Precise prefabricated part material distributing and supplementing method based on three-dimensional model analysis

Abstract

The invention discloses a precise prefabricated part material supplementing method based on three-dimensional model analysis, and belongs to the technical field of intelligent construction, and the method comprises the steps: S1, collecting the three-dimensional description of a mold, and obtaining the three-dimensional description of a to-be-put material; s2, designing the moving speed of a feeding mechanism; s3, precise material distribution; s4, collecting three-dimensional data of the material after primary vibration; s5, generating a three-dimensional shape of the materials needing to be put; s6, analyzing the three-dimensional shape of the material needing to be put; s7, calculating the accurate volume of the materials needing to be put; s8, calculating a supplementary feeding position; and S9, the volume of the material is calculated after material supplementing is finished, and three-dimensional data of the material is collected after vibration is finished. According to the method, the three-dimensional shape of the material is shot and collected through the three-dimensional camera and converted into the accurate material amount corresponding to the missing material, the material distributing machine is controlled to supplement the material from the optimal position, the material supplementing precision is high, and the component forming effect is good.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent construction technology, and relates to systems and computer equipment, and specifically to a method for accurate material distribution and replenishment of prefabricated component materials based on three-dimensional model analysis. Background Art

[0002] With the development of the construction industry, the prefabricated component assembly construction model has been widely used in the construction industry due to its significant advantages such as reliable quality, simple process, and high construction efficiency. Prefabricated components need to be prepared in a standardized manner before construction, and a placing machine is used to place the materials into the mold of the prefabricated concrete components. The accuracy and uniformity of the materials are crucial to the quality of the concrete components, but the placing accuracy of the placing machine is limited. In the prior art, a placing machine is usually used for the initial placing, and then vibration is performed after the initial placing to expel the bubbles in the concrete, and then the missing parts of the concrete surface after vibration are manually supplemented. A large amount of manual participation is required in the prefabrication process, especially for large and extra-large building components, where there are many filling points, the difficulty is high, the labor intensity of the workers is high, and the efficiency is low. Summary of the invention

[0003] In order to solve the shortcomings and deficiencies in the prior art, the present application proposes a method for precise material distribution and replenishment of prefabricated components based on three-dimensional model analysis.

[0004] In order to solve the above technical problems, this application provides the following technical solutions:

[0005] Including precise fabrication and precise patching process:

[0006] The fabric process includes:

[0007] S1 collects the three-dimensional description of the mold, calculates the upper surface of the material required by the design, and obtains the three-dimensional description of the material to be placed;

[0008] S2 divides the three-dimensional description of the material to be put into the area and calculates the moving speed of the feeding mechanism in each area;

[0009] S3 controls the movement of the feeding mechanism according to the moving speed, performs the initial accurate feeding, records the volume of the material injected for the first time, and performs the initial vibration after the feeding is completed;

[0010] The feeding process comprises:

[0011] S4 collects the 3D data of the material and the mold after the initial vibration; based on the 3D shape of the mold and the point cloud segmentation algorithm, extracts the 3D description of the material area after the initial vibration;

[0012] S5 generates a three-dimensional shape of the material to be placed according to the three-dimensional description of the material upper surface required by the design and the material area after the initial vibration;

[0013] S6 uses the slice method and Gaussian method to analyze the three-dimensional shape of the material to be placed;

[0014] S7 combines the volume changes of materials before and after vibration to calculate the precise volume of materials to be put in;

[0015] S8 calculates the location of the replenishment material according to the three-dimensional shape of the material to be put in and the precise volume of the material to be put in;

[0016] After the material is added, S9 performs another vibration and collects the three-dimensional data of the material to detect whether the upper surface plane description of the material meets the design requirements.

[0017] Furthermore, the specific steps of S1 are: collecting the mold shape required by the design and obtaining a three-dimensional description of the mold; dividing the material holding area and the mold edge, and using the mold edge to calculate the ideal upper surface of the material, thereby obtaining a three-dimensional description of the material to be placed.

[0018] Furthermore, the specific method for S2 to calculate the moving speed of the feeding mechanism in each area is:

[0019] S21 divides the three-dimensional description of the materials to be put into the partitions and calculates the volume of materials to be put into each partition.

[0020] S22 divides the volume of material to be fed in each partition by the material feeding speed (L / s) of the feeding mechanism to obtain the feeding time of the material feeding mechanism in the corresponding area.

[0021] S23 divides the length of the corresponding area in the moving direction of the feeding mechanism by the feeding time to obtain the moving speed of the feeding mechanism.

[0022] Furthermore, the specific steps of using the slicing method and the Gaussian method to analyze the three-dimensional shape of the material to be placed in S6 are as follows:

[0023] S61 uses a slicing method to divide the three-dimensional model of the material to be placed into longitudinal parallel sections with a spacing of h;

[0024] S62 calculates the longitudinal cross-sectional contour area of ​​the material to be placed based on the Gaussian method;

[0025] S63 converts the cross-sectional profile into an n-gon, where the points (x1, y1), (x2, y2)...(x n ,y n ) are the vertices on the polygon in counterclockwise order;

[0026] S64 cross-sectional area

[0027] S64 3D model cross-sectional area S jMultiply by the slice spacing h to get the volume of the material to be put in

[0028] Furthermore, the specific steps of calculating the precise volume of the material to be put in S7 include:

[0029] S71 calculates the precise volume W1 of the material delivered after the initial delivery;

[0030] S72 calculates the volume W2 of the material after vibration after the initial vibration is completed, and calculates the material placement adjustment coefficient K=W1 / W2 based on the volume change before and after vibration;

[0031] S73 generates the complement of the vibrated material and the upper surface plane of the material required by the design as a three-dimensional description of the material to be filled.

[0032] Furthermore, the specific steps of setting the feeding position in S8 include:

[0033] S81 partitions the three-dimensional description of the three-dimensional shape of the material to be placed;

[0034] S82 Calculation of feed volume required for each partition based on the three-dimensional model longitudinal slicing algorithm;

[0035] S83 Analysis of the distribution of missing materials based on the 3D model transverse slicing algorithm;

[0036] S84 searches for the lowest point P1 and the second lowest point P2 of the three-dimensional model of the lacking material, and sets the position of the replenishing material between the two points, so that the added material is more likely to be placed in the area where the lack of material is greater;

[0037] S85 sets the travel speed of the feeding mechanism to S (m / s), and the feeding volume per unit time is designed to be a fixed value V (L / s), so as to conveniently and accurately control the feeding volume;

[0038] S86 calculates the missing material volume Wn of each feeding partition, multiplies it by the material delivery adjustment coefficient K, and obtains the accurate volume Wn' of the material to be delivered;

[0039] S87 The precise volume Wn' of the material to be put in is divided by the feeding speed per unit time V (L / s) to obtain the opening time T (s) of the feeding mechanism;

[0040] S88 takes the midpoint P between points P1 and P2 as the center and a range of length S*T (m) as the feeding area for replenishment, and calculates the starting and ending positions of the feeding of the feeding mechanism.

[0041] Furthermore, the specific steps of S9 are:

[0042] S91 sends the starting and ending positions of the feeding of the unloading mechanism to the feeding mechanism to complete accurate feeding;

[0043] S92 calculates the volume of the material after the filling is completed, and collects the three-dimensional data of the material after the vibration is completed, analyzes the distribution of the filling, and adjusts the partition size for the filling volume calculation based on the results.

[0044] Precision material feeding device for prefabricated components based on 3D model analysis, including:

[0045] 3D camera, used to collect 3D data of materials and molds;

[0046] The simulation module is used to extract the three-dimensional description of the material, to calculate the plane description of the material required by the design, and to describe the three-dimensional shape of the material to be placed;

[0047] The calculation module is used to calculate the three-dimensional shape of the material to be placed, the volume change of the material before and after vibration, the precise volume of the material to be placed, and the location of the supplementary material placement;

[0048] The feeding mechanism can output evenly mixed materials at a uniform conveying speed. The position of the output point can be moved and the moving speed can be controlled.

[0049] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor is used to call and run the computer program stored in the memory to execute any of the above-mentioned methods for precise material distribution and replenishment of prefabricated components based on three-dimensional model analysis in the field of new energy power generation.

[0050] A computer-readable storage medium stores instructions, which, when executed by one or more processors, enable an electronic device to execute the method for accurate material distribution and replenishment of prefabricated components based on three-dimensional model analysis as described in any of the above items.

[0051] The advantages and positive effects of the present invention are:

[0052] This method utilizes a three-dimensional camera to capture the three-dimensional shape of the mold and the material, which can not only achieve accurate initial material distribution, but also scan again to calculate the volume of missing materials after the initial vibration, convert it into the precise material amount corresponding to the missing material, and control the material distribution machine to replenish the material from the optimal position, with high replenishment accuracy and good component forming effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0054] Figure 1 is a flow chart of the method.

[0055] Figure 2 Schematic diagram of the distribution of missing materials in the embodiment. DETAILED DESCRIPTION

[0056] In order to make the structure and advantages of the present invention more clear, the structure of the present invention will be further described below in conjunction with the accompanying drawings.

[0057] Precise material distribution and filling methods for prefabricated components based on 3D model analysis, see Attachment Figure 1 As shown, the following steps are included:

[0058] 1. Fabric process:

[0059] 1. First, collect the mold shape required by the design and obtain the three-dimensional description of the mold; separate the material placement area from the mold edge, and use the mold edge to calculate the ideal upper surface of the material, that is, the upper surface of the material required by the design, so as to obtain a three-dimensional description of the material to be placed;

[0060] 2. Divide the three-dimensional description of the material to be put into the partition, calculate the volume of each partition to be put into, divide the volume by the material putting speed (L / s) of the feeding mechanism, and get the feeding time of the material putting mechanism in the area. Divide the length of the area in the moving direction of the feeding mechanism by the feeding time to get the moving speed of the feeding mechanism.

[0061] 3. The feeding mechanism moves along the set stroke at the moving speed obtained in the previous step to complete accurate feeding; after the feeding is completed, the initial vibration is carried out.

[0062] 2. Feeding process:

[0063] 1. Use a 3D camera to collect 3D data of the material and mold after the initial vibration;

[0064] 2. Based on the three-dimensional shape of the mold and the point cloud segmentation algorithm, extract the three-dimensional description of the material area after the initial vibration;

[0065] 3. Calculate the material upper surface planar description required by the design based on the three-dimensional description of the mold and the material filling requirements.

[0066] 4. Use the three-dimensional description of the upper surface of the material required by the prefabricated component and the three-dimensional point cloud of the upper surface of the material after vibration to generate the three-dimensional shape of the material to be placed.

[0067] 5. Use the slicing method to divide the three-dimensional model of the material to be placed into parallel sections with a spacing of h.

[0068] 6. Calculate the longitudinal cross-sectional contour area of ​​the material to be placed based on the Gaussian method.

[0069] 7. Cross-sectional area

[0070] 8. Cross-sectional area S of point cloud slice j Multiply by the slice spacing h to get the volume of the material to be put in

[0071] 9. Calculate the precise volume W1 of the material after the initial unloading.

[0072] 10. After completing the initial vibration, calculate the volume of the material after vibration W2, and use the volume change before and after vibration to calculate the material placement adjustment coefficient K = W1 / W2.

[0073] 11. Generate the complement between the vibrated material and the upper surface plane of the material required by the design as a three-dimensional description of the material to be filled.

[0074] 12. In order to facilitate the accurate feeding of the feeding mechanism, the three-dimensional description of the missing materials is partitioned.

[0075] 13. Calculation of the required replenishment volume of each partition based on the point cloud longitudinal slicing algorithm.

[0076] 14. Analysis of the distribution pattern of missing materials based on point cloud transverse slicing algorithm.

[0077] 15. Search for the lowest point P1 and the second lowest point P2 of the 3D point cloud of the missing material, and set the location of the material to be added between the two points, so that the added material is placed more in the area with more material shortage, see the attached Figure 2 shown.

[0078] 16. Set the travel speed of the feeding mechanism to S (m / s), and the feeding volume per unit time to a fixed value V (L / s) to facilitate accurate control of the feeding volume.

[0079] 17. Calculate the missing material volume W of each feeding partition n , multiplied by the material delivery adjustment coefficient K, the precise volume W of the material to be delivered is obtained. n ',

[0080] 18. The precise volume W of the material to be put in n ' Divide by the feeding speed per unit time V (L / s) to get the opening time T (s) of the feeding mechanism.

[0081] 19. Take the midpoint P between points P1 and P2 as the center and the range of length S*T(m) as the feeding area for replenishment, and calculate the starting and ending positions of the feeding mechanism.

[0082] 20. Send the starting and ending positions of the above-mentioned feeding to the feeding mechanism to complete accurate feeding.

[0083] 21. Calculate the volume of the material after the feeding is completed, vibrate again, and collect the three-dimensional data of the material after the vibration is completed, analyze the distribution of the feeding material, and adjust the partition size for the feeding volume calculation based on the results.

[0084] The device for accurately feeding materials of prefabricated components based on three-dimensional model analysis is used to implement the above method of this embodiment, including:

[0085] 3D camera, used to collect 3D data of materials and molds;

[0086] The simulation module is used to extract the three-dimensional description of the material, to calculate the plane description of the material required by the design, and to calculate the three-dimensional shape of the material to be placed;

[0087] The calculation module is used to calculate the three-dimensional shape of the material to be placed, the volume change of the material before and after vibration, the precise volume of the material to be placed, and the location of the supplementary material placement;

[0088] The feeding mechanism can output evenly mixed materials at a uniform conveying speed. The position of the output point can be moved and the moving speed can be controlled.

[0089] The present application also provides an electronic device, which may include: at least one processor and at least one memory.

[0090] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory.

[0091] Optionally, the processor can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor, but may be implemented separately through a chip.

[0092] Among them, the memory may include a random access memory (Random Access Memory, RAM) or a read-only memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory can be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory may also be optionally at least one storage device located away from the aforementioned processor. The memory as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for a small incision thyroid surgery image acquisition system.

[0093] The present application also provides a computer-readable storage medium, which stores instructions. When executed by one or more processors, the electronic device executes one or more of the methods described in the above embodiments.

[0094] In addition, each functional unit in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0095] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0096] The above descriptions are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for accurate material distribution and replenishment of prefabricated components based on three-dimensional model analysis, characterized in that: Including precise fabrication and precise patching process: The fabric process includes: S1 collects the three-dimensional description of the mold, calculates the upper surface of the material required by the design, and obtains the three-dimensional description of the material to be placed; S2 divides the three-dimensional description of the material to be put into the area and calculates the moving speed of the feeding mechanism in each area; S3 controls the movement of the feeding mechanism according to the moving speed, performs the initial accurate feeding, records the volume of the material injected for the first time, and performs the initial vibration after the feeding is completed; The feeding process comprises: S4 collects the 3D data of the material and the mold after the initial vibration; based on the 3D shape of the mold and the point cloud segmentation algorithm, extracts the 3D description of the material area after the initial vibration; S5 generates a three-dimensional shape of the material to be placed according to the three-dimensional description of the material upper surface required by the design and the material area after the initial vibration; S6 uses the slice method and Gaussian method to analyze the three-dimensional shape of the material to be placed; S7 combines the volume changes of materials before and after vibration to calculate the precise volume of materials to be put in; S8 calculates the location of the replenishment material according to the three-dimensional shape of the material to be put in and the precise volume of the material to be put in; After the material is added, S9 performs another vibration and collects the three-dimensional data of the material to detect whether the upper surface plane description of the material meets the design requirements.

2. The method for accurate material distribution and material replenishment of prefabricated components based on three-dimensional model analysis according to claim 1 is characterized in that: The specific steps of S1 are: collect the mold shape required by the design and obtain a three-dimensional description of the mold; separate the material holding area from the mold edge, and use the mold edge to calculate the ideal upper surface of the material, thereby obtaining a three-dimensional description of the material to be placed.

3. The method for accurate material distribution and material replenishment of prefabricated components based on three-dimensional model analysis according to claim 1 is characterized in that: S2 calculates the specific method of the moving speed of the feeding mechanism in each area as follows: S21 divides the three-dimensional description of the materials to be put into the partitions and calculates the volume of materials to be put into each partition. S22 divides the volume of material to be fed in each partition by the material feeding speed (L / s) of the feeding mechanism to obtain the feeding time of the material feeding mechanism in the corresponding area. S23 divides the length of the corresponding area in the moving direction of the feeding mechanism by the feeding time to obtain the moving speed of the feeding mechanism.

4. The method for accurate material distribution and material replenishment of prefabricated components based on three-dimensional model analysis according to claim 1 is characterized in that: The specific steps of using the slice method and Gaussian method to analyze the three-dimensional shape of the material to be placed in S6 are as follows: S61 uses a slicing method to divide the three-dimensional model of the material to be placed into parallel sections with a spacing of h; S62 calculates the longitudinal cross-sectional contour area of ​​the material to be placed based on the Gaussian method; S63 converts the cross-sectional profile into an n-gon, where the points (x1, y1), (x2, y2)...(x n ,y n ) are the vertices on the polygon in counterclockwise order; S64 cross-sectional area S65 Cross-sectional area S of point cloud slice j Multiply by the slice spacing h to get the volume of the material to be put in 5. The method for accurate material distribution and material replenishment of prefabricated components based on three-dimensional model analysis according to claim 4 is characterized in that: The specific steps of calculating the precise volume of the material to be put in S7 include: S71 calculates the precise volume W1 of the material put in after the initial material discharge; S72 calculates the volume W2 of the material after vibration after the initial vibration is completed, and calculates the material placement adjustment coefficient K=W1 / W2 based on the volume change before and after vibration; S73 generates the complement of the vibrated material and the upper surface plane of the material required by the design as a three-dimensional description of the material to be filled.

6. The method for accurate material distribution and material replenishment of prefabricated components based on three-dimensional model analysis according to claim 5 is characterized in that: The specific steps of setting the feeding position in S8 include: S81 partitions the three-dimensional description of the three-dimensional shape of the material to be placed; S82 calculates the volume of material to be replenished in each partition based on the point cloud longitudinal slicing algorithm; S83 Analysis of the distribution of missing materials based on the point cloud transverse slicing algorithm; S84 searches for the lowest point P1 and the second lowest point P2 of the three-dimensional point cloud of the missing material, and sets the position of the added material between the lines connecting the two points, so that the added material is placed more in the area where the material is more scarce; S85 sets the feeding mechanism's travel speed to S (m / s), and the feeding volume per unit time is designed to be a fixed value V (L / s), which facilitates and accurately controls the feeding volume; S86 calculates the missing material volume Wn of each feeding partition, multiplies it by the material delivery adjustment coefficient K, and obtains the accurate volume Wn' of the material to be delivered; S87 The precise volume Wn' of the material to be fed is divided by the feeding speed per unit time V (L / s) to obtain the opening time T (s) of the feeding mechanism; S88 takes the midpoint P between points P1 and P2 as the center and a range of length S*T (m) as the feeding area for replenishment, and calculates the starting and ending positions of the feeding of the feeding mechanism.

7. The method for accurate material distribution and material replenishment of prefabricated components based on three-dimensional model analysis according to claim 6 is characterized in that: S9 includes: S91 sends the starting and ending positions of the feeding to the feeding mechanism to complete accurate feeding; S92 calculates the volume of the material after the filling is completed, and collects the three-dimensional data of the material after the vibration is completed, analyzes the distribution of the filling, and adjusts the partition size for the filling volume calculation based on the results.

8. Precision material distribution and feeding device for prefabricated components based on three-dimensional model analysis, characterized in that: include: 3D camera, used to collect 3D data of materials and molds; The simulation module is used to extract the three-dimensional description of the material, to calculate the plane description of the material required by the design, and to calculate the three-dimensional shape of the material to be placed; The calculation module is used to calculate the three-dimensional shape of the material to be placed, the volume change of the material before and after vibration, the precise volume of the material to be placed, and the location of the supplementary material placement; The feeding mechanism can output evenly mixed materials at a uniform conveying speed. The position of the output point can be moved and the moving speed can be controlled.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method for precise material distribution and replenishment of prefabricated components based on three-dimensional model analysis as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute the method for precise material distribution and replenishment of prefabricated components based on three-dimensional model analysis as described in any one of claims 1 to 7.

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