CN-122022087-A - Method and system for planning construction site path based on CIM data

CN122022087ACN 122022087 ACN122022087 ACN 122022087ACN-122022087-A

Abstract

The invention discloses a method and a system for planning a construction site path based on CIM data, wherein the method comprises the steps of aligning an acquired CIM data with a coordinate system; the method comprises the steps of aligning coordinate systems, establishing a hierarchical bounding box index of space inquiry based on the data, establishing a navigation map based on the established hierarchical bounding box index and combining planning parameters, wherein the planning parameters comprise a starting point, an ending point, a collision radius and a limiting height, and planning a construction site path according to the established navigation map. According to the invention, feasible areas, obstacle areas and the like are expressed through CIM data, and a route is reasonably planned through the requirements of collision volume, height limit, width limit and the like, so that the problem of planning traffic routes of transportation vehicles, construction robots and personnel for chaotic and changeable construction sites is solved.

Inventors

PEI YIJUN
WU XIAOKAI
ZHENG YAWEN
Xiang Liliang
LIU FAN
LEI LINGXI
YANG HAIMING
XIANG WEI
WANG XIANGYANG
ZHANG YIDI

Assignees

中建三局安装工程有限公司

Dates

Publication Date: 20260512
Application Date: 20251225

Claims (10)

1. A method for performing construction site path planning based on CIM data, comprising: Carrying out coordinate system alignment on the acquired CIM data; establishing a hierarchical bounding box index of the space query based on the data aligned by the coordinate system; based on the established hierarchical bounding box index, establishing a navigation map by combining planning parameters, wherein the planning parameters comprise a starting point, an ending point, a collision radius and a limiting height; And planning a construction site path according to the established navigation map.
2. The method of claim 1, wherein creating a navigation map based on the created hierarchical bounding box index in combination with the planning parameters comprises: establishing a GIS data map for providing road information of surrounding environment of a construction site; Establishing a Mesh data map for height and width limiting judgment; And establishing an IOT data map for identifying the construction site obstacle.
3. The method for construction site path planning based on CIM data according to claim 2, wherein establishing the Mesh data map comprises: And acquiring distance information based on intersection of the vertical downward ray, the horizontal four-way ray and the triangle in the Mesh data, and accelerating the intersection process of the triangle and the ray in the Mesh data by using the hierarchical bounding box index.
4. A method for performing construction site path planning based on CIM data according to claim 3, wherein obtaining distance information based on intersection of vertical downward rays, horizontal four-way rays, and triangles in Mesh data comprises: judging whether the ray direction is coplanar with the plane of the triangular surface; If the two directions are not coplanar, assuming that the intersection point of the ray and the triangular surface ABC is P, calculating the proportion u of the AP in the direction of the vector AB and the proportion v of the AP in the direction of the vector AC; If v <0 or u+v >1, then intersect.
5. The method of claim 4, wherein if u+v >1, the intersection falls within a triangular surface BCD, D being a point outside of the triangular surface ABC.
6. The method of construction site path planning based on CIM data of claim 4, wherein if u <0 or u >1, then do not intersect.
7. A method of construction site path planning based on CIM data according to claim 3, further comprising: in the vertical direction, if the distance between the ray starting point and the pick-up point is greater than the limit height, judging that the position is an obstacle region; If the distance between the ray starting point and the pick-up point is smaller than or equal to the limiting height, judging whether the distance between the ray starting point and the pick-up point is larger than the collision diameter in the horizontal four directions, and if so, judging that the distance is an obstacle area.
8. The method of claim 1, wherein the step of performing the construction site path planning based on the CIM data comprises: Path planning is performed using an a-algorithm, where the heuristic is f (n) =g (n) +h (n), f (n) represents a cost estimate from the initial state to the target state via state n, g (n) represents an actual cost from the initial state to state n in the state space, and h (n) represents an estimated cost of the best path from state n to the target state.
9. A system for construction site path planning based on CIM data, comprising: The first main module is used for aligning the acquired CIM data with a coordinate system; the second main module is used for establishing a hierarchical bounding box index of the space query based on the data aligned by the coordinate system; The third main module is used for establishing a navigation map based on the established hierarchical bounding box index and combining planning parameters, wherein the planning parameters comprise a starting point, an ending point, a collision radius and a limiting height; And the fourth main module is used for planning the construction site path according to the established navigation map.
10. A non-transitory computer readable storage medium storing computer instructions that cause the computer to perform the steps of a method of construction site path planning based on CIM data as claimed in any one of claims 1 to 8.

Description

Method and system for planning construction site path based on CIM data Technical Field The invention belongs to the technical field of BIM, and particularly relates to a method and a system for planning a construction site path based on CIM data. Background The city information model (City Information Modeling, CIM) mainly comprises Building Information Model (BIM), geographic Information System (GIS), internet of things (IoT) and other data, and can describe the condition of the construction site to a certain extent. In the construction site management, the scheduling and transportation of resources depend on the traffic planning and actual yard conditions of the site, and how to efficiently and reasonably plan the traffic path of transport vehicles, construction robots and personnel for chaotic and changeable construction sites is a main problem to be solved by the invention. Disclosure of Invention The invention aims to provide a construction site path planning method based on CIM data, which expresses feasible areas, obstacle areas and the like through the CIM data, and reasonably plans a route through the requirements of collision volume, height limit, width limit and the like so as to solve the problem of planning traffic paths of transportation vehicles, construction robots and personnel for chaotic and changeable construction sites. According to an aspect of the present disclosure, there is provided a method for performing construction site path planning based on CIM data, including: Carrying out coordinate system alignment on the acquired CIM data; establishing a hierarchical bounding box index of the space query based on the data aligned by the coordinate system; based on the established hierarchical bounding box index, establishing a navigation map by combining planning parameters, wherein the planning parameters comprise a starting point, an ending point, a collision radius and a limiting height; And planning a construction site path according to the established navigation map. As a further technical solution, based on the established hierarchical bounding box index, in combination with planning parameters, a navigation map is established, including: establishing a GIS data map for providing road information of surrounding environment of a construction site; Establishing a Mesh data map for height and width limiting judgment; And establishing an IOT data map for identifying the construction site obstacle. As a further technical solution, establishing a Mesh data map includes: And acquiring distance information based on intersection of the vertical downward ray, the horizontal four-way ray and the triangle in the Mesh data, and accelerating the intersection process of the triangle and the ray in the Mesh data by using the hierarchical bounding box index. As a further technical scheme, obtaining distance information based on intersection of vertical downward rays, horizontal four-way rays and triangles in Mesh data comprises: judging whether the ray direction is coplanar with the plane of the triangular surface; If the two directions are not coplanar, assuming that the intersection point of the ray and the triangular surface ABC is P, calculating the proportion u of the AP in the direction of the vector AB and the proportion v of the AP in the direction of the vector AC; If v <0 or u+v >1, then intersect. As a further technical solution, if u+v >1, the intersection point falls within the triangular face BCD, D being a point outside the triangular face ABC. As a further solution, if u <0 or u >1, then do not intersect. As a further technical solution, the method further includes: in the vertical direction, if the distance between the ray starting point and the pick-up point is greater than the limit height, judging that the position is an obstacle region; If the distance between the ray starting point and the pick-up point is smaller than or equal to the limiting height, judging whether the distance between the ray starting point and the pick-up point is larger than the collision diameter in the horizontal four directions, and if so, judging that the distance is an obstacle area. As a further technical solution, performing construction site path planning according to the established navigation map, including: Path planning is performed using an a-algorithm, where the heuristic is f (n) =g (n) +h (n), f (n) represents a cost estimate from the initial state to the target state via state n, g (n) represents an actual cost from the initial state to state n in the state space, and h (n) represents an estimated cost of the best path from state n to the target state. According to an aspect of the present disclosure, there is provided a system for performing construction site path planning based on CIM data, including: The first main module is used for aligning the acquired CIM data with a coordinate system; the second main module is used for establishing a hierarchical bounding box index of the space que