Large-scale multi-point real-time structure leveling method and system based on motion capture

Abstract

A large-scale multi-point real-time structural leveling method and system based on motion capture, the method uses an optical motion capture component to perform three-dimensional spatial positioning perception on the tracking target of the construction site to be measured; a reference measurement component is arranged at the construction site to be measured, and the local coordinate system of the global reference is used as the global coordinate system; the global error of the optical motion capture component is corrected and fitted through the global coordinate system, so that the three-dimensional coordinates of any point obtained by the optical motion capture component are within the preset error range. During the construction process, the optical motion capture component is used to perform real-time, multi-point monitoring of any position of each component, and fit it to the global coordinate system as an estimate of the current position; combined with the component position relationship in the building information model system BIM, it is judged whether the component is installed in place and whether it is leveled to assist construction. The present invention can provide multi-point, real-time, high-precision leveling of a large-scale structural plane, improve the leveling work efficiency, and improve the construction quality.

Description

Technical Field

[0001] The invention belongs to the technical field of building construction, and in particular relates to a large-scale multi-point real-time structure leveling method and system based on motion capture. Background Art

[0002] At present, in the field of construction, the on-site construction of prefabricated steel structures has the characteristics of many components, complex assembly, fine installation of assembly nodes, and small tolerance. In the current on-site construction technology, it often relies mainly on manual labor, and the complex assembly process is carried out according to the architectural drawings. Its digitalization level is low, the construction efficiency is low, and the construction quality is poor.

[0003] Especially in current construction floors, wind tunnel floors and other operating scenarios, the requirements for the flatness of the construction ground are often getting higher and higher. In the face of large-area high-precision prefabricated plane components, traditional construction leveling technology has great defects. First of all, since prefabricated structures are often assembled from a large number of discrete and unitized components, the related structures formed also have a certain degree of discreteness. On a large-scale construction operation plane, traditional on-site surveying and mapping technology, whether it is a level, total station, laser tracker and other equipment, has the technical defect of being unable to achieve real-time tracking of multiple components at the same time. Summary of the invention

[0004] To this end, the present invention provides a large-scale multi-point real-time structural leveling method and system based on motion capture, which solves the problem that multiple components cannot be tracked simultaneously in real time during on-site construction, which easily leads to poor construction quality.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a large-scale multi-point real-time structure leveling method based on motion capture, comprising:

[0006] Using optical motion capture components to perform three-dimensional spatial positioning perception on the tracking target of the construction site to be measured, the optical motion capture components are arranged in a linear manner or in a rectangular enclosure form;

[0007] Arrange a reference measurement component at the construction site to be measured, wherein the reference measurement component includes a total station or a laser tracker, and the total station or the laser tracker forms a multi-site measurement system for the construction site to be measured; use one of the total stations or laser trackers as a global reference, and use the local coordinate system of the global reference as a global coordinate system;

[0008] Correcting and fitting the global error of the optical motion capture component through the global coordinate system, so that the three-dimensional coordinates of any point obtained by the optical motion capture component are within a preset error range;

[0009] During the construction process of the construction site to be tested, the optical motion capture component is used to perform real-time, multi-point monitoring of any position of each component, and fit it to the global coordinate system as an estimate of the current position;

[0010] By using the real-time, multi-point monitoring results of any position of each component and combining it with the component position relationship in the building information modeling system BIM, it is possible to determine whether the component is installed in place and whether it is leveled to assist construction.

[0011] As a preferred solution of the large-scale multi-point real-time structure leveling method based on motion capture, the optical motion capture assembly includes at least four optical motion capture cameras, and the four optical motion capture cameras are debugged, calibrated and calibrated;

[0012] A marker sphere made of a material with infrared reflective properties is imaged on an optical motion capture camera, and the three-dimensional coordinates of the marker sphere in a calibrated coordinate system are obtained based on the binocular positioning principle.

[0013] As a preferred solution of the large-scale multi-point real-time structure leveling method based on motion capture, the global error correction process divides the construction range of the construction site to be measured into grid matrix cells.

