BIM-based robot arm assembly task planning method and building assembly method

Abstract

The invention provides a mechanical arm assembly task planing method based on a BIM, and belongs to the field of civil engineering building construction. The method includes the steps that the scene modeling technology based on images, a BIM platform, a mechanical arm and a robot operating system are combined, and the planning method of an assembly task plan is rapidly generated; a construction scene of the mechanical arm is subjected to three-dimensional reconstruction, and a scene model is formed; the designed BIM and the scene model obtained after three-dimensional reconstruction are subjected to combining and matching processing on the BIM platform, and a task model is generated; coordinates of components, executing an assembly task, of the mechanical arm are generated according to thetask model and assigned to a control program of the robot operating system, and a control instruction is generated; and the mechanical arm carries out assembly operation according to the control instruction, and the assembly task is completed according to the planned assembly sequence and point location coordinates. The problems about the efficiency and the precision of the operation of the components, executing assembly, of the mechanical arm can be effectively solved, and the method is low in cost, small in error and high in practicality.

Description

technical field [0001] The invention belongs to the field of civil engineering building construction, and more particularly relates to a planning method for performing assembly tasks by a mechanical arm based on a BIM platform. Background technique [0002] With the advancement of construction technology, people have put forward higher requirements for buildings. Standardized design, refined construction and rapid construction have gradually attracted the attention of the industry. Vigorously developing prefabricated buildings, promoting the adjustment and upgrading of industrial structures, and realizing the environmental friendliness of buildings are not only the objective requirements of social and economic development, but also the mainstream trend of industrial upgrading in the construction industry. [0003] Prefabricated buildings add a manufacturing link between design and construction. The factory manufactures various required prefabricated components according to t...

AI Technical Summary

Problems solved by technology

Most of the existing inventions are based on robot motion path planning and ROS-based system to realize the grasping and path correction of the manipulator, lack of combined application with BIM and manipulator planning from the perspective of tasks

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