Visual decoration construction organization method and management platform

Abstract

The invention relates to a visual decoration construction organization method and a management platform, and aims to improve the construction quality and efficiency. The method comprises the steps that a laser range finder is used for measuring a construction site, a VSLAM technology and an AR technology are combined to construct and display a three-dimensional model, comparison between the construction model and the actual environment is achieved, and construction adjustment is guided. The management platform comprises a data acquisition module, a model construction module, an AR presentation module and a result comparison module, and realizes whole-process management from data acquisition to model construction, display and comparative analysis. The method overcomes the problems of insufficient space perception, difficult management and the like in traditional construction, has the advantages of convenience in operation, low cost and the like, and is widely applicable to various decoration construction projects.

Description

Technical Field

[0001] The present invention relates to the technical field of building decoration construction, and in particular to a visual decoration construction organization method and management platform. Background Art

[0002] In the traditional decoration construction process, construction workers usually rely on plane drawings and designers' verbal descriptions to carry out construction. This method has the following problems: insufficient spatial perception, plane drawings are difficult to intuitively display the three-dimensional space effect, resulting in insufficient understanding of the design intent by construction workers based on experience judgment; construction process management is difficult, the construction site environment is complex, and it is difficult to monitor and adjust the construction progress and resource allocation in real time. In response to the above problems, visualization technology has gradually been applied to the field of decoration construction in recent years. In the published Chinese patent document CN111079826B, a real-time identification method for construction progress that integrates SLAM and image processing for building construction progress supervision is provided, which can scan and compare the construction environment to obtain construction progress data to ensure the progress of the construction period. It uses SLAM technology, which uses laser radar as the core hardware structure to complete the environmental data collection of the building, but the equipment is expensive and complicated to operate, and it is difficult for front-line construction workers to use it, and the patent document does not reflect the application of visualization in building construction progress supervision. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies of the prior art, the present invention proposes a visual decoration construction organization method, which aims to solve the problems existing in the traditional decoration construction process and improve the construction quality and efficiency. The method uses VSLAM (Visual Simultaneous Localization and Mapping) technology and AR (Augmented Reality) technology, which can complete the environmental data collection and visual presentation and management of the construction site through the control terminal. The present invention also proposes a visual decoration construction management platform for realizing the aforementioned visual decoration construction organization method, which integrates four modules of data collection, model construction, AR presentation and result comparison to realize the whole process management from construction site data collection to construction model construction, display and comparative analysis, thereby improving work efficiency and management convenience.

[0004] A visual decoration construction organization method comprises the following steps:

[0005] Step S1: Use a laser rangefinder to measure the size, structure and existing facilities of the construction site to obtain accurate spatial data, import the engineering design drawings and the spatial data into the design software to generate a first three-dimensional model; compare and analyze the engineering design drawings and the spatial data, and determine key construction points;

[0006] Step S2: Scan the construction site using the control terminal camera in combination with VSLAM technology, track and record the camera position and viewing angle in real time, construct a three-dimensional point cloud of the environment and generate point cloud data, and use the point cloud processing library PCL (Point Cloud Library) to register the point cloud data with the first three-dimensional model to generate an original three-dimensional model that conforms to the design; based on the original three-dimensional model, refine the model through computer-aided design software according to the decoration design data, add decorative elements, and form a decorative three-dimensional model of the finished effect;

[0007] Step S3: Before construction, original construction data including a material list, construction equipment specifications, and construction personnel configuration are collected, and the original construction data is combined with the original three-dimensional model to create a three-dimensional construction model containing construction details for guiding construction;

[0008] Step S4: superimposing the construction three-dimensional model onto the actual construction site, and using the control terminal in combination with AR technology to compare the construction three-dimensional model with the actual environment, so as to identify the key construction points;

[0009] Step S5: During the construction process, the control terminal camera is used in combination with VSLAM technology to regularly scan the current construction site, and the construction site environment data and construction progress data are scanned and collected. The construction 3D model is updated in real time by combining the construction site environment data and the construction progress data, and the construction 3D model is compared with the decoration 3D model. Through the comparison, the construction team is guided to make adjustments to ensure that the construction results meet the design requirements.

