CN-122022744-A - Construction collaborative management system and method based on robot actual measurement data

CN122022744ACN 122022744 ACN122022744 ACN 122022744ACN-122022744-A

Abstract

The invention relates to the technical field of intelligent construction management and discloses a construction collaborative management system and method based on actual measurement data of a robot, wherein the system comprises a building information model module, a construction information model module and a construction information model module, wherein the building information model module stores a BIM model containing a working procedure logic chain; the system comprises a working procedure logic chain, a measuring robot cluster, a data twin engine, a collaborative decision module, a collaborative management terminal and a visual display, wherein the working procedure logic chain is used for carrying out actual measurement and generating an actual measurement data set, the data twin engine is used for comparing the actual measurement data set with the BIM model to generate a deviation matrix and construct a collaborative health degree model, the collaborative decision module is used for generating a local correction instruction or a global dynamic adjustment instruction set according to a health degree index layering level. The method corresponds to the system. The invention realizes automatic collection, intelligent analysis and dynamic collaborative decision of construction quality data, solves the problems of low efficiency, insufficient coverage and feedback lag of the traditional method, and improves the automation and intelligent level of construction collaborative management.

Inventors

ZHANG HUI
YAN DENGSHUN
LIU FUWEI
LONG JUNZHOU
ZHOU HAIHUA
Ao Pujiang
PENG XIANG
QIAO BAOGUI
Wan Shuangxiang
XU BIN
ZHANG HUANGCHENG

Assignees

中铁五局集团华南工程有限责任公司
中铁五局集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260116

Claims (10)