[0014] As a preferred solution for a large-scale multi-point real-time structure leveling method based on motion capture, marker spheres are placed on the vertices of the cells of the grid matrix, and the optical motion capture component is used to obtain the three-dimensional coordinates of the vertices of the cells of the grid matrix.

[0015] As a preferred solution of a large-scale multi-point real-time structure leveling method based on motion capture, the reference measurement component is used to obtain the credible coordinates of the cell vertices of the grid matrix;

[0016] An iterative closest point (ICP) algorithm is used to solve the coordinate transformation matrix for obtaining the three-dimensional coordinates of the vertices of the cells in the grid matrix by the optical motion capture component and the trusted coordinates of the vertices of the cells in the grid matrix by the reference measurement component, so as to realize the overall three-dimensional transformation of the measurement coordinate system of the entire optical motion capture component.

[0017] The present invention also provides a large-scale multi-point real-time structure leveling system based on motion capture, comprising:

[0018] An optical motion capture component is used to perform three-dimensional spatial positioning perception on the tracking target of the construction site to be measured, and the optical motion capture component is arranged in a linear manner or in a rectangular enclosure form;

[0019] A reference measurement component, wherein the reference measurement component includes a total station or a laser tracker, wherein the total station or the laser tracker forms a multi-site measurement system for the construction site to be measured; one of the total stations or the laser tracker is used as a global reference, and the local coordinate system of the global reference is used as a global coordinate system;

[0020] An error processing module, used for correcting and fitting the global error of the optical motion capture component through the global coordinate system, so that the three-dimensional coordinates of any point obtained by the optical motion capture component are within a preset error range;

[0021] A real-time monitoring module is used to use the optical motion capture component to perform real-time, multi-point monitoring of any position of each component during the construction process of the construction site to be tested, and fit it to the global coordinate system as an estimate of the current position;

[0022] The leveling judgment module is used to use the real-time, multi-point monitoring results of any position of each component, combined with the component position relationship in the building information model system BIM, to judge whether the component is installed in place and whether it is leveled to assist construction.

[0023] As a preferred solution of a large-scale multi-point real-time structural leveling system based on motion capture, the optical motion capture assembly includes at least four optical motion capture cameras, and the four optical motion capture cameras are debugged, calibrated and calibrated;

[0024] A marker sphere made of a material with infrared reflective properties is imaged on an optical motion capture camera, and the three-dimensional coordinates of the marker sphere in a calibrated coordinate system are obtained based on the binocular positioning principle.

[0025] As a preferred solution of a large-scale multi-point real-time structural leveling system based on motion capture, the error processing module performs a global error correction process and divides the construction range of the construction site to be tested into grid matrix cells.

[0026] As a preferred solution for a large-scale multi-point real-time structural leveling system based on motion capture, marker spheres are placed on the vertices of the cells of the grid matrix, and the optical motion capture component is used to obtain the three-dimensional coordinates of the vertices of the cells of the grid matrix.

[0027] As a preferred solution for a large-scale multi-point real-time structural leveling system based on motion capture, the reference measurement component is used to obtain the credible coordinates of the cell vertices of the grid matrix;

[0028] An iterative closest point (ICP) algorithm is used to solve the coordinate transformation matrix for obtaining the three-dimensional coordinates of the vertices of the cells in the grid matrix by the optical motion capture component and the trusted coordinates of the vertices of the cells in the grid matrix by the reference measurement component, so as to realize the overall three-dimensional transformation of the measurement coordinate system of the entire optical motion capture component.

