Intelligent Geometric Quality Inspection of Multiple Prefabricated Components in Large-Scale Storage Yard Based on BIM-LiDAR-UAV/UGV

Quality inspection in outdoor prefabricated storage yards is highly challenging due to the large volume, diversity, and complex management demands of components. Currently, these inspections are conducted manually, which is insufficient to fully meet industry needs. This study proposes an innovative approach to enable intelligent inspection for multiple prefabricated components in large-scale prefabricated storage yards by integrating Building Information Modeling (BIM), LiDAR, Unmanned Aerial Vehicles (UAVs), and Unmanned Ground Vehicles (UGVs). First, an intelligent sensing environment and stepwise collaboration mechanism are established, where UAVs are used to reconstruct a 3D comprehensive environment of the prefabrication site, providing a map to plan the optimal scanning path for LiDAR-equipped UGVs. Next, a point cloud-driven integrated geometric quality inspection method is introduced, where UGVs autonomously collect, and process point cloud data to extract precise geometric features of large components within expansive spaces. To verify the effectiveness of the proposed method, an experiment at a large-prefabricated component factory that produces a variety of types of prefabricated components is conducted. By integrating point cloud processing results with BIM model design information, this research achieves high-precision, large-scale quality inspections of the non-structural performance of prefabricated components, significantly enhancing inspection efficiency and accuracy.