On-site lofting method based on lofting robot

Abstract

The invention relates to an on-site lofting method based on a lofting robot, which comprises the following steps: step 1, pasting a plurality of checkerboard targets on a civil engineering structure to be lofted, and measuring the center coordinates of the checkerboard targets; performing three-dimensional scanning on the civil engineering structure to obtain point cloud data of the civil engineering structure; 2, splicing to form a point cloud model, and matching the center coordinate of the checkerboard target with the coordinate system of the point cloud model; 3, a field wall column model is generated through BIM software fitting, and the wall column model obtained through fitting and the decoration design model are integrated and compared; the decorative wall column facing is adjusted according to the comparison result, and the structure protruding out of the decorative finished face is optimized; step 4, on the basis of Rhino and Grasshopper parameterization design platform, generating all target measuring and releasing point positions, and outputting a pay-off diagram; and 5, importing the pay-off diagram into a lofting robot, and printing marks. According to the method, the lofting efficiency and precision are improved, the decorative wall column facing is adjusted, and reworking and modification in the construction process are reduced.

Description

Technical Field

[0001] The invention relates to the field of building decoration, and in particular to an on-site lofting method based on a lofting robot. Background Art

[0002] In the traditional construction process of building decoration projects, the plane position and elevation of the engineering building on the design drawings need to be laid out on the entity to be constructed through measuring instruments and other tools. The prior art, such as the patent publication with publication number CN116152435A, discloses a rapid laying out and positioning method, which obtains point cloud model data of the building structure by performing three-dimensional laser scanning on the building structure under construction, collects control points manually marked on the building site and inputs the collected control points into the point cloud model, and uses Grasshopper to mark the dimensions of the control lines and each key positioning point, thereby obtaining a control line annotation diagram. After obtaining the control line annotation diagram, the construction personnel measure the relationship between the control lines and each positioning point on site according to the information on the control line annotation diagram, and obtain the layout points.

[0003] Although the existing technology has improved the efficiency of layout and positioning to a certain extent, in actual layout, it still requires manual measurement and layout on site according to the control line annotation map, which is inefficient. Summary of the invention

[0004] In order to improve the accuracy and efficiency of lofting, the present invention provides an on-site lofting method based on a lofting robot, which realizes rapid on-site lofting based on the lofting robot.

[0005] The technical objectives of the present invention are achieved through the following technical solutions:

[0006] A field layout method based on a layout robot, the method comprising:

[0007] Step 1: Post several checkerboard targets on the civil structure to be staked out, and use a total station to measure the center coordinates of each checkerboard target; perform a three-dimensional scan of the civil structure with the help of a three-dimensional scanner to obtain point cloud data of the civil structure;

[0008] Step 2: In the scene software, the point cloud data is spliced ​​to form a point cloud model, and the center coordinates of the checkerboard target measured by the total station are matched with the coordinate system of the point cloud model;

[0009] Step 3: Generate a wall column model on site through fitting using BIM software, and integrate and compare the fitted wall column model with the decoration design model; adjust the decorative wall column finish according to the comparison results to optimize the structure of the protruding decorative finish surface;

[0010] Step 4: Based on the Rhino and Grasshopper parametric design platforms, use the Divide cure module and Divide distance module to divide the required straight lines and arbitrary curves into equal intervals, generate all target measurement points through the Circle programming module of the Grasshopper parametric design platform, and output the layout diagram;

[0011] Step 5: Import the layout diagram into the layout robot, and use the layout robot to print and mark the target measurement points in the layout diagram on the ground.

[0012] Furthermore, when performing three-dimensional scanning with the aid of a three-dimensional scanner in step 1, the civil structure is three-dimensionally scanned at each measuring station in turn, and the interval between each measuring station is controlled within 15 meters and adjacent measuring stations maintain line of sight.

[0013] Furthermore, in step 2, it also includes denoising the point cloud model and screening and cropping the denoised point cloud model; during denoising, the information noise and debris in the point cloud model are cleared; during screening and cropping, unnecessary information data in the point cloud model is cropped out, and the unnecessary information data includes scaffolding, people, and debris.