[0029] The invention has the following advantages: an optical motion capture component is used to perform three-dimensional spatial positioning perception on a tracking target of a construction site to be measured, and the optical motion capture component is arranged in a linear manner or in a rectangular enclosure form; a reference measurement component is arranged at the construction site to be measured, and the reference measurement component includes a total station or a laser tracker, and the total station or the laser tracker forms a multi-site measurement system for the construction site to be measured; one of the total stations or laser trackers is used as a global reference, and a local coordinate system of the global reference is used as a global coordinate system; the global error of the optical motion capture component is corrected and fitted by the global coordinate system, so that the three-dimensional coordinates of any point position obtained by the optical motion capture component are all within a preset error range; during the construction process of the construction site to be measured, the optical motion capture component is used to perform real-time, multi-point monitoring of any position of each component, and the global coordinate system is fitted as an estimate of the current position; the real-time, multi-point monitoring results of any position of each component are used, combined with the component position relationship in a building information model system BIM, to judge whether the component is installed in place and whether it is leveled to assist construction. The present invention can provide multi-point, real-time, high-precision leveling of a wide range of structural planes; can realize remote, contactless observation, reducing the impact on the structural site; can perform real-time analysis and feedback on errors in the leveling process, etc., greatly improving the efficiency of the leveling work and improving the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the drawings required for the implementation methods or the prior art descriptions are briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0031] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0032] Figure 1A schematic flow chart of a large-scale multi-point real-time structure leveling method based on motion capture provided in Example 1 of the present invention;

[0033] Figure 2 This is a schematic diagram of a large-scale multi-point real-time structure leveling system based on motion capture provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0034] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example 1

[0036] See also Figure 1 Embodiment 1 of the present invention provides a large-scale multi-point real-time structure leveling method based on motion capture, comprising the following steps:

[0037] S1, using optical motion capture components to perform three-dimensional spatial positioning perception on the tracking target of the construction site to be measured, wherein the optical motion capture components are arranged in a linear manner or in a rectangular enclosure form;

[0038] S2, arranging a reference measurement component at the construction site to be measured, wherein the reference measurement component includes a total station or a laser tracker, and the total station or the laser tracker forms a multi-site measurement system for the construction site to be measured; using one of the total stations or laser trackers as a global reference, and using the local coordinate system of the global reference as a global coordinate system;

[0039] S3, correcting and fitting the global error of the optical motion capture component through the global coordinate system, so that the three-dimensional coordinates of any point obtained by the optical motion capture component are within a preset error range;

[0040] S4. During the construction process of the construction site to be tested, the optical motion capture assembly is used to perform real-time, multi-point monitoring of any position of each component, and the position is fitted into a global coordinate system as an estimate of the current position;

[0041] S5. Using the real-time, multi-point monitoring results of any position of each component, combined with the component position relationship in the building information modeling system BIM, it is determined whether the component is installed in place and whether it is leveled to assist construction.

[0042] In this embodiment, the optical motion capture component includes at least four optical motion capture cameras, which are debugged and calibrated. A marker sphere made of a material with infrared reflection properties is imaged on the optical motion capture camera, and the three-dimensional coordinates of the marker sphere in the calibration coordinate system are obtained according to the binocular positioning principle.

[0043] Specifically, the principle of the optical motion capture component is to use four optical motion capture cameras (infrared cameras) to form an array, use materials with strong infrared reflection to form a marker sphere, and simultaneously image on each optical motion capture camera, and use the principle of binocular positioning (generally multiple lenses, using filtering algorithms to eliminate errors) to directly obtain the three-dimensional coordinates of the marker sphere in the calibrated coordinate system.

[0044] Among them, for the positioning observation of each marker sphere, at least two optical motion capture cameras are required to observe synchronously. The two-dimensional coordinates of the marker sphere in each optical motion capture camera need to be synchronously fused, and the prediction and optimization calculation of the spatial coordinate relationship between each optical motion capture camera are important factors affecting the accuracy of motion capture positioning. At the same time, in the optical motion capture component, the original coordinate system of the object's real three-dimensional space needs to be established through manual calibration, that is, a T-shaped positioning rod with a marker sphere is placed at the construction site according to the initial placement of the structure, and two orthogonal axes are extracted through a static recognition method, and this is used as the X and Y axes of the system to locate the three-dimensional space coordinate system.

[0045] In this embodiment, the global error correction process divides the construction range of the construction site to be measured into grid matrix cells, places marker spheres on the vertices of the grid matrix cells, and uses the optical motion capture component to obtain the three-dimensional coordinates of the vertices of the grid matrix cells.

[0046] Specifically, the fitting of global errors is to divide the large construction range into some small cells in the form of grid matrices, place marker spheres on the vertices of the matrix cells, obtain the three-dimensional coordinates under the coordinate system of the optical motion capture component, and then use the reference measurement component (traditional measurement tools, such as total stations and laser trackers) to obtain reliable three-dimensional coordinates, fit each cell once, and calculate different matrices of three-dimensional coordinate transformations.

[0047] In this embodiment, the reference measurement component is used to obtain the trusted coordinates of the cell vertices in the grid matrix; the iterative closest point ICP algorithm is used to solve the coordinate transformation matrix of the three-dimensional coordinates of the vertices of the cells in the grid matrix obtained by the optical motion capture component and the trusted coordinates of the vertices of the cells in the grid matrix obtained by the reference measurement component, so as to realize the overall three-dimensional transformation of the measurement coordinate system of the entire optical motion capture component.

[0048] The ICP algorithm continuously searches and fits, and finally gives a transformation relationship. After obtaining the transformation relationship, a marker sphere can be placed on any object to be monitored during the construction process. The optical motion capture component can obtain the three-dimensional coordinates of the marker sphere in the optical motion capture component coordinate system in real time (above 100Hz), and then apply different fitting coordinate transformation matrices according to the construction scope to obtain the estimated coordinates in the trusted coordinate system. The estimated coordinate data can be used as the real coordinates to perform real-time monitoring and auxiliary leveling.

[0049] Due to the imaging characteristics of the optical motion capture component, in the case of a unilateral arrangement, the positioning error increases as the distance between the target marker sphere and the optical motion capture camera increases. Due to the coordinate system establishment characteristics of the positioning system, the coordinate data collected directly from the optical motion capture component has a certain degree of twisting and tilting, which makes it difficult to directly reflect the real elevation data of the target. Therefore, the method of collaborative fitting and optimization of motion capture technology and traditional surveying and mapping technology is used to further ensure the accuracy of relevant data.

[0050] First, after the total station is used to lay out the intersections of each axis on site, after the relevant structural columns are installed, the elevation data of the center points of each column top are manually recorded using a level. Then, after the optical motion capture component is deployed, the optical motion capture component is used to perform preliminary coordinate system calibration based on the axis of the line, and the center points of each column top are automatically sampled by motion capture using a marker sphere. Therefore, the data used twice form a set of basic positioning grids composed of axis vertices. By using the iterative closest point ICP algorithm, the on-site BIM system performs a global fit on the coordinate data of the two sets of grid points, thereby fitting the elevation data of the optical motion capture component to the real coordinate system measured by the traditional positioning method, and eliminating the data error of motion capture. The global positioning point data composed of the total station and level data facilitates the splicing and integration of the overall elevation data after the motion capture camera is translated to the next area, thereby ensuring the real-time collection and analysis of multi-point, high-precision elevation data during on-site construction.

[0051] Among them, in order to assist the construction leveling process, the present invention establishes a real-time visualization auxiliary system for the elevation of relevant concrete vertices in the BIM system. By placing a marker sphere on different concrete top plates, the elevation information of the relevant marker points can be obtained in real time. By judging the X, Y coordinate position of the positioning information, if the marker sphere is located at the center of the top plate, the Z direction coordinate of the marker sphere is considered to be the overall elevation of the structural top plate. If the marker sphere is located at the intersection of the top plate, the X, Y, Z and other data of the marker sphere are finely displayed and presented in the form of points. Therefore, during on-site construction, the construction personnel can first place the marker sphere at the center of all structural tops within the detection range, and synchronize the overall installation flatness deviation information to make a preliminary design of the adjustment plan. The center point elevation is directly presented as the overall elevation data of the corresponding concrete slab. By comparing the elevation data with the expected data of the model, the elevation error of the entire structural slab is displayed in real time, and by setting the range of the error threshold, the coordinate information of the concrete top plate that exceeds the threshold is screened and presented in red in real time. As for the fine-tuning process of the structural top plate, it is often necessary to ultimately adjust it through the fine-tuning device located at the intersection, or it can be completed by moving the marker sphere to the intersection. At this time, the coordinates in the auxiliary system will be converted into elevation error values ​​represented by the point, which will be synchronously presented through the digital twin model on the large screen on site. Construction personnel can quickly realize the refined elevation adjustment of the entire structure.