[0010] In the visualized decoration construction organization method described in the present invention, in step S1, when comparing and analyzing the engineering design drawings and spatial data, an image recognition algorithm is used to extract and match the features of the engineering design drawings and the spatial data. The specific method is as follows: for the engineering design drawings, the SIFT (Scale-Invariant Feature Transform) algorithm is used to extract key feature points. For the spatial data, the feature areas are extracted by clustering analysis of the measurement points; the Euclidean distance is used as the similarity metric to match the feature points of the drawings with the feature areas of the spatial data to find the corresponding relationship. The matching formula is:

[0011]

[0012] Where p and q are two eigenvectors, and n is the dimension of the eigenvector.

[0013] In the visual decoration construction organization method described in the present invention, in step S2, the specific steps of the VSLAM technology include: using the image collected by the control terminal camera, using the ORB (Oriented FAST and Rotated BRIEF) algorithm to extract feature points in the image, matching the feature points of adjacent frame images through the Hamming distance, and finding the corresponding relationship. The Hamming distance formula is:

[0014]

[0015] Among them, x and y are two binary feature vectors, n is the length of the feature vector, ⊕ is the XOR operation, and according to the feature matching results, the PnP (Perspective-n-Point) algorithm is used to estimate the pose of the control terminal camera. Finally, based on the pose estimation and feature point information, the three-dimensional point cloud of the construction site environment is constructed.

[0016] In the method for organizing the visual decoration construction described in the present invention, in step S2, the registration of the point cloud data with the first three-dimensional model adopts the ICP (Iterative Closest Point) algorithm, and the transformation matrix between the two models is found through continuous iteration, so that the distance between the corresponding points of the point cloud data and the first three-dimensional model is minimized. The registration formula is:

[0017]

[0018] Where T is the transformation matrix, p i is a point in the point cloud data, q i are corresponding points in the first three-dimensional model, and n is the number of corresponding points.

[0019] In the visual decoration construction organization method described in the present invention, in step S2, the decoration three-dimensional model formula of the finished effect is formed by combining the decoration design data:

[0020] M 装饰 =M 原始 +f(D 装饰 )

[0021] in:

[0022] M 装饰 Represents a decorative 3D model

[0023] f is a custom function used to convert the decoration design data D 装饰 In step S3, the visual decoration construction organization method described in the present invention comprises:

[0024] The formula for forming the construction three-dimensional model is:

[0025] M施工 =M 原始 +g(D 施工 )

[0026] in:

[0027] M 施工 Representing the construction 3D model

[0028] G is a custom function used to convert the original construction data D 施工 merged into the original 3D model.

[0029] A method for organizing visual decoration construction described in the present invention, in step S4, when viewing the comparison between the construction three-dimensional model and the actual environment through the control terminal in combination with AR technology, an image recognition and tracking algorithm is used to track the position and posture of the control terminal camera in real time, and the construction three-dimensional model is accurately superimposed on the actual environment. The specific algorithm includes: using the control terminal camera to collect the actual environment image, extracting feature points in the image, matching the feature points of the actual environment image with the feature points of the construction three-dimensional model, finding the corresponding relationship, estimating the position and posture of the control terminal camera relative to the construction three-dimensional model based on the feature matching result, and rendering the construction three-dimensional model on the control terminal screen based on the position and posture estimation result, and displaying it in fusion with the actual environment.

[0030] A visual decoration construction management platform is used to implement the above-mentioned visual decoration construction organization method, including a data acquisition module, a model construction module, an AR presentation module, and a result comparison module. The data acquisition module provides a data basis for the model construction module, the model construction module provides model support for AR presentation and result comparison, the AR presentation module realizes the comparative display of the construction model and the actual environment, and the result comparison module guides the construction adjustment according to the model comparison results.