[0014] Furthermore, in step 2, when the center coordinates of the checkerboard target are matched with the coordinate system of the point cloud model and the coordinate system of the design drawing, it includes:

[0015] S21, after the center coordinates of the chessboard targets are exported from the total station, each chessboard target is numbered and the exported data is converted into a CSV file;

[0016] S32, importing the mesh data model obtained by reverse engineering into BIM parametric software to fit the on-site wall column model, importing the decoration design model into the BIM parametric software, and merging the fitted on-site wall column model with the decoration design model;

[0017] S23. Import the CSV file into the scene software, use the scene software registration tool to match the numbers of the checkerboard targets in the CSV file with the numbers of the checkerboard targets in the point cloud model, and assign the center point coordinates of the checkerboard targets in the CSV file to the center points of the matched checkerboard targets in the point cloud model. Update the overall coordinates of the point cloud model through the center point coordinates of the checkerboard targets in the point cloud model.

[0018] Furthermore, in step 2, it also includes thinning the point cloud model to dilute the density of the point cloud model to reduce the number of point cloud files.

[0019] Furthermore, in step 3, the following steps are included:

[0020] S31, import the point cloud model from the scene software into the geomagic software, and use the reverse tool of the geomagic software to reverse the point cloud model into a mesh data model that can be recognized by the BIM parametric software;

[0021] S32, importing the mesh data model obtained by reverse engineering into the BIM parametric software, importing the decoration design model into the BIM parametric software, and merging the imported mesh data model with the decoration design model;

[0022] S33, using a cutting tool to split the wall column plane, obtain a two-dimensional decoration design plane and a two-dimensional wall column plane, and compare the two-dimensional decoration design plane and the two-dimensional wall column plane to find out the error between the decoration design and the actual site;

[0023] S34. Adjust the decoration design model according to the error between the decoration design and the actual site, including the adjustment of the decoration surface shape and the decoration surface layout.

[0024] Furthermore, in step S34, when the shape of the decorative surface is adjusted, for areas where the installation space of the decorative surface is insufficient, the decorative surface is translated or adjusted in shape to meet the space requirements of the decorative surface; when the layout of the decorative surface is adjusted, the layout is re-performed according to the size deviation between the decorative surface and the decorative design to reduce the size deviation.

[0025] Furthermore, after the decorative finish is adjusted, the method further includes step S35, adjusting the back steel frame of the decorative finish according to the adjusted decorative finish so that the back steel frame matches the adjusted decorative finish.

[0026] Furthermore, in step S34, after the layout adjustment of the decorative surface is completed, it also includes adjusting the spatial position of lamps, fire protection, air vents, sockets, and switch panels.

[0027] Furthermore, in step 5, it includes:

[0028] Step S51, converting the layout diagram into DWF format data and then importing it into the control mobile tablet computer of the layout robot;

[0029] Step S52: setting up a fully automatic total station for commanding the positioning of the printing robot, and performing linkage debugging on the fully automatic total station, the layout robot, and the control mobile tablet computer;

[0030] Step S53: After the linkage debugging is completed, the layout robot is started to print and mark the target measurement points in the layout diagram on the ground one by one.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The present invention can realize on-site lofting with the help of BIM parametric software and a lofting robot, thereby improving the efficiency and accuracy of lofting.

[0033] 2. The present invention measures the coordinates of the center point of the checkerboard target and matches the actual coordinates of the center point of the checkerboard target with the checkerboard target of the point cloud model, thereby ensuring that the coordinate points of the point cloud model are consistent with the actual positions, thereby improving the accuracy of the point cloud model; it also provides relatively accurate data for the subsequent fitting of the model in the BIM parametric software, ensuring that the fitted model is consistent with the actual situation.