[0052] In summary, the present invention utilizes an optical motion capture component to perform three-dimensional spatial positioning perception on the tracking target of the construction site to be measured, and the optical motion capture component is arranged in a linear manner or in a rectangular enclosure form; a reference measurement component is arranged at the construction site to be measured, and the reference measurement component includes a total station or a laser tracker, and the total station or the laser tracker forms a multi-site measurement system for the construction site to be measured; one of the total stations or laser trackers is used as a global reference, and the local coordinate system of the global reference is used as the global coordinate system; the global error of the optical motion capture component is corrected and fitted through the global coordinate system, so that the three-dimensional coordinates of any point obtained by the optical motion capture component are within a preset error range; during the construction process of the construction site to be measured, the optical motion capture component is used to perform real-time, multi-point monitoring of any position of each component, and fit it to the global coordinate system as an estimate of the current position; the real-time, multi-point monitoring results of any position of each component are used, combined with the component position relationship in the building information model system BIM, to determine whether the component is installed in place and whether it is leveled to assist construction. The present invention can provide multi-point, real-time, high-precision leveling of a wide range of structural planes; can realize remote, contactless observation, reducing the impact on the structural site; can perform real-time analysis and feedback on errors in the leveling process, etc., greatly improving the efficiency of the leveling work and improving the construction quality.

[0053] Example 2

[0054] See also Figure 2 Embodiment 2 of the present invention further provides a large-scale multi-point real-time structure leveling system based on motion capture, comprising:

[0055] The optical motion capture component 1 is used for three-dimensional spatial positioning perception of the tracking target at the construction site to be measured, and the optical motion capture component 1 is arranged in a linear manner or in a rectangular enclosure form;

[0056] A reference measurement component 2, wherein the reference measurement component 2 includes a total station or a laser tracker, wherein the total station or the laser tracker forms a multi-site measurement system for the construction site to be measured; one of the total stations or the laser tracker is used as a global reference, and the local coordinate system of the global reference is used as a global coordinate system;

[0057] The error processing module 3 is used to correct and fit the global error of the optical motion capture component 1 through the global coordinate system, so that the three-dimensional coordinates of any point obtained by the optical motion capture component 1 are within a preset error range;

[0058] A real-time monitoring module 4 is used to monitor any position of each component in real time and at multiple points using the optical motion capture component 1 during the construction process of the construction site to be tested, and fit it to the global coordinate system as an estimate of the current position;

[0059] The leveling judgment module 5 is used to use the real-time, multi-point monitoring results of any position of each component, combined with the component position relationship in the building information model system BIM, to judge whether the component is installed in place and whether it is leveled to assist construction.

[0060] In this embodiment, the optical motion capture assembly 1 includes at least four optical motion capture cameras, and the four optical motion capture cameras are debugged, calibrated and calibrated;

[0061] A marker sphere made of a material with infrared reflective properties is imaged on an optical motion capture camera, and the three-dimensional coordinates of the marker sphere in a calibrated coordinate system are obtained based on the binocular positioning principle.

[0062] Among them, the principle of the optical motion capture component 1 is to use four optical motion capture cameras (infrared cameras) to form an array, use materials with strong infrared reflection to form a marker sphere, and simultaneously image on each optical motion capture camera, and use the principle of binocular positioning (generally multiple lenses, using filtering algorithms to eliminate errors) to directly obtain the three-dimensional coordinates of the marker sphere in the calibrated coordinate system.

[0063] Among them, for the positioning observation of each marker sphere, at least two optical motion capture cameras are required to observe synchronously. The two-dimensional coordinates of the marker sphere in each optical motion capture camera need to be synchronously fused, and the prediction and optimization calculation of the spatial coordinate relationship between each optical motion capture camera are important factors affecting the accuracy of motion capture positioning. At the same time, in the optical motion capture component 1, the original coordinate system of the object's real three-dimensional space needs to be established through manual calibration, that is, a T-shaped positioning rod with a marker sphere is placed at the construction site according to the initial placement of the structure, and two orthogonal axes are extracted through a static recognition method, and this is used as the X, Y axis of the system to locate the three-dimensional space coordinate system.

[0064] In this embodiment, the error processing module 3 performs a global error correction process and divides the construction range of the construction site to be measured into grid matrix cells.

[0065] The fitting of global errors is to divide the large construction range into some small cells in the form of a grid matrix. Marker spheres are placed on the vertices of the matrix cells first to obtain the three-dimensional coordinates under the coordinate system of the optical motion capture component 1. Then, the reference measurement component 2 (traditional measurement tools, such as total stations and laser trackers) is used to obtain reliable three-dimensional coordinates. Each cell is fitted once, and different matrices of three-dimensional coordinate transformations are calculated respectively.

[0066] In this embodiment, a marker sphere is placed on the cell vertex of the grid matrix, and the three-dimensional coordinates of the vertex of the grid matrix cell are obtained by the optical motion capture component 1. The reliable coordinates of the vertex of the grid matrix cell are obtained by the reference measurement component 2; the coordinate transformation matrix is ​​solved for the three-dimensional coordinates of the vertex of the grid matrix cell obtained by the optical motion capture component 1 and the reliable coordinates of the vertex of the grid matrix cell obtained by the reference measurement component 2, using the iterative closest point ICP algorithm, to achieve the overall three-dimensional transformation of the measurement coordinate system of the entire optical motion capture component 1.

[0067] Specifically, the ICP algorithm continuously searches for fitting and finally gives a transformation relationship. After obtaining the transformation relationship, a marker sphere can be placed on any object to be monitored during the construction process. The optical motion capture component 1 can obtain the three-dimensional coordinates of the marker sphere in the coordinate system of the optical motion capture component 1 in real time (above 100 Hz), and then apply different fitting coordinate transformation matrices according to the construction scope to obtain the estimated coordinates in the trusted coordinate system. The estimated coordinate data can be used as the real coordinates to perform real-time monitoring and auxiliary leveling.

[0068] Due to the imaging characteristics of the optical motion capture assembly 1, in the case of a unilateral arrangement, the positioning error increases as the distance between the target marker sphere and the optical motion capture camera increases. Due to the coordinate system establishment characteristics of the positioning system, the coordinate data collected directly from the optical motion capture assembly 1 has a certain degree of twisting and tilting, and it is difficult to directly reflect the real elevation data of the target. Therefore, a method of collaborative fitting and optimization using motion capture technology and traditional surveying and mapping technology is used to further ensure the accuracy of the relevant data.

[0069] First, after the total station is used to lay out the intersections of each axis on site, after the relevant structural columns are installed, the elevation data of the center points of each column top are manually recorded using a level. Then, after the optical motion capture component 1 is deployed, the optical motion capture component 1 is used to perform preliminary coordinate system calibration based on the laying-out axis, and the center points of each column top are automatically sampled for motion capture using a marker sphere. Therefore, the data used twice form a set of basic positioning grids composed of axis vertices. By using the iterative closest point ICP algorithm, the on-site BIM system performs a global fit on the coordinate data of the two sets of grid points, thereby fitting the elevation data of the optical motion capture component 1 to the real coordinate system measured by the traditional positioning method, and eliminating the data error of the motion capture. The global positioning point data composed of the total station and level data facilitates the splicing and integration of the overall elevation data after the motion capture camera is translated to the next area, thereby ensuring the real-time collection and analysis of multi-point, high-precision elevation data during on-site construction.

[0070] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A large-scale multi-point real-time structure leveling method based on motion capture, characterized in that: include: Using optical motion capture components to perform three-dimensional spatial positioning perception on the tracking target of the construction site to be measured, the optical motion capture components are arranged in a linear manner or in a rectangular enclosure form; Arrange a reference measurement component at the construction site to be measured, wherein the reference measurement component includes a total station or a laser tracker, and the total station or the laser tracker forms a multi-site measurement system for the construction site to be measured; use one of the total stations or laser trackers as a global reference, and use the local coordinate system of the global reference as a global coordinate system; Correcting and fitting the global error of the optical motion capture component through the global coordinate system, so that the three-dimensional coordinates of any point obtained by the optical motion capture component are within a preset error range; During the construction process of the construction site to be tested, the optical motion capture component is used to perform real-time, multi-point monitoring of any position of each component, and fit it to the global coordinate system as an estimate of the current position; By using the real-time, multi-point monitoring results of any position of each component and combining it with the component position relationship in the building information modeling system BIM, it is possible to determine whether the component is installed in place and whether it is leveled to assist construction; The global error correction process is to divide the construction range of the construction site to be measured into grid matrix cells; place marker spheres on the vertices of the grid matrix cells, and use the optical motion capture component to obtain the three-dimensional coordinates of the vertices of the grid matrix cells; Acquire the grid matrixed cell vertex trusted coordinates through the reference measurement component; Adopting an iterative closest point ICP algorithm, the coordinate transformation matrix is ​​solved for the three-dimensional coordinates of the vertices of the cells in the grid matrix obtained by the optical motion capture component and the trusted coordinates of the vertices of the cells in the grid matrix obtained by the reference measurement component, so as to realize the overall three-dimensional transformation of the measurement coordinate system of the entire optical motion capture component; After the total station is used to lay out the intersections of each axis on site, the elevation data of the center point of each column top is manually recorded using a level after the structural column is installed. After the optical motion capture component is deployed, the optical motion capture component is used to perform preliminary coordinate system calibration according to the line axis, and the center point of each column top is automatically sampled by motion capture using a marker sphere; The on-site BIM system performs a global fit on the coordinate data of the two sets of grid points, fits the elevation data of the optical motion capture component to the real coordinate system measured by the traditional positioning method, and eliminates the data error of the motion capture; Establish a real-time visualization auxiliary system for relevant concrete vertex elevations in the BIM system; during on-site construction, place a marker sphere at the center of the top of all structures within the detection range, synchronize the overall installation flatness deviation information, and make a preliminary design for the adjustment plan; The center point elevation is directly presented as the overall elevation data of the corresponding concrete slab. By comparing the elevation data with the expected data of the model, the elevation error of the entire structural slab is displayed in real time. By setting the error threshold range, the coordinate information of the concrete top slab that exceeds the threshold is filtered out.

2. The large-scale multi-point real-time structure leveling method based on motion capture according to claim 1 is characterized in that: The optical motion capture assembly includes at least four optical motion capture cameras, and the four optical motion capture cameras are debugged, calibrated and calibrated; A marker sphere made of a material with infrared reflective properties is imaged on an optical motion capture camera, and the three-dimensional coordinates of the marker sphere in a calibrated coordinate system are obtained based on the binocular positioning principle.