[0031] Furthermore, the data acquisition module is responsible for the environmental data and decoration design data of the construction site. The module communicates with the laser rangefinder and the control terminal camera to obtain accurate spatial data, point cloud data and image information, and at the same time, receives the input of engineering design drawings and related construction data;

[0032] The model building module builds the first three-dimensional model, the original three-dimensional model and the decorative three-dimensional model based on the collected data using design software and computer-aided design software. The module executes the model building process described in steps S1-S2 above, including the registration of the point cloud data with the first three-dimensional model and the addition of decorative elements;

[0033] The AR presentation module realizes the application of AR technology in the construction process by interacting with the control terminal. The module superimposes the construction 3D model on the actual construction site, allowing the user to view the comparison between the construction 3D model and the actual environment through the control terminal and identify key construction points. The specific implementation method is as mentioned above, using image recognition and tracking algorithms to track the position and posture of the control terminal camera in real time, and accurately superimpose the construction 3D model on the actual environment for fusion display;

[0034] The result comparison module regularly compares the construction 3D model and the decoration 3D model in accordance with the requirements of the above step S5. The module updates the construction 3D model in real time in combination with the construction site environment data and the construction progress data, and guides the construction team to make adjustments based on the comparison results to ensure that the construction results meet the design requirements. During the comparison process, the above image recognition and tracking algorithm, the above decoration 3D model formula and the construction 3D model formula are used for calculation and analysis.

[0035] It can be seen from the above technical solution that the present invention has the following beneficial effects:

[0036] 1. By regularly scanning the construction site and updating the model during the construction process, real-time monitoring of the construction progress and construction site environment is achieved, which facilitates timely adjustment of resource allocation and construction plans and improves the management level of the construction process. By using control terminals such as smartphones combined with AR technology to view the comparison between the construction 3D model and the actual environment, the operation is convenient, reducing dependence on expensive equipment, making it easier for front-line construction personnel to use the technology.

[0037] 2. By using a laser rangefinder to measure the construction site and combining VSLAM technology and AR technology to build and display a three-dimensional model, the comparison between the construction model and the actual environment is achieved, which improves the construction workers' perception of space and enables them to understand the design intent more intuitively.

[0038] 3. By building a visual decoration construction management platform, the four modules of data collection, model construction, AR presentation and result comparison are integrated, realizing the whole process management from construction site data collection to construction model construction, display and comparative analysis, thus improving work efficiency and management convenience.

[0039] 4. By using image recognition and tracking algorithms, decoration 3D model formulas and construction 3D model formulas for calculation and analysis, it is possible to promptly discover problems that do not meet design requirements during construction, and guide the construction team to make adjustments to ensure that the construction results meet design requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a general method flow chart of an embodiment of a visual decoration construction organization method of the present invention;

[0041] Figure 2 This is a platform architecture diagram of an embodiment of a visual decoration construction management platform of the present invention. DETAILED DESCRIPTION

[0042] Example 1

[0043] like Figure 1 As shown, this embodiment provides a visual decoration construction organization method and a visual decoration construction management platform, which are applied in an interior decoration project of a medium-sized commercial space. The total area of ​​the project is about 1,000 square meters. The project goal is to transform the space into a multi-functional showroom, including a display area, a rest area and an office area.

[0044] Step S1: Use a laser rangefinder to conduct detailed measurements of the site to obtain the dimensional data of walls, columns, floors, etc. The accuracy of the spatial data is ensured by multi-point measurement and repeated measurement. The measurement data and AutoCAD design drawings are imported into the Revit software to generate a first three-dimensional model. When comparing and analyzing the above-mentioned engineering design drawings and spatial data, an image recognition algorithm is used to extract and match the features of the engineering design drawings and spatial data. The specific method is as follows: For engineering design drawings, the SIFT (Scale-Invariant Feature Transform) algorithm is used to extract key feature points (for example: the location of desks and conference tables). For spatial data, feature areas (for example: the corners of the room, the location of columns, and the location of windows) are extracted by clustering analysis of the measurement points; using Euclidean distance as a similarity measure, the feature points of the drawings are matched with the feature areas of the spatial data, the corresponding relationship is found, and the key construction points (for example: pipeline layout, installation location of electrical sockets, and lighting layout) are determined. The matching formula is:

[0045]

[0046] Where p and q are two eigenvectors, and n is the dimension of the eigenvector.