[0034] 3. The present invention adjusts the decorative wall column finish and optimizes the structure of the protruding decorative finish, thereby providing a more accurate model for the subsequent construction of the decorative surface, avoiding the decorative surface installation not meeting the requirements due to deviations during the subsequent construction process, and reducing rework and modification during the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of system composition in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The technical solution of the present invention is further described below in conjunction with specific embodiments:

[0037] A field layout method based on a layout robot, the method comprising:

[0038] Step 1: Construction preparation, survey civil engineering, determine the 3D scanning measurement plan and the location of the measurement station;

[0039] Several checkerboard targets are posted on the civil structure to be staked out, and the center coordinates of each checkerboard target are measured using a total station. A 3D scanner is used to perform a 3D scan of the civil structure to obtain point cloud data of the civil structure. When performing a 3D scan, the civil structure is scanned 3D at each measuring station in turn. When scanning, the required quality and resolution are set according to the actual project needs. The interval between each measuring station is controlled within 15 meters and adjacent measuring stations are kept in sight.

[0040] Step 2: In the scene software, the point cloud data is spliced ​​to form a point cloud model, and the center coordinates of the checkerboard target measured by the total station are matched with the coordinate system of the point cloud model;

[0041] Specifically, when stitching, open the scene software, create a new scanning project, import the point cloud data (.lsproj) file measured by the scanner into the scene software, and use the cloud stitching function to stitch the point cloud data measured by each measuring station according to the geometric features of the building to form an overall point cloud model.

[0042] The spliced ​​point cloud model is denoised, and the noise reduction tool is used to remove the information noise and debris caused by insufficient lighting during scanning.

[0043] The denoised point cloud model is then screened and cropped. During the screening and cropping, unnecessary information data in the point cloud model is cropped out, and the unnecessary information data includes scaffolding, people, debris, etc.

[0044] As a preference, since the building volume is generally large, the point cloud file data pages of the spliced ​​point cloud model are relatively more, so the point cloud model also needs to be thinned out, and the density of the point cloud model is diluted by secondary downsampling to reduce the number of point cloud files.

[0045] When the center coordinates of the checkerboard target are matched with the coordinate system of the point cloud model and the coordinate system of the design drawing, it includes:

[0046] S21. After the center coordinates of the chessboard targets are exported from the total station, each chessboard target is numbered in an external computer and the exported data is converted into a CSV file. This process is performed with the help of an external computer. Usually, the data exported by the total station measurement is in txt format. The exported data is imported into Excel in the computer for numbering, and then converted into a CSV file after numbering.

[0047] S22. The checkerboard targets will be displayed in the point cloud model during 3D scanning. The scanned checkerboard targets are selected in the point cloud model, and the checkerboard targets to be assigned values ​​are numbered so that the numbers of the checkerboard targets in the point cloud model are consistent with the numbers of the checkerboard targets in the CSV file.

[0048] S23. Import the CSV file into the scene software, which runs in an external computer. Use the scene software registration tool to match the numbers of the checkerboard targets in the CSV file with the numbers of the checkerboard targets in the point cloud model, and assign the center point coordinates of the checkerboard targets in the CSV file to the center points of the matched checkerboard targets in the point cloud model. Update the overall coordinates of the point cloud model using the center point coordinates of the checkerboard targets in the point cloud model. After the update, all coordinates in the point cloud model will be updated synchronously so that all coordinate positions of the point cloud model are consistent with the coordinate positions of the actual civil engineering.

[0049] Step 3: Generate a wall column model on site through fitting using BIM software, and integrate and compare the fitted wall column model with the decoration design model; adjust the decorative wall column finish according to the comparison results to optimize the structure of the protruding decorative finish surface;

[0050] The specific steps include:

[0051] S31. Import the point cloud model from the scene software into the geormagic software, and use the reverse tool of the geormagic software to reverse the point cloud model into a mesh data model that can be recognized by the BIM parametric software; the point cloud model is usually exported from the scene software in the format of .E57 or .pts file, which is converted into .obj, .stl, .dwg and other file formats using the reverse tool, and can be recognized by BIM parametric software such as Revit and Rhino.

