall panel component node to the composite slab component node is established in the construction space release topology. If diagonal supports are required after the precast wall panel is installed, a temporary support occupation edge is established before the diagonal supports are removed. If the adjacent installation work surface can only be released after the wall panel is installed, aligned, and connected, an installation work surface release edge is established. If the wall panel's hoisting sweep envelope occupies certain hoisting space units, a hoisting path release edge is established before the hoisting is completed. The arrangement time window and hoisting time window for subsequent components are determined based on the above release edges.

[0064] If a component is originally scheduled to be hoisted in a morning construction wave, but the actual arrival time of the component is later than the planned arrival time by one construction time slice, the scheduling calculation module will identify the construction wave containing that component as the affected construction wave. If a component in the same wave has already entered a construction time slice before the planned hoisting start time, that component will be set to a locked state and will not participate in the rearrangement. The scheduling calculation module will only recalculate the stacking space unit, retrieval direction, and hoisting time window for components that are not yet locked, and will check whether the hoisting sweep envelope in the new scheme overlaps with installed components, temporary support areas, prohibited areas, or locked space units. If an overlap occurs, the candidate scheme will be eliminated, and a new candidate scheme will be selected from unoccupied and unlocked space units; if no candidate scheme is available, the reason for the conflict will be output, and the construction wave will be marked as pending manual confirmation.

[0065] Through the above implementation method, the component arrangement in this embodiment is not allocated solely based on component arrival time, yard capacity, or transportation distance, nor is it solely based on the independent scheduling of tower crane hoisting sequence. Instead, it incorporates the space occupancy formed by components in the four states of stacking, transfer, hoisting, and installation, along with the structural pre-requisite relationships, temporary support occupancy relationships, installation work surface release relationships, and hoisting path release relationships in the construction space release topology, into the same coupled constraint model. Therefore, the component stacking space unit, stacking posture, retrieval direction, hoisting time window, and installation work surface are collaboratively determined within the same construction wave. When deviations occur on-site, it is not necessary to recalculate all components. Instead, under the premise of freezing installed components, components being hoisted, and components already within the locking time window, only the unlocked components within the affected construction wave are partially rearranged.

[0066] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for intelligent arrangement and construction scheduling of fabricated building components based on digital space modeling, characterized in that, Includes the following steps: S1: Obtain component model data, construction site data, hoisting equipment data, and construction plan data for the target prefabricated building. Component model data includes component number, installation location, external dimensions, weight, lifting point location, center of gravity location, permissible stacking posture, lifting posture, placement posture, and pre-installation conditions. Construction site data includes storage area, transportation channel, hoisting operation area, installation operation surface, temporary support area, and prohibited area. Hoisting equipment data includes hoisting equipment number, rotation center coordinates, hoisting radius range, and hook height range. S2: Establish a digital spatial model based on the construction site data, divide the construction site into multiple spatial units with time attributes, and configure spatial type, available time, load-bearing capacity, clearance height, accessible hoisting equipment and safety distance attributes for each spatial unit. Generate spatial unit occupancy records according to the construction time slices in the construction plan data. S3: Generate the spatiotemporal occupancy envelope of each component based on the component model data. The spatiotemporal occupancy envelope includes the stacking occupancy envelope of the component in the stacking state, the transportation occupancy envelope in the transportation state, the hoisting sweep envelope in the hoisting state, and the installation operation envelope in the installation state. Among them, the hoisting sweep envelope is generated based on the rotation center coordinates of the hoisting equipment, the hoisting radius range, the hook height range, the component hoisting point position, the component center of gravity position, the component lifting posture, and the component placement posture. S4: Generate a construction space release topology based on the pre-installation conditions, temporary support occupancy relationships, installation work surface release relationships, and hoisting path release relationships between each component. The construction space release topology includes component nodes, spatial unit nodes, and structural pre-installation edges, temporary support occupancy edges, installation work surface release edges, and hoisting path release edges that connect component nodes and spatial unit nodes. S5: Based on the spatial unit occupancy record, spatiotemporal occupancy envelope, and construction space release topology in the digital spatial model, establish a coupled constraint model for component layout and construction scheduling. The coupled constraint model includes spatial occupancy constraints, stacking constraints, retrieval constraints, hoisting constraints, and installation constraints. Candidate stacking positions, candidate transfer paths, candidate hoisting time windows, and candidate installation work surfaces that overlap with spatial units in the same construction time slice as those in the occupied or locked state are removed from the candidate set. S6: Solve the coupled constraint model in units of construction waves to generate component layout scheme and construction scheduling scheme. The component layout scheme includes the stacking space unit, stacking posture and retrieval direction of each component. The construction scheduling scheme includes the hoisting sequence, hoisting equipment, hoisting time window and installation work surface of each component. S7: Collect the actual arrival time of components at the construction site, the actual stacking location, the status of hoisting equipment, the status of transportation channels, and the completion status of the installation work surface, and map the collected results to the digital space model; S8: When the collection results meet the rearrangement trigger conditions, determine the affected construction wave, freeze the installed components, the components being hoisted, and the components that have entered the locking time window, and recalculate the stacking space unit, retrieval direction, and hoisting time window for the unlocked components in the affected construction wave while keeping the corresponding occupancy records of the frozen components unchanged.

