Building engineering construction site robot scheduling method and device

Abstract

The invention discloses a building engineering construction site robot scheduling method and device, and the method comprises the steps: obtaining three-dimensional point cloud data of a construction site environment; the three-dimensional point cloud data is divided into first point cloud data and second point cloud data, and the first point cloud data belongs to a ground type; generating a first plane based on the first point cloud data; projecting the second point cloud data on a first plane to obtain a two-dimensional grid map; and scheduling the robot based on the two-dimensional grid map. According to the invention, the accuracy of building engineering construction site robot scheduling can be improved.

Description

Technical Field

[0001] The present application relates to the field of point cloud processing technology, and in particular to a method and device for dispatching a robot at a construction site of a building project. Background Art

[0002] The construction site of a construction project is relatively messy, and the map cannot display the actual construction site environment. For example, it cannot express the items temporarily stored on site (roadblocks, block piles, yard gates, temporary warning restricted areas), which can easily lead to the issuance of erroneous instructions, causing the robot to collide with obstacles, that is, the accuracy of robot scheduling at the construction project construction site is low. Summary of the invention

[0003] The embodiments of the present application provide a method and device for scheduling a robot at a construction site of a construction project, which can improve the accuracy of scheduling a robot at a construction site of a construction project.

[0004] In a first aspect, the present application provides a method for dispatching a robot at a construction site of a construction project, comprising:

[0005] Obtain 3D point cloud data of the construction site environment;

[0006] Dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to the ground type;

[0007] generating a first plane based on the first point cloud data;

[0008] Projecting the second point cloud data onto the first plane to obtain a two-dimensional grid map;

[0009] The robot is dispatched based on the two-dimensional grid map.

[0010] Optionally, the acquiring of three-dimensional point cloud data of the construction site environment includes:

[0011] Control the mobile laser radar to scan the construction site environment to obtain the three-dimensional point cloud data of the construction site environment.

[0012] Optionally, generating the first plane based on the first point cloud data includes:

[0013] filtering the first point cloud data to obtain third point cloud data;

[0014] A first plane is generated based on the third point cloud data.

[0015] Optionally, dispatching the robot based on the two-dimensional grid map includes:

[0016] Get the task type entered by the user;

[0017] The robot is controlled based on the task type.

[0018] Optionally, controlling the robot based on the task type includes:

[0019] When the task type is a material handling task, a first scheduling pop-up window is popped up on the two-dimensional grid map;

[0020] Detecting first click image coordinates and second click image coordinates clicked by a user on the two-dimensional grid map;

[0021] The first click image coordinates and the second click image coordinates are converted into the world coordinate system, and the material picking position corresponding to the first click image coordinates and the material unloading position corresponding to the second click image coordinates are obtained;

[0022] Enter the material pickup location and material discharge location into the first scheduling pop-up window;

[0023] When it is detected that the user clicks the confirmation button on the first scheduling pop-up window, the robot is controlled to pick up materials from the material picking position and move to the unloading position to unload the materials.

[0024] Optionally, the method for dispatching a robot at a construction site of a construction project comprises:

[0025] When the task type is a robot summoning task, a second scheduling pop-up window pops up on the two-dimensional grid map;

[0026] Detecting coordinates of a third clicked image clicked by a user on the two-dimensional grid map;

[0027] Convert the third click image coordinates to the world coordinate system to obtain the target position;

[0028] Enter the target location into the second scheduling pop-up window;

[0029] When it is detected that the user clicks a confirmation button on the second scheduling pop-up window, the robot is controlled to move to the target position.

[0030] Optionally, the method for dispatching a robot at a construction site of a construction project comprises:

[0031] When the task type is a favorite task, a third scheduling pop-up window pops up on the two-dimensional grid map;

[0032] detecting a fourth click image coordinate clicked by a user on the two-dimensional grid map;

[0033] Convert the fourth clicked image coordinates to the world coordinate system to obtain the world horizontal coordinate and world vertical coordinate of the collection point corresponding to the fourth clicked image coordinates;

[0034] Enter the world horizontal and vertical coordinates of the collection point into the third scheduling pop-up window;

[0035] When it is detected that the user clicks a confirmation button on the third scheduling pop-up window, the favorite point is stored.

[0036] In a second aspect, the present application provides a dispatching device for a construction site robot, comprising:

[0037] An acquisition module is used to acquire three-dimensional point cloud data of the construction site environment;

[0038] A division module, used for dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to a ground type;

[0039] A generating module, used for generating a first plane based on the first point cloud data;

[0040] A projection module, used for projecting the second point cloud data onto the first plane to obtain a two-dimensional grid map;

[0041] A scheduling module is used to schedule the robot based on the two-dimensional grid map.

[0042] Optionally, the acquiring of three-dimensional point cloud data of the construction site environment includes:

[0043] Control the mobile laser radar to scan the construction site environment to obtain the three-dimensional point cloud data of the construction site environment.

[0044] Optionally, the generating module is used to:

[0045] filtering the first point cloud data to obtain third point cloud data;

[0046] A first plane is generated based on the third point cloud data.

[0047] Optionally, the scheduling module is used to:

[0048] Get the task type entered by the user;

[0049] The robot is controlled based on the task type.

[0050] Optionally, the scheduling module is used to:

[0051] When the task type is a material handling task, a first scheduling pop-up window is popped up on the two-dimensional grid map;

[0052] Detecting first click image coordinates and second click image coordinates clicked by a user on the two-dimensional grid map;

[0053] The first click image coordinates and the second click image coordinates are converted into the world coordinate system, and the material picking position corresponding to the first click image coordinates and the material unloading position corresponding to the second click image coordinates are obtained;

[0054] Enter the material pickup location and material discharge location into the first scheduling pop-up window;

[0055] When it is detected that the user clicks the confirmation button on the first scheduling pop-up window, the robot is controlled to pick up materials from the material picking position and move to the unloading position to unload the materials.