[0052] S32, importing the mesh data model obtained by reverse engineering into BIM parametric software to fit the on-site wall column model, importing the decoration design model into the BIM parametric software, and merging the fitted on-site wall column model with the decoration design model;

[0053] S33, using a cutting tool to split the on-site wall column model to obtain a two-dimensional wall column plan view, split the decoration design model to obtain a two-dimensional decoration design plan view, and compare the two-dimensional decoration design plan view with the two-dimensional wall column plan view to find out the error between the decoration design and the actual site;

[0054] S34. Adjust the decoration design model according to the error between the decoration design and the actual site, including the adjustment of the decoration surface shape and the decoration surface layout:

[0055] When adjusting the shape of the decorative surface, for areas where the installation space of the decorative surface is insufficient, the decorative surface is moved horizontally or adjusted in shape to meet the space requirements of the decorative surface;

[0056] When adjusting the layout of decorative finishes, the layout should be re-performed according to the size deviation between the decorative finish and the decorative design to reduce the size deviation.

[0057] After the layout adjustment of the decorative finish is completed, the spatial position of the lamps, fire protection, vents, sockets, and switch panels is also adjusted, so that the end points of the lamps, fire protection, vents, sockets, and switch panels are located in the actual size and position of the decoration. For example, after the layout adjustment of the decorative finish, the spatial position of the lamp changes, and the position of the lamp is adjusted to adapt to the spatial position of the decorative finish.

[0058] S35. Adjust the back steel frame of the decorative finish according to the adjusted decorative finish so that the back steel frame matches the adjusted decorative finish, including adjusting the layout and geometric dimensions of the back steel frame.

[0059] Step 4: Based on the Rhino and Grasshopper parametric design platforms, the Divide cure module and the Divide distance module are used to divide the required straight lines and arbitrary curves into equal intervals. The Circle programming module of the Grasshopper parametric design platform is used to generate all target measurement points and output the layout diagram. Directly generating the layout diagram is more efficient and more intuitive than generating the coordinates of a single visually measured point.

[0060] Step 5: Import the layout diagram into the layout robot, and use the layout robot to print and mark the target measurement points in the layout diagram on the ground. The main components used are an external computer 1, a layout robot 2, a fully automatic total station 3, and a control mobile tablet computer 4. Figure 1 As shown, the external computer 1 is mainly used for data conversion and storage, and the software for controlling the layout robot is run in the control mobile tablet computer 4. The layout diagram is imported from the external computer 1 to the mobile tablet computer 4 through a USB cable, and the fully automatic total station 3, the layout robot 2 and the control mobile tablet computer 4 are connected to the WIFI network through a router.

[0061] Specifically include:

[0062] Step S51, converting the layout diagram into DWF format data and then importing it from an external computer into a mobile tablet computer that controls the layout robot; the layout robot used in this embodiment is a Hitachi measurement layout printing robot;

[0063] Step S52, set up a fully automatic total station for commanding the positioning of the printing robot, such as the LN-100·LN-150 automatic tracking total station produced by TOPCON, and perform linkage debugging on the fully automatic total station, the layout robot and the control mobile tablet computer; the fully automatic total station automatically measures and tracks the position of the layout printing robot, providing positioning support for the movement of the layout printing robot.

[0064] Step S53: After the linkage debugging is completed, the layout robot is started to print and mark the target measurement points in the layout diagram on the ground one by one.

[0065] This embodiment is only a further explanation of the present invention, not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but as long as it is within the scope of the claims of the present invention, it will be protected by the patent law.

Claims

1. A field layout method based on a layout robot, characterized in that: The method includes: Step 1: Post several checkerboard targets on the civil structure to be staked out, and use a total station to measure the center coordinates of each checkerboard target; perform a three-dimensional scan of the civil structure with the help of a three-dimensional scanner to obtain point cloud data of the civil structure; Step 2: In the scene software, the point cloud data is spliced ​​to form a point cloud model, and the center coordinates of the checkerboard target measured by the total station are matched with the coordinate system of the point cloud model; Step 3: Generate a wall column model on site through fitting using BIM software, and integrate and compare the fitted wall column model with the decoration design model; adjust the decorative wall column finish according to the comparison results to optimize the structure of the protruding decorative finish surface; Step 4: Based on the Rhino and Grasshopper parametric design platforms, use the Divide cure module and Dividedistance module to divide the required straight lines and arbitrary curves into equal intervals, generate all target measurement points through the Circle programming module of the Grasshopper parametric design platform, and output the layout diagram; Step 5: Import the layout diagram into the layout robot, and use the layout robot to print and mark the target measurement points in the layout diagram on the ground.