2. The method according to claim 1, wherein, A digital spatial model is established based on construction site data, including: A unified coordinate system for the construction site is established, using the building grid coordinates of the target prefabricated building as the horizontal coordinate reference and the design elevation of the construction site as the vertical coordinate reference. The storage yard area, transportation channel, hoisting operation area, installation operation surface, temporary support area and prohibited occupation area are converted into boundary data under a unified coordinate system; The construction site is divided into multiple spatial units based on boundary data. For each spatial unit, the following information is recorded: spatial unit number, spatial type, plane boundary, elevation range, available time period, load-bearing capacity, clearance height, accessible hoisting equipment number, coverage relationship of accessible hoisting equipment, and safety distance.

3. The method according to claim 2, wherein, The space unit generates an occupancy record based on the component arrival time, stacking time, transfer time, hoisting time, installation time and temporary support retention time in the construction plan data. Each occupancy record includes the space unit number, the occupancy object number, the occupancy start time, the occupancy end time and the occupancy status. The occupancy status includes the idle status, the pre-occupancy status, the occupied status and the locked status. The construction time slice is determined by the minimum value among the minimum duration of the transfer task, the minimum duration of the hoisting task, and the minimum duration of the installation operation record in the construction plan data.

4. The method of claim 3, wherein, Generate the spatiotemporal occupancy envelope of each component based on the component model data, including: The stacking occupancy envelope is generated based on the component's external dimensions, allowable stacking posture, pad block height, number of stacking layers, and safe distance in the storage yard; The transfer occupancy envelope is generated based on the component's external dimensions, the transfer equipment's external dimensions, the component's transfer posture, the transport channel width, and the transfer turning radius. An installation operation envelope is generated based on the component's external dimensions, installation location, connection node location, temporary support layout location, and reserved space for installation operations. The stacking occupancy envelope, the transfer occupancy envelope, and the installation operation envelope are respectively mapped to the corresponding spatial units and time periods in the digital spatial model.

5. The method of claim 4, wherein, The hoisting sweep envelope is generated as follows: Based on the coordinates of the rotation center of the hoisting equipment, the range of hoisting radius, the range of hook height, the position of the component lifting point, the position of the component center of gravity, the lifting posture of the component, and the placement posture of the component, determine the pick-up point, turning point, and placement point of the component from the stacking position to the installation position; Generate discrete hoisting positions for components between two adjacent points with an angle step size of no more than 3 and a height step size of no more than 0.5m. The outer contours of components under each discrete hoisting pose are transformed into the unified coordinate system of the digital space model, and the transformed outer contours of components are subjected to union processing to obtain the hoisting sweep envelope. The lifting sweep envelope is mapped to the corresponding spatial unit and lifting time window.