1. The utility model provides a construction collaborative management system based on robot actual measurement data which characterized in that, this system includes: The building information model module is used for storing a BIM model provided with design parameters and a process logic chain, wherein the process logic chain defines a construction flow relation comprising key processes; The measuring robot cluster is in communication connection with the building information model module and is configured to carry out actual measurement on a building structure surface, a plastering surface and a finishing surface on a construction site according to the working procedure logic chain, and an actual measurement data set comprising space coordinates and measurement data is generated; the data twin engine is in communication connection with the measuring robot cluster and the building information model module, and is configured to compare and analyze the measured data set with the BIM model, generate a construction quality analysis result comprising a deviation matrix, and construct a collaborative health model for quantitatively evaluating a collaborative state based on the deviation matrix and the process logic chain; The collaborative decision-making module is in communication connection with the data twin engine and is configured to judge according to the health index output by the collaborative health model and generate a local correction instruction or a global dynamic adjustment instruction set in a layered manner; And the collaborative management terminal is in communication connection with the data twin engine and the collaborative decision module and is configured to visually display the BIM model, the actual measurement data set, the construction quality analysis result, the local correction instruction and the global dynamic adjustment instruction set.
2. The cooperative management system for construction based on measured data of robots according to claim 1, wherein the measuring robot cluster comprises: The universal measuring robot is configured to carry out mobile measurement on the flatness and verticality of the wall surface, the ground and the ceiling; The special detection robot is configured to detect the thickness of the empty drum and the protective layer in the wall body in a special way when the continuous abnormality of the surface quality of the wall body is detected, and is provided with a radar scanner.
3. The cooperative management system for construction based on measured data of a robot according to claim 2, wherein the data twin engine comprises: The coordinate registration unit is configured to receive the actual measurement data set and unify the actual measurement data set and the BIM model to the same construction global coordinate system through a coordinate registration algorithm; the deviation calculating unit is connected with the coordinate registering unit and is configured to compare the registered measured data with the design surface of the component corresponding to the BIM model, calculate spatial position deviation, flatness deviation and geometric dimension deviation and integrate the spatial position deviation, flatness deviation and geometric dimension deviation into the deviation matrix; The risk analysis unit is connected with the deviation calculation unit and is configured to calculate potential influence risk coefficients of the deviation matrix on the subsequent key process based on the deviation matrix corresponding to the current process and based on the process requirements of the subsequent key process in the process logic chain; And the model construction unit is connected with the risk analysis unit and the deviation calculation unit and is configured to construct and output the collaborative health degree model based on the deviation matrix and the potential influence risk coefficient.
4. The cooperative management system for construction based on measured data of a robot according to claim 3, wherein the health index is calculated by the following formula: : Wherein, the To the number of stations that exceed the current process tolerance threshold, For the total number of measuring points, For the absolute average of the spatial position deviation, the flatness deviation and the geometry deviation, In order to be a maximum allowable deviation of the light, For the potential risk factor of influence, 、 And Is a weight coefficient dynamically configured according to the process type and meets 。
5. The cooperative management system for construction based on measured data of a robot according to claim 1, wherein the cooperative decision module comprises: the threshold judging unit is configured to receive the health index and compare the health index with a preset first threshold and a preset second threshold, wherein the second threshold is smaller than the first threshold; a local instruction generating unit connected with the threshold value judging unit and configured to identify a component with a deviation value exceeding a current process tolerance threshold value based on the deviation matrix when the health index is lower than the first threshold value but higher than the second threshold value, and generate a local correction instruction for the component, wherein the local instruction comprises an adjustment vector calculated based on the deviation value and a recommended construction parameter; And the global optimization instruction generating unit is connected with the threshold judging unit and is configured to judge that the health index is abnormal in cooperation when the health index is lower than the second threshold, and trigger a global cooperative optimization flow to generate the global dynamic adjustment instruction set.
6. The cooperative management system for construction based on measured data of a robot according to claim 5, wherein the global cooperative optimization process includes: predicting the deviation development trend of future construction batches by taking a history deviation matrix as input through a long-short-term memory network model; When the predicted deviation development trend shows that the key working procedures in the working procedure logic chain are influenced, under the condition that the total construction period constraint is met, a construction robot scheduling instruction and a material supplement plan are generated to form the global dynamic adjustment instruction set.
7. The collaborative management system for construction based on measured robot data according to claim 1, further comprising a cluster of edge computing gateways deployed at a job site, wherein: Each robot in the measuring robot cluster is internally provided with an edge computing node, and the edge computing node is used for carrying out preprocessing of point cloud downsampling and feature extraction on the collected original measured data; The edge computing gateway cluster is configured to perform time synchronization and integration on the data preprocessed by each robot, upload the data to the data twin engine through a high-speed network, and simultaneously distribute the instruction issued by the collaborative decision module to a designated robot or terminal with low delay.
8. The collaborative management system based on the measured data of the robot according to claim 1, wherein the building information model module further stores a construction case library, the construction case library stores deviation scene data, treatment instructions and treatment results of history items, and the collaborative decision module retrieves the construction case library through a similarity matching algorithm and uses a matched history treatment scheme as a reference basis for generating a current instruction when generating the instruction.
9. The collaborative management system for construction based on measured robot data according to claim 8, wherein the retrieving the library of construction cases by a similarity matching algorithm and taking the matched historical treatment plan as a reference for generating current instructions comprises: defining the current bias scene as a multidimensional feature vector Wherein the characteristics are Including deviation type, deviation amplitude Health index And at least one of the working procedure stages, and simultaneously, the construction case base is subjected to the first step The historical cases are defined as vectors ; Based on normalized features And Calculating the similarity between the current scene and the historical case The calculation formula is as follows: , wherein, Is the first The preset weight of each feature satisfies ; Selecting similarity Highest front History cases corresponding to the history handling instructions Weighting fusion is carried out to generate an optimization instruction of the current scene The fusion formula is: ; the collaborative decision module optimizes the instruction As a basis for generating the local correction instruction or the global dynamic adjustment instruction set.
10. The construction collaborative management method based on the measured data of the robot is characterized by comprising the following steps: The method comprises the steps of collecting actual measurement data, namely controlling a measuring robot cluster to carry out actual measurement on a building structure surface, a plastering surface and a finishing surface on a construction site according to a process logic chain preset in a BIM model, and generating an actual measurement data set comprising space coordinates and measurement data, wherein the process logic chain defines a construction flow relation comprising key processes; data twinning analysis, namely comparing the measured data set with the BIM model to generate a construction quality analysis result comprising a deviation matrix, constructing a collaborative health degree model for quantitatively evaluating a collaborative state based on the deviation matrix and the process logic chain, and outputting a health degree index; A hierarchical collaborative decision is made, namely judging according to the health index, and generating a local correction instruction or a global dynamic adjustment instruction set by the hierarchical level; And (3) visual collaborative management, namely visually displaying the BIM model, the actual measurement data set, the construction quality analysis result, the local correction instruction and the global dynamic adjustment instruction set.