[0047] Step S2: Use a smartphone equipped with VSLAM technology to scan the scene. Use the ORB (Oriented FAST and Rotated BRIEF) algorithm to extract feature points from the images captured by the smartphone camera. Use the Hamming distance to match the feature points of adjacent frame images to find the corresponding relationship. The Hamming distance formula is:

[0048]

[0049] Where x and y are two binary feature vectors, n is the length of the feature vector, ⊕ is an exclusive-or operation, and the PnP (Perspective-n-Point) algorithm is used to estimate the pose of the smartphone camera based on the feature matching results. Finally, based on the pose estimation and feature point information, a three-dimensional point cloud of the environment is constructed and point cloud data is generated. The point cloud processing library PCL is used to align the point cloud data with the first three-dimensional model to generate an original three-dimensional model that conforms to the design. Based on the original three-dimensional model, according to the decoration design data (such as wall color, floor material, etc.), the model is refined through computer-aided design software, and decorative elements are added to form a decorative three-dimensional model with a finished effect. For example, the wall color is white and the floor material is solid wood flooring. The ICP (Iterative Closest Point) algorithm is used to align the point cloud data with the first three-dimensional model. The transformation matrix between the two models is found through continuous iteration to minimize the distance between the corresponding points of the point cloud data and the first three-dimensional model. The alignment formula is:

[0050]

[0051] Where T is the transformation matrix, p i is a point in the point cloud data, q i is the corresponding point in the first three-dimensional model, and n is the number of corresponding points. The formula of the decoration three-dimensional model formed by combining the decoration design data to form the finished effect is:

[0052] M 装饰 =M 原始 +f(D 装饰 )

[0053] Where: M 装饰 The decoration 3D model f is a custom function used to convert the decoration design data D 装饰 merged into the original 3D model.

[0054] Step S3: Before construction, collect original construction data, including material lists (such as 5 desks, 10 chairs, 10 buckets of paint, etc.), construction equipment specifications (such as electric drills, screwdrivers, etc.) and construction personnel configuration (such as 2 carpenters, 1 electrician, 2 painters, etc.). Combine the original construction data with the original 3D model to create a construction 3D model containing construction details to guide construction. The formula for forming the construction 3D model is:

[0055] M 施工 =M 原始 +g(D 施工 )

[0056] Where: M 施工 represents the construction 3D model, G is a custom function used to convert the original construction data D 施工merged into the original 3D model.

[0057] Step S4: Overlay the construction 3D model onto the actual construction site, and use a smartphone combined with AR technology to view the comparison between the construction 3D model and the actual environment. The specific operation steps are: use the smartphone camera to capture the actual environment image, extract the feature points in the image, match the feature points of the actual environment image with the feature points of the construction 3D model, and find the corresponding relationship. According to the feature matching results, estimate the position and posture of the smartphone camera relative to the construction 3D model. According to the position and posture estimation results, render the construction 3D model onto the smartphone screen and display it in fusion with the actual environment to facilitate the identification of key construction points, such as the installation location of the socket and the installation location of the lamp.

[0058] Step S5: During the construction process, regularly (once a day) scan the current construction site using a smartphone camera combined with VSLAM technology to collect construction site environmental data (such as the flatness of the wall, the cleanliness of the ground, etc.) and construction progress data (such as the amount of work completed, the amount of work remaining, etc.). The construction 3D model is updated in real time by combining the construction site environmental data and the construction progress data, and the construction 3D model is compared with the decoration 3D model. During the comparison process, the image recognition and tracking algorithm and the decoration 3D model formula (M 装饰 =M 原始 +f(D 装饰 )) and the construction three-dimensional model formula (M 施工 =M 原始 +g(D 施工 )) to calculate and analyze. By comparing and guiding the construction team to make adjustments, ensure that the construction results meet the design requirements. For example, if the wall color is found to be inconsistent with the design requirements, promptly notify the painter to make adjustments.

[0059] like Figure 2 As shown, this embodiment provides a visual decoration construction management platform, including the following modules: data acquisition module:

[0060] Integrate laser rangefinder equipment interface to obtain on-site spatial data and image information in real time. Receive design drawings and construction data input to provide a data basis for model construction.

[0061] Model building modules:

[0062] Use Revit software to build models, including the registration of point cloud data with 3D models and the addition of decorative elements. Supports import and export of models in multiple formats, making it easy to work with other software.

[0063] AR rendering module:

[0064] Develop AR applications for smartphones, integrate image recognition and tracking algorithms, and realize real-time superposition and display of construction models and sites. Support operations such as rotating, scaling, and cutting models on smartphones to improve the visualization of on-site construction.