3. A large-scale multi-point real-time structural leveling system based on motion capture, characterized by: include: An optical motion capture component is used to perform three-dimensional spatial positioning perception on the tracking target of the construction site to be measured, and the optical motion capture component is arranged in a linear manner or in a rectangular enclosure form; A reference measurement component, wherein the reference measurement component includes a total station or a laser tracker, wherein the total station or the laser tracker forms a multi-site measurement system for the construction site to be measured; one of the total stations or the laser tracker is used as a global reference, and the local coordinate system of the global reference is used as a global coordinate system; An error processing module, used for correcting and fitting the global error of the optical motion capture component through the global coordinate system, so that the three-dimensional coordinates of any point obtained by the optical motion capture component are within a preset error range; A real-time monitoring module is used to use the optical motion capture component to perform real-time, multi-point monitoring of any position of each component during the construction process of the construction site to be tested, and fit it to the global coordinate system as an estimate of the current position; The leveling judgment module is used to use the real-time, multi-point monitoring results of any position of each component, combined with the component position relationship in the building information model system BIM, to judge whether the component is installed in place and whether it is leveled to assist construction; The error processing module performs a global error correction process, dividing the construction range of the construction site to be tested into grid matrix cells; Placing a marker sphere on the vertices of the cells in the grid matrix, and using the optical motion capture component to obtain the three-dimensional coordinates of the vertices of the cells in the grid matrix; Acquire the grid matrixed cell vertex trusted coordinates through the reference measurement component; Adopting an iterative closest point ICP algorithm, the coordinate transformation matrix is ​​solved for the three-dimensional coordinates of the vertices of the cells in the grid matrix obtained by the optical motion capture component and the trusted coordinates of the vertices of the cells in the grid matrix obtained by the reference measurement component, so as to realize the overall three-dimensional transformation of the measurement coordinate system of the entire optical motion capture component; The method of collaborative fitting and optimization using motion capture technology and surveying and mapping technology ensures the accuracy of relevant data: After the total station is used to lay out the intersections of each axis on site, the elevation data of the center point of each column top is manually recorded using a level after the structural column is installed. Then, after the optical motion capture component is deployed, the optical motion capture component is used to perform preliminary coordinate system calibration according to the line axis, and the center point of each column top is automatically sampled by motion capture using the marker sphere; therefore, the data used twice respectively form a set of basic positioning grids composed of axis vertices; By using the iterative closest point ICP algorithm, the on-site BIM system performs a global fit on the coordinate data of the two sets of grid points, fits the elevation data of the optical motion capture component to the real coordinate system measured by the traditional positioning method, and eliminates the data error of the motion capture; The global positioning point data composed of total station and level data facilitates the splicing and integration of the overall elevation data after the motion capture camera moves to the next area; Establish a real-time visual auxiliary system for relevant concrete vertex elevations in the BIM system; By placing marker spheres on different concrete top plates, the elevation information of relevant marker points can be obtained in real time; by judging the X, Y coordinate position of the positioning information, if the marker sphere is located at the center of the top plate, the Z direction coordinate of the marker sphere is considered to be the overall elevation of the structure top plate; if the marker sphere is located at the intersection of the top plates, the X, Y, and Z data of the marker sphere are finely displayed and presented in the form of points; during on-site construction, marker spheres are placed at the center of the top of all structures within the detection range, and the overall installation flatness deviation information is synchronized to make a preliminary design of the adjustment plan; for The center point elevation is directly presented as the overall elevation data of the corresponding concrete slab. By comparing the elevation data with the expected data of the model, the elevation error of the entire structural slab is displayed in real time. By setting the error threshold range, the coordinate information of the concrete top slab that exceeds the threshold is filtered and presented in red in real time. The fine-tuning process of the structural top slab is adjusted through the fine-tuning device located at the intersection, or by moving the marker sphere to the intersection. At this time, the coordinates in the auxiliary system will be changed to elevation error values ​​represented by points, which will be synchronously presented through the digital twin model on the large screen on site.

4. The large-scale multi-point real-time structure leveling system based on motion capture according to claim 3 is characterized in that: The optical motion capture assembly includes at least four optical motion capture cameras, and the four optical motion capture cameras are debugged, calibrated and calibrated; A marker sphere made of a material with infrared reflective properties is imaged on an optical motion capture camera, and the three-dimensional coordinates of the marker sphere in a calibrated coordinate system are obtained based on the binocular positioning principle.

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