Research On Virtual Interactive Simulation System Of Construction Robot Based On BIM And AR

Globally,the construction industry is increasingly facing serious challenges such as high costs,an ageing workforce,a lack of skilled labor and declining productivity.Conventional construction methods have reached their limits and cannot meet the growing demand for increased productivity,safety and sustainability.Unlike industrial robots,construction robots with heavy loads,mobility and complex working environments often require human-machine cooperation in construction operations,and operational tasks in complex environments can be dangerous or unaffordable.Against the background of increasingly expensive modern construction projects,the accurate simulation and safe operation of construction robots has become one of the most critical problems to be solved.In recent years,more and more researchers have focused on research and development of intelligent,advanced robotics technologies that can be integrated into widely used construction equipment in the future to automate constructions.With the rapid development of virtual simulation and augmented reality technology,there is a tendency to create virtual environments using sophisticated immersive AR applications to visualize complex work scenarios,build knowledge of risk prevention,and receive training.Augmented Reality(AR)overlays computergenerated construction virtual data to perceive the real world,and AR aims to bridge the gap between the digital and real worlds,making human-machine-based collaborative construction robot operations safer and more efficient once robots have identified collision-free,safe construction mission paths with the help of AR’s virtual environment.Based on BIM and augmented reality technology,and from the perspective of practical construction application and training,the overall architecture and function modules of the construction robot simulation platform based on BIM and augmented reality are designed.In view of the characteristics and needs of the platform,with the help of Unity3 d development engine,a virtual interaction system of architectural robots has been designed and developed,and the main contents and innovations of this paper are as follows:(1)Firstly,the data of existing curtain wall installation robots are analyzed and thought,and the robot parts drawing and assembly drawing are established with Solid Works platform.Secondly,the BIM element model of the construction environment is established with Revit platform,and the model file is processed(.FBX)and IFC information is extracted,and finally it is imported into the development engine Unity.On the basis of construction projects and the project background,overall functional requirements analysis system,using the Unity3 D Vuforia augmented reality development kit to build virtual working environment and complete the virtual roaming,the robot simulation,collision detection and operation guide and so on function module design and development,technology UGUI interface of system development and integrated optimization of system resources,based on Android and the PC test,realized for construction robot virtual interactive simulation operation and assisted learning function.(2)In view of the complexity of the construction model,large amount of data,high maintenance costs,this paper proposes an AABB surround box and grid collision combined hybrid layer surround box collision detection algorithm,simple surround box detection technology is far from enough,the goal of this study should be detected before the collision(danger)occurred,rather than after the collision was detected,that is,the safety distance before the collision,so the system uses AABB(axis alignment boundary box)algorithm to virtual object virtual collision detection,The real-time collision detection in construction work is realized by combining the grid collider algorithm.(3)Collision feedback is an important part of the virtual construction operation system of the construction,it is the core of collision detection,which determines whether the task can continue smoothly.In this paper,the design collision feedback considers the factors that motivate people to pay attention to: vision,hearing and touch,i.e.attention factors,when the collision occurs,the user may focus on it,and exclude other factors,the system based on attention factors combined with the specific circumstances of the collision problem for collision feedback UI interface design and development,so that collisions are easier to be noticed and handled.