[0065] Results comparison module:

[0066] Design comparison algorithms to regularly compare and analyze construction models and design models. Provide progress tracking and quality control functions to ensure that construction progress and quality meet design requirements.

[0067] Specific steps:

[0068] 1. The project manager organizes the team, assigns tasks, and clarifies construction goals and time nodes.

[0069] 2. Use a laser rangefinder to measure the site and record the data.

[0070] 3. Create a preliminary model in Revit and compare and analyze it with the design drawings.

[0071] 4. Use VSLAM technology to scan the site with a handheld smartphone and generate point cloud data.

[0072] 5. Align the point cloud and the model in PCL to form the original 3D model.

[0073] 6. According to the decoration design data, refine the model and add decorative elements.

[0074] 7. Use AR technology to display the comparison between the construction model and the site on the control terminal.

[0075] 8. During the construction process, scan the site regularly and update the construction model.

[0076] 9. Use the result comparison module for progress and quality control.

[0077] 10. Adjust the construction plan based on the comparison results to ensure that the construction meets the design requirements.

[0078] Specific implementation method:

[0079] Using B / S architecture, a web-based construction management platform was developed to support multi-user online collaboration and data sharing. Custom functions use Python language, the platform backend uses Alibaba Cloud server, and the front end uses HTML5, CSS3 and JavaScript technology. Data interface and development interface are provided, and multiple browsers and mobile devices are supported. The platform integrates database management system and uses open source MySql database to store construction data, model files and user operation records.

[0080] Through the above embodiments, an efficient and accurate visual decoration construction organization method can be realized, and the whole process of construction management can be realized through the management platform to improve the construction quality and efficiency.

[0081] The above embodiments are exemplary, and their purpose is to illustrate the technical concept and features of the present invention so that people familiar with the technology in this field can understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A visual decoration construction organization method, characterized in that: The following steps are involved: Step S1: Use a laser rangefinder to measure the size, structure and existing facilities of the construction site to obtain accurate spatial data, import the engineering design drawings and the spatial data into the design software to generate a first three-dimensional model; compare and analyze the engineering design drawings and the spatial data, and determine key construction points; Step S2: Scan the construction site using the control terminal camera in combination with VSLAM technology, track and record the camera position and viewing angle in real time, construct a three-dimensional point cloud of the environment and generate point cloud data, and use the point cloud processing library PCL (PointCloud Library) to align the point cloud data with the first three-dimensional model to generate an original three-dimensional model that conforms to the design; based on the original three-dimensional model, refine the model through computer-aided design software according to the decoration design data, add decorative elements, and form a decorative three-dimensional model of the finished effect; Step S3: Before construction, original construction data including a material list, construction equipment specifications, and construction personnel configuration are collected, and the original construction data is combined with the original three-dimensional model to create a three-dimensional construction model containing construction details for guiding construction; Step S4: superimposing the construction three-dimensional model onto the actual construction site, and using the control terminal in combination with AR technology to compare the construction three-dimensional model with the actual environment, so as to identify the key construction points; Step S5: During the construction process, the control terminal camera is used in combination with VSLAM technology to regularly scan the current construction site, and the construction site environment data and construction progress data are scanned and collected. The construction 3D model is updated in real time by combining the construction site environment data and the construction progress data, and the construction 3D model is compared with the decoration 3D model. Through the comparison, the construction team is guided to make adjustments to ensure that the construction results meet the design requirements.

2. A visual decoration construction organization method according to claim 1, characterized in that: In step S1, when comparing and analyzing the engineering design drawings and spatial data, an image recognition algorithm is used to extract and match the features of the engineering design drawings and spatial data. The specific method is as follows: for the engineering design drawings, the SIFT (Scale-Invariant Feature Transform) algorithm is used to extract key feature points. For the spatial data, the feature areas are extracted by clustering the measurement points. The Euclidean distance is used as a similarity measure to match the feature points of the drawings with the feature areas of the spatial data to find the corresponding relationship. The matching formula is: Where p and q are two eigenvectors, and n is the dimension of the eigenvector.

3. A visual decoration construction organization method according to claim 2, characterized in that: In step S2, the specific steps of the VSLAM technology include: using the image collected by the control terminal camera, using the ORB (Oriented FAST and Rotated BRIEF) algorithm to extract the feature points in the image, matching the feature points of adjacent frame images through the Hamming distance, and finding the corresponding relationship. The Hamming distance formula is: Where x and y are two binary feature vectors, n is the length of the feature vector, ⊕ is the XOR operation, According to the feature matching results, the PnP (Perspective-n-Point) algorithm is used to estimate the pose of the control terminal camera. Finally, the three-dimensional point cloud of the construction site environment is constructed based on the pose estimation and feature point information.

4. A visual decoration construction organization method according to claim 3, characterized in that: In step S2, the registration of the point cloud data and the first three-dimensional model uses the ICP (Iterative Closest Point) algorithm, which finds the transformation matrix between the two models through continuous iteration so as to minimize the distance between the corresponding points of the point cloud data and the first three-dimensional model. The registration formula is: Where T is the transformation matrix, p i is a point in the point cloud data, q i are corresponding points in the first three-dimensional model, and n is the number of corresponding points.

5. A visual decoration construction organization method according to claim 4, characterized in that: In step S2, the formula of the decoration three-dimensional model of the finished effect formed by combining the decoration design data is: M 装饰 =M 原始 +f(D 装饰 ) in: M 装饰 Represents a decorative 3D model f is a custom function used to convert the decoration design data D 装饰 merged into the original 3D model.

6. A visual decoration construction organization method according to claim 5, characterized in that: In step S3, the formula for forming the construction three-dimensional model is: M 施工 =M 原始 +g(D 施工 ) in: M 施工 Representing the construction 3D model G is a custom function used to convert the original construction data D 施工 merged into the original 3D model.

7. A visual decoration construction organization method according to claim 6, characterized in that: In step S4, when the comparison between the construction three-dimensional model and the actual environment is viewed through the control terminal in combination with AR technology, an image recognition and tracking algorithm is used to track the position and posture of the control terminal camera in real time, and the construction three-dimensional model is accurately superimposed on the actual environment. The specific algorithm includes: using the control terminal camera to capture the actual environment image, extracting feature points in the image, matching the feature points of the actual environment image with the feature points of the construction three-dimensional model, finding the corresponding relationship, and estimating the position and posture of the control terminal camera relative to the construction three-dimensional model based on the feature matching results. Based on the position and posture estimation results, the construction three-dimensional model is rendered on the control terminal screen and displayed in fusion with the actual environment.

8. A visual decoration construction management platform, characterized by The method for organizing visual decoration construction according to any one of claims 1 to 7 comprises a data acquisition module, a model building module, an AR presentation module and a result comparison module. The data acquisition module provides a data basis for the model building module. The model building module provides a model support for AR presentation and result comparison. The AR presentation module realizes a comparative display between the construction model and the actual environment. The result comparison module guides construction adjustments according to the model comparison results.

9. A visual decoration construction management platform according to claim 8, characterized in that: The data acquisition module is responsible for the environmental data and decoration design data of the construction site. The module communicates with the laser rangefinder and the control terminal camera to obtain accurate spatial data, point cloud data and image information, and at the same time receives the input of engineering design drawings and related construction data; The model building module builds the first three-dimensional model, the original three-dimensional model and the decorative three-dimensional model using design software and computer-aided design software based on the collected data, and the module executes the model building process described in steps S1-S2 of claim 1, including the registration of the point cloud data with the first three-dimensional model and the addition of decorative elements; The AR presentation module realizes the application of AR technology in the construction process by interacting with the control terminal. The module superimposes the construction three-dimensional model on the actual construction site, so that the user can view the comparison between the construction three-dimensional model and the actual environment through the control terminal and identify key construction points. The specific implementation method is as described in claim 7, using image recognition and tracking algorithms to track the position and posture of the control terminal camera in real time, and accurately superimpose the construction three-dimensional model on the actual environment for fusion display; The result comparison module regularly compares the construction 3D model and the decoration 3D model in accordance with the requirements of step S5 in claim 1. The module updates the construction 3D model in real time in combination with the construction site environment data and the construction progress data, and guides the construction team to make adjustments based on the comparison results to ensure that the construction results meet the design requirements. During the comparison process, the image recognition and tracking algorithm as described in claim 7, the decoration 3D model formula as described in claim 6, and the construction 3D model formula as described in claim 6 are used for calculation and analysis.

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