6. The method of claim 5, wherein, In the construction space release topology: The front edge of the structure records the order in which the next component enters the installation work surface after the previous component is installed; The temporary support occupancy edge record records the occupancy relationship of the corresponding space unit in the temporary support area before the support is removed; The release edge of the installation work surface records the release relationship of the corresponding space unit after the component installation, correction and connection are completed; The hoisting path release edge records the occupancy relationship of the spatial unit corresponding to the hoisting sweep envelope before the previous component is hoisted; Based on the aforementioned structural front edge, temporary support occupation edge, installation work surface release edge, and hoisting path release edge, determine the arrangement time window and hoisting time window for each component.

7. The method of claim 6, wherein, The space occupancy constraint limits the same space unit to one occupant within the same construction time slice. The stacking constraints limit the load-bearing capacity of the spatial unit corresponding to the stacking position of the components to be no less than the sum of the weight of the components, the weight of the pad blocks, and the weight of the upper-layer components in the same stacking group; The spatial unit corresponding to the direction of component retrieval, as defined by the retrieval constraint, is adjacent to the transportation channel or hoisting operation area. The hoisting constraint limits the same hoisting equipment to one hoisting task within the same construction time slice, and the hoisting sweep envelope does not occupy space units that are occupied or locked. The installation constraints stipulate that the start time of the installation of the next component shall not be earlier than the release time of its corresponding structural front edge, temporary support occupied edge, installation work surface release edge, and hoisting path release edge. When any candidate stacking space unit, transfer occupancy envelope, hoisting sweep envelope, or installation operation envelope overlaps with a space unit that is occupied or locked in the same construction time slice, the corresponding candidate scheme will be removed from the coupled constraint model.

8. The method according to claim 7, wherein, The solution of the coupled constraint model in units of construction waves includes: Construction waves are divided according to the relationship between component nodes in the construction space release topology. Components that are ready for installation after the preceding components are completed and correspond to the same hoisting operation area are classified into the same construction wave. A set of candidate stacking space units is generated for components within the same construction wave. The space units in the set of candidate stacking space units meet the requirements of stacking occupancy envelope, retrieval direction and accessibility of hoisting equipment for the corresponding components. According to the installation sequence of components within the same construction wave, the components to be installed first are assigned to the candidate stacking space unit with the fewest space units between the space units corresponding to the retrieval direction. The later-installed components are assigned to candidate stacking space units that do not overlap with the retrieval direction, transfer occupancy envelope, and hoisting sweep envelope of the earlier-installed components within the retrieval time window, transfer time window, and hoisting time window of the earlier-installed components. Based on the allocated stacking space units, stacking posture, retrieval direction, and hoisting time window, a component layout plan and a construction scheduling plan are generated.

9. The method of claim 8, wherein, The rearrangement triggering condition includes at least one of the following: The actual arrival time of the components was later than the planned arrival time by a construction time segment. The actual stacking location corresponds to a space unit that is inconsistent with the stacking space unit recorded in the component layout plan; The hoisting equipment is in an unavailable state, and the unavailable time coincides with the component hoisting time window; The transport channel is in an occupied or locked state, and the transport channel coincides with the spatial unit corresponding to the component transfer occupancy envelope; The installation work surface has not reached the corresponding release status in the construction space release topology. The release status includes installation completion status, correction completion status, connection completion status, and temporary support removal completion status. The spatial unit corresponding to the hoisting sweep envelope overlaps with the occupancy records of installed components, temporary support areas, prohibited areas, or locked components within the same construction time slice.

10. The method of claim 9, wherein, The components that have entered the locked time window are those that are between one construction time segment before the planned start time of hoisting and the planned completion time of hoisting; When recalculating the stacking space unit, retrieval direction and hoisting time window for components that are not locked within the affected construction wave, retain the occupancy records of installed components, components being hoisted and components that have entered the locking time window in the digital space model; In space units that are not occupied or locked, the stacking space units, retrieval directions, and hoisting time windows of the unlocked components are reallocated, and the hoisting path release edge and installation work surface release edge corresponding to the unlocked components in the construction space release topology are updated. Records corresponding to the unlocked components in the component layout scheme and construction scheduling scheme are regenerated.

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