2. The on-site layout method based on a layout robot according to claim 1, characterized in that: When three-dimensional scanning is performed with the aid of a three-dimensional scanner in step 1, the civil engineering structure is three-dimensionally scanned at each measuring station in turn, and the interval between each measuring station is controlled within 15 meters and adjacent measuring stations maintain line of sight.

3. The on-site layout method based on a layout robot according to claim 1, characterized in that: In the step 2, it also includes denoising the point cloud model and screening and cropping the denoised point cloud model; during denoising, the information noise and miscellaneous points in the point cloud model are cleared; during screening and cropping, unnecessary information data in the point cloud model is cropped out, and the unnecessary information data includes scaffolding, people, and debris.

4. The on-site layout method based on a layout robot according to claim 1, characterized in that: In step 2, when the center coordinates of the checkerboard target are matched with the coordinate system of the point cloud model and the coordinate system of the design drawing, it includes: S21, after the center coordinates of the chessboard targets are exported from the total station, each chessboard target is numbered and the exported data is converted into a CSV file; S22, selecting the scanned checkerboard targets in the point cloud model, and numbering the checkerboard targets to be assigned values, so that the numbers of the checkerboard targets in the point cloud model are consistent with the numbers of the checkerboard targets in the CSV file; S23. Import the CSV file into the scene software, use the scene software registration tool to match the numbers of the checkerboard targets in the CSV file with the numbers of the checkerboard targets in the point cloud model, and assign the center point coordinates of the checkerboard targets in the CSV file to the center points of the matched checkerboard targets in the point cloud model. Update the overall coordinates of the point cloud model through the center point coordinates of the checkerboard targets in the point cloud model.

5. The on-site layout method based on a layout robot according to claim 3, characterized in that: In the step 2, it also includes thinning the point cloud model to dilute the density of the point cloud model to reduce the number of point cloud files.

6. The on-site layout method based on a layout robot according to claim 1, characterized in that: In step 3, the following steps are included: S31, import the point cloud model from the scene software into the geomagic software, and use the reverse tool of the geomagic software to reverse the point cloud model into a mesh data model that can be recognized by the BIM parametric software; S32, importing the mesh data model obtained by reverse engineering into BIM parametric software to fit the on-site wall column model, importing the decoration design model into the BIM parametric software, and merging the fitted on-site wall column model with the decoration design model; S33, using a cutting tool to split the wall column plane, obtain a two-dimensional decoration design plane and a two-dimensional wall column plane, and compare the two-dimensional decoration design plane and the two-dimensional wall column plane to find out the error between the decoration design and the actual site; S34. Adjust the decoration design model according to the error between the decoration design and the actual site, including the adjustment of the decoration surface shape and the decoration surface layout.

7. The on-site layout method based on a layout robot according to claim 6, characterized in that: In step S34, when the shape of the decorative surface is adjusted, for areas where the installation space of the decorative surface is insufficient, the decorative surface is translated or adjusted in shape to meet the space requirements of the decorative surface; when the layout of the decorative surface is adjusted, the layout is re-performed according to the size deviation between the decorative surface and the decorative design to reduce the size deviation.

8. The on-site layout method based on a layout robot according to claim 7, characterized in that: After the decorative finish is adjusted, the method further includes step S35 of adjusting the back steel frame of the decorative finish according to the adjusted decorative finish so that the back steel frame matches the adjusted decorative finish.

9. The on-site layout method based on a layout robot according to claim 8, characterized in that: In the step S34, after the layout adjustment of the decorative surface is completed, the spatial position of the lamps, fire protection, air vents, sockets, and switch panels is also adjusted.

10. The on-site layout method based on a layout robot according to claim 1, characterized in that: In step 5, it includes: Step S51, converting the layout diagram into DWF format data and then importing it into the control mobile tablet computer of the layout robot; Step S52: setting up a fully automatic total station for commanding the positioning of the printing robot, and performing linkage debugging on the fully automatic total station, the layout robot, and the control mobile tablet computer; Step S53: After the linkage debugging is completed, the layout robot is started to print and mark the target measurement points in the layout diagram on the ground one by one.

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