Description

Construction collaborative management system and method based on robot actual measurement data Technical Field The invention relates to the technical field of intelligent construction management, in particular to a construction collaborative management system and method based on measured data of a robot. Background In the construction of building engineering, the real quantity of real-time and comprehensive actual measurement is carried out on the construction quality of a plurality of working procedures such as a structural surface, a plastering surface, a finishing surface and the like, and the method is a key for guaranteeing the engineering quality and the progress. Currently, this process relies primarily on manual sampling using conventional instrumentation. The method has the remarkable limitations that firstly, the manual measurement efficiency is low, the coverage is limited, the full inspection is difficult to realize, the quality omission is easy to cause, secondly, the measurement data is usually recorded in a paper or isolated electronic form, the effective association and the depth analysis are difficult to carry out with a building information model, the mutual influence among working procedures cannot be truly reflected, and finally, the real-time and dynamic guidance on the follow-up construction cannot be realized from the problem discovery to the correction measure establishment, the cooperativity of each construction link is poor, and the overall construction efficiency and the quality control level are difficult to promote. Therefore, a technical scheme capable of automatically, comprehensively and efficiently collecting field data and realizing intelligent collaborative management of a construction process based on data dynamic analysis is needed. Disclosure of Invention The invention aims to provide a construction collaborative management system and method based on measured data of a robot, which are used for solving the technical problems in the background technology. In order to achieve the above purpose, the present invention discloses the following technical solutions: in a first aspect, the invention discloses a construction collaborative management system based on measured data of a robot, which comprises: The building information model module is used for storing a BIM model provided with design parameters and a process logic chain, wherein the process logic chain defines a construction flow relation comprising key processes; The measuring robot cluster is in communication connection with the building information model module and is configured to carry out actual measurement on a building structure surface, a plastering surface and a finishing surface on a construction site according to the working procedure logic chain, and an actual measurement data set comprising space coordinates and measurement data is generated; the data twin engine is in communication connection with the measuring robot cluster and the building information model module, and is configured to compare and analyze the measured data set with the BIM model, generate a construction quality analysis result comprising a deviation matrix, and construct a collaborative health model for quantitatively evaluating a collaborative state based on the deviation matrix and the process logic chain; The collaborative decision-making module is in communication connection with the data twin engine and is configured to judge according to the health index output by the collaborative health model and generate a local correction instruction or a global dynamic adjustment instruction set in a layered manner; And the collaborative management terminal is in communication connection with the data twin engine and the collaborative decision module and is configured to visually display the BIM model, the actual measurement data set, the construction quality analysis result, the local correction instruction and the global dynamic adjustment instruction set. Optionally, the measuring robot cluster includes: The universal measuring robot is configured to carry out mobile measurement on the flatness and verticality of the wall surface, the ground and the ceiling; The special detection robot is configured to detect the thickness of the empty drum and the protective layer in the wall body in a special way when the continuous abnormality of the surface quality of the wall body is detected, and is provided with a radar scanner. Optionally, the data twinning engine includes: The coordinate registration unit is configured to receive the actual measurement data set and unify the actual measurement data set and the BIM model to the same construction global coordinate system through a coordinate registration algorithm; the deviation calculating unit is connected with the coordinate registering unit and is configured to compare the registered measured data with the design surface of the component corresponding to the BIM model, calculate spatial posit