[0056] Optionally, a scheduling module is used to:

[0057] When the task type is a robot summoning task, a second scheduling pop-up window pops up on the two-dimensional grid map;

[0058] Detecting coordinates of a third clicked image clicked by a user on the two-dimensional grid map;

[0059] Convert the third click image coordinates to the world coordinate system to obtain the target position;

[0060] Enter the target location into the second scheduling pop-up window;

[0061] When it is detected that the user clicks a confirmation button on the second scheduling pop-up window, the robot is controlled to move to the target position.

[0062] Optionally, a scheduling module is used to:

[0063] When the task type is a favorite task, a third scheduling pop-up window pops up on the two-dimensional grid map;

[0064] detecting a fourth click image coordinate clicked by a user on the two-dimensional grid map;

[0065] Convert the fourth clicked image coordinates to the world coordinate system to obtain the world horizontal coordinate and world vertical coordinate of the collection point corresponding to the fourth clicked image coordinates;

[0066] Enter the world horizontal and vertical coordinates of the collection point into the third scheduling pop-up window;

[0067] When it is detected that the user clicks a confirmation button on the third scheduling pop-up window, the favorite point is stored.

[0068] On the third aspect, the electronic device provided in the present application includes a memory and a processor, the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the steps in the scheduling method of the construction site robot provided in the present application.

[0069] In a fourth aspect, the computer-readable storage medium provided in the present application stores a plurality of instructions, which are suitable for loading by a processor to implement the steps in the method for scheduling a construction site robot provided in the present application.

[0070] In a fifth aspect, the computer program product provided in the present application includes a computer program or instructions, which, when executed by a processor, implement the steps in the method for scheduling a construction site robot provided in the present application.

[0071] In this application, compared with the related art, the scheduling method of the construction site robot of the construction project includes: obtaining three-dimensional point cloud data of the construction site environment; dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to the ground type; generating a first plane based on the first point cloud data; projecting the second point cloud data on the first plane to obtain a two-dimensional grid map; scheduling the robot based on the two-dimensional grid map. This application can improve the accuracy of scheduling the construction site robot of the construction project. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0073] Figure 1 This is a schematic diagram of a scenario of a scheduling system for a construction site robot provided in an embodiment of the present application;

[0074] Figure 2 It is a flowchart of an embodiment of a method for dispatching a robot at a construction site of a building engineering project provided by an embodiment of the present application;

[0075] Figure 3 It is a schematic diagram of a first scheduling pop-up window popping up on a two-dimensional grid map in one embodiment of a scheduling method for a construction site robot provided by an embodiment of the present application;

[0076] Figure 4 It is a schematic diagram of a second scheduling pop-up window popping up on a two-dimensional grid map in one embodiment of a scheduling method for a construction site robot provided by an embodiment of the present application;

[0077] Figure 5 It is a schematic diagram of a third scheduling pop-up window popping up on a two-dimensional grid map in one embodiment of a scheduling method for a construction site robot provided by an embodiment of the present application;

[0078] Figure 6It is a structural schematic diagram of a dispatching device for a construction site robot provided in an embodiment of the present application;

[0079] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0080] It should be noted that the principles of the present application are illustrated by implementing them in an appropriate computing environment. The following description is based on the illustrated specific embodiments of the present application and should not be considered as limiting other specific embodiments of the present application that are not described in detail herein.

[0081] In the following description of the present application, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it can be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0082] In the following description of the present application, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0083] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0084] In order to improve the effect of scheduling a construction site robot, the present application provides a scheduling method for a construction site robot, a scheduling device for a construction site robot, an electronic device, a computer-readable storage medium, and a computer program product. The scheduling method for a construction site robot can be executed by the scheduling device for the construction site robot, or by an electronic device integrated with the scheduling device for the construction site robot.

[0085] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0086] Please refer to Figure 1 , the present application also provides a scheduling system for a robot at a construction site, such as Figure 1 As shown, the electronic device 100 of the scheduling system of the construction engineering construction site robot is integrated with the scheduling device of the construction engineering construction site robot provided by the present application.

[0087] Among them, the electronic device 100 can be any device equipped with a processor and has processing capabilities, such as mobile electronic devices with processors such as smart phones, tablet computers, PDAs, laptops, smart speakers, or fixed electronic devices with processors such as desktop computers, televisions, servers, industrial equipment, etc.

[0088] In addition, if Figure 1 As shown, the scheduling system of the construction site robot of the building engineering may further include a memory 200 for storing original data, intermediate data and result data.

[0089] In the embodiment of the present application, the memory 200 can be a cloud storage. Cloud storage is a new concept extended and developed from the concept of cloud computing. A distributed cloud storage system (hereinafter referred to as the storage system) refers to a storage system that uses cluster applications, grid technology, and distributed storage file systems to bring together a large number of different types of storage devices (storage devices are also called storage nodes) in the network through application software or application interfaces to work together and provide external data storage and business access functions.

[0090] At present, the storage method of the storage system is: create a logical volume, and when creating a logical volume, allocate physical storage space for each logical volume. The physical storage space may be composed of disks of a storage device or several storage devices. The client stores data on a logical volume, that is, stores the data on the file system. The file system divides the data into many parts, each of which is an object. The object contains not only data but also additional information such as data identification (ID, ID entity). The file system writes each object into the physical storage space of the logical volume, and the file system records the storage location information of each object, so that when the client requests to access the data, the file system can allow the client to access the data according to the storage location information of each object.

[0091] The process of the storage system allocating physical storage space to a logