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CN-121981682-A - Engineering paying-off process collaborative management system based on digital twinning

CN121981682ACN 121981682 ACN121981682 ACN 121981682ACN-121981682-A

Abstract

The invention discloses a digital twinning-based engineering paying-off process collaborative management system which comprises a scene construction module, an environment updating module, a path simulation module, an execution control module, a deviation re-planning module, a collaborative scheduling module and a data link management module, wherein the scene construction module is used for acquiring engineering information data and generating a digital twinning three-dimensional engineering scene, the environment updating module is used for finishing data preprocessing to obtain an updated three-dimensional engineering scene, the path simulation module is used for generating a target paying-off path and carrying out simulation deduction to obtain a simulation execution track, the execution control module is used for generating a paying-off execution instruction and carrying out track processing to generate a real paying-off path, the deviation re-planning module is used for carrying out deviation analysis on the real paying-off path and generating a local adjustment result, the collaborative scheduling module is used for executing Max-Sum distributed collaborative scheduling on a regional layered factor graph to generate a multi-main collaborative scheduling instruction, and the data link management module is used for recording the real paying-off path and the multi-main collaborative scheduling instruction to form an engineering paying-off data link. The invention realizes the collaborative management of the engineering paying-off process.

Inventors

  • GUO FANLI

Assignees

  • 宿迁学院
  • 江苏中天交通工程有限公司

Dates

Publication Date
20260505
Application Date
20260126

Claims (10)

  1. 1. The utility model provides an engineering unwrapping wire process collaborative management system based on digit twinning which characterized in that includes: the scene construction module is used for acquiring engineering information data, carrying out structural coding and coordinate unification, and generating a digital twin three-dimensional engineering scene; the environment updating module is used for collecting environment state data, finishing data preprocessing and obtaining an updated three-dimensional engineering scene; The path simulation module is used for generating a target paying-off path according to site limiting conditions and paying-off requirements in the updated three-dimensional engineering scene, and performing simulation deduction to obtain a simulation execution track; The execution control module is used for generating a paying-off execution instruction according to the simulation execution track and sending the paying-off execution instruction to the paying-off robot execution unit to perform track processing and posture correction so as to generate a real paying-off path; The deviation re-planning module is used for carrying out deviation analysis on the real paying-off path and the target paying-off path, and carrying out local re-planning to generate a local adjustment result for dynamic deviation correction; The collaborative scheduling module is used for determining a task allocation candidate relation through a market bidding mechanism, executing Max-Sum distributed collaborative scheduling on the regional layered factor graph and generating a multi-main collaborative scheduling instruction; and the data chain management module is used for recording real paying-off paths and multi-main-body cooperative scheduling instructions to form an engineering paying-off data chain for quality acceptance and construction tracing.
  2. 2. The engineering paying-off process collaborative management system based on digital twinning according to claim 1, wherein the modules are realized by the following method: engineering information data are acquired, structuring, coordinate unification and scene construction are carried out, and a digital twin three-dimensional engineering scene is formed; based on the three-dimensional engineering scene, collecting environmental state data, preprocessing the data, and obtaining an updated three-dimensional engineering scene; Generating a target paying-off path according to site limiting conditions in the updated three-dimensional engineering scene, and performing simulation deduction to obtain a simulation execution track; Generating a paying-off execution instruction according to the simulation execution track, and delivering the paying-off execution instruction to an execution unit of the paying-off robot; acquiring position information and an execution state of an execution unit of the paying-off robot in real time in the paying-off execution process, and performing track processing and posture correction to generate a real paying-off path; Performing deviation analysis on the real paying-off path and the target paying-off path, and performing local adjustment on paying-off execution instructions of the corresponding area to obtain a local adjustment result; Mapping paying-off tasks and material resources to corresponding areas, determining candidate relation of task allocation in a market bidding mode, and executing Max-Sum distributed collaborative scheduling on a factor graph to obtain a multi-main-body collaborative scheduling instruction; recording and archiving a real paying-off path and a multi-main-body cooperative scheduling instruction generated in the paying-off process to form an engineering paying-off data chain.
  3. 3. The digital twinning-based engineering paying-off process collaborative management system according to claim 2, wherein the forming of the digital twinning three-dimensional engineering scene specifically comprises: Engineering information data are acquired, design patterns, component attributes and field measurement are read and imported, data from different sources are classified and sorted, screening treatment is carried out, and an engineering information original data set is formed; Carrying out structuring treatment on the engineering information original data set, coding according to a unified field format, uniformly converting a coordinate reference and an elevation reference, and forming an engineering information data table with a uniform expression format; On the basis of an engineering information data table, generating the three-dimensional geometric shape of the components according to the plane coordinates and the elevation coordinates of the components, and constructing the connection, intersection and subordinate relations among the components to form a digital twin three-dimensional engineering scene.
  4. 4. The digital twinning-based engineering paying-off process collaborative management system according to claim 2, wherein the obtaining of the updated three-dimensional engineering scene specifically comprises: collecting environment state data under a unified coordinate system of a three-dimensional engineering scene, recording time information for the environment state data according to the collecting time, classifying the environment state data, removing data with abnormal formats, wherein each piece of effective environment state data has definite collecting time description and space position description, and forming an environment state original data set; Uniformly processing the original data set of the environmental state to form a preprocessed data set of the environmental state; and matching the environment state preprocessing data set with engineering information in the three-dimensional engineering scene, and updating relevant state parameters in the three-dimensional engineering scene to obtain an updated three-dimensional engineering scene.
  5. 5. The collaborative management system for an engineering paying-off process based on digital twinning according to claim 2, wherein the obtaining of the simulation execution trace specifically comprises: Reading construction area information for paying off in the updated three-dimensional engineering scene, extracting and marking the space position of a component, the outline boundary of the component and the position of an obstacle in the construction area, and defining a space range for the paying-off robot to pass through under a three-dimensional coordinate system to obtain a path planning space; In a path planning space, determining the space positions of a starting point and a finishing point of the paying-off according to site limiting conditions and specified paying-off requirements, sequentially selecting target position points according to paying-off sequence, associating each target position point with the space position corresponding to a three-dimensional engineering scene and the relation between adjacent components, and combining each target position point into a continuous paying-off travelling route according to the travelling sequence of the paying-off to generate path data; And sequentially simulating the moving process of the paying-off robot in the updated three-dimensional engineering scene according to the path sequence of the path data, simulating the corresponding arrival position and motion state of each target position point, and recording the position change and the posture change of the paying-off robot in the simulation process to form a simulation execution track.
  6. 6. The digital twinning-based engineering paying-off process collaborative management system according to claim 2, wherein the generating process of the paying-off execution instruction specifically comprises: reading the simulation execution track, rearranging each track point recorded in the simulation process according to the time sequence, and generating a track point sequence according to the continuity and time sequence of the track point; On the basis of the track point sequence, converting the space position description of each track point into a control coordinate system adopted by an execution unit of the paying-off robot, carrying out coding processing on the gesture and the movement direction of the track point, combining the position data, gesture parameters and movement direction parameters according to a control field format of the execution unit, and forming a control parameter set; Assembling the control parameter set according to the movement sequence of the track point sequence, integrating the assembled control parameters to generate a complete paying-off execution instruction, writing the paying-off execution instruction into a robot control communication structure, and issuing the paying-off execution instruction through an instruction interface of an execution unit.
  7. 7. The digital twinning-based engineering paying-off process collaborative management system according to claim 2, wherein the generating of the real paying-off path specifically comprises: in the paying-off execution process, real-time acquisition is carried out on operation data of an executing unit of the paying-off robot, each acquisition record is endowed with time description according to acquisition time, and meanwhile, each record is marked with a construction area and a corresponding component domain identifier in the acquisition process to form an original record set of the operation data; On the basis of an original record set of running data, combining space positions in continuous acquisition records into a track point sequence according to time sequence, executing component domain constraint on the track point sequence according to component domain identification, mapping the space position of each track point into a passable path domain of a corresponding component, executing gesture fusion processing based on component plane normal vectors, path tangential vectors and equipment gesture vectors on track point gestures, and executing digital twin back projection correction on track points with position jump, gesture reversal or inconsistent states, so that the track point sequence meets the component domain constraint on the space position and meets the path travel constraint on the gesture direction to obtain a real track data sequence; Reconstructing the real track data sequence according to the time sequence of the paying-off execution, generating a real paying-off path with continuous track segments and fusing corresponding relations of gesture descriptions and component domains, converting the spatial positions of track points in the real paying-off path into a unified coordinate system of the updated three-dimensional engineering scene, and synchronously updating the component nodes, the spatial region nodes and the state fields of the track points.
  8. 8. The digital twinning-based engineering paying-off process collaborative management system according to claim 2, wherein the obtaining of the local adjustment result specifically comprises: the real paying-off path and track points in the target paying-off path are paired point by point according to the time sequence, position deviation values formed by position deviation and attitude deviation are calculated, and all the position deviation values are combined into a deviation sequence according to the track sequence; Comparing the position deviation value in the deviation sequence with a preset deviation threshold value, and marking the area with the condition of member occupation or path failure as a conflict area to form a conflict recognition result; Performing local re-planning processing in the conflict area, loading component constraint conditions and passable space units of the conflict area, reselecting alternative position points, constructing a local path section, and continuously correcting the connection relation between the local path section and the original path section to form a local adjustment path; And converting the local adjustment path into a local adjustment instruction, performing control field coding processing on the spatial position, the gesture and the execution sequence, and replacing corresponding fields in the original paying-off execution instruction to generate a local adjustment result.
  9. 9. The digital twinning-based engineering paying-off process collaborative management system according to claim 2, wherein the obtaining of the multi-main-body collaborative scheduling instruction specifically comprises: In the updated three-dimensional engineering scene, analyzing a construction area related to a local adjustment result, and establishing a mapping relation between each paying-off task and a located area and a usable material resource to form a task and material resource area mapping set taking the construction area as an index; On the basis of a task and material resource region mapping set, carrying out utility evaluation on each paying-off task and candidate material resources in a region, adopting a mixed scheduling strategy combining a market bidding mechanism, comprehensively considering the matching degree between the task and the material resources, the space distance, the current load level and the expected load level of the region, marking the matching degree as a scoring quantity, marking the space distance as a distance quantity, weighing the deviation between the current load and the expected load of the region into a load penalty quantity in a weighted manner, carrying out weighted synthesis on the scoring quantity, the distance quantity and the load penalty quantity through a preset weight parameter and an attenuation parameter to obtain a bidding utility value between each task and the candidate material resources, and sequencing and screening candidate relations according to the utility value to form a candidate relation set of task allocation; constructing an area layered factor graph structure on the basis of construction area division by taking a candidate relation set of task allocation as a constraint condition, expressing the material resource allocation condition of each paying-off task in each construction area as an allocation variable in the layered factor graph structure, respectively expressing task demand constraint, material resource capacity constraint and area construction constraint as task factors, resource factors and area factors, and writing a local adjustment result into the corresponding area factors in the form of additional constraint; And executing Max-Sum distributed collaborative scheduling on the layered factor graph structure, iteratively updating the information sent by each factor node to the allocation variable nodes connected with the factor node, and comparing and selecting the comprehensive cost of different task allocation combinations as the comprehensive cost according to the bidding utility value corresponding to the candidate relationship between the current task and the material resource, the candidate relationship, the local adjustment constraint and the hierarchical relationship of the layered factor graph structure as the comprehensive cost when updating each time, so as to obtain the optimal allocation combination, and converting the optimal allocation combination into the multi-main collaborative scheduling instruction.
  10. 10. The digital twinning-based engineering paying-off process collaborative management system according to claim 2, wherein the forming of the engineering paying-off data chain specifically comprises: Continuously acquiring the space position description, the gesture description and the motion state description of the real paying-off path, sorting according to the time description amount, writing path record items, and organizing all record items according to the time sequence to form a time sequence path record set of the real paying-off path; reading an optimal allocation combination generated by multi-main-body cooperative scheduling, writing a scheduling record entry, recording the information updating content from a factor node to a variable node in the scheduling iteration process, and combining the scheduling record entry and the information updating content to form a multi-main-body cooperative scheduling instruction record set; And correlating the time sequence path record set of the real paying-off path with the multi-main-body collaborative scheduling instruction record set according to the task number and the time description amount, and archiving according to the execution batch number to form an engineering paying-off data chain.

Description

Engineering paying-off process collaborative management system based on digital twinning Technical Field The invention relates to the technical field of engineering management, in particular to a digital twinning-based engineering paying-off process collaborative management system. Background At present, paying-off operation of engineering construction sites is mostly finished by means of measuring equipment such as total stations, laser rangefinders and the like in cooperation with manual operation, and a part of projects introduce a basic three-dimensional modeling or BIM technology, so that a design drawing is displayed in a three-dimensional space and used for assisting paying-off positioning. However, the technology stays at the graphic visualization and single-point measurement labeling level, the engineering information data, the component attribute data and the field measurement data lack of unified structural management and coordinate integrated expression, and a continuously updatable digital twin three-dimensional engineering scene is difficult to form, so that the preparation work in the early stage of paying off depends on manual integration of multi-source data, the efficiency is low, and deviation is easy to generate. With the advent of intelligent paying-off robots and other equipment, some prior art attempts to combine paying-off path planning with robot control, and through simple path generation algorithm and preset construction area information, drive a single paying-off robot to complete automatic paying-off operation. However, the existing scheme often assumes that the construction environment is relatively static, the acquisition and the processing of the on-site environment state data are rough, the on-site environment state data are mostly corrected only through local manual intervention or simple safety distance rules, and the digital twin model cannot be fully utilized for fine control. Under the scene of multi-robot and multi-task parallel construction, the existing paying-off collaborative management technology mainly depends on manual experience or simple rule scheduling, mapping relation of paying-off tasks and material resources is not considered sufficiently, task allocation modes are mainly static plans or first-come first-serve strategies, quantitative evaluation on matching benefits of the tasks and the resources is lacking, and problems of local congestion, uneven resource utilization rate, inter-robot interference and the like are prone to occurring. Therefore, how to provide a digital twin-based engineering paying-off process collaborative management system is a problem to be solved by those skilled in the art. Disclosure of Invention The invention aims to provide a digital twinning-based engineering paying-off process collaborative management system, which realizes dynamic optimization allocation of tasks and material resources by introducing a local re-planning mechanism and a Max-Sum distributed collaborative scheduling algorithm based on a factor graph, and improves paying-off operation precision and construction collaborative efficiency. According to the embodiment of the invention, the engineering paying-off process collaborative management system based on digital twinning comprises the following components: the scene construction module is used for acquiring engineering information data, carrying out structural coding and coordinate unification, and generating a digital twin three-dimensional engineering scene; the environment updating module is used for collecting environment state data, finishing data preprocessing and obtaining an updated three-dimensional engineering scene; The path simulation module is used for generating a target paying-off path according to site limiting conditions and paying-off requirements in the updated three-dimensional engineering scene, and performing simulation deduction to obtain a simulation execution track; The execution control module is used for generating a paying-off execution instruction according to the simulation execution track and sending the paying-off execution instruction to the paying-off robot execution unit to perform track processing and posture correction so as to generate a real paying-off path; The deviation re-planning module is used for carrying out deviation analysis on the real paying-off path and the target paying-off path, and carrying out local re-planning to generate a local adjustment result for dynamic deviation correction; The collaborative scheduling module is used for determining a task allocation candidate relation through a market bidding mechanism, executing Max-Sum distributed collaborative scheduling on the regional layered factor graph and generating a multi-main collaborative scheduling instruction; and the data chain management module is used for recording real paying-off paths and multi-main-body cooperative scheduling instructions to form an engineering paying-off data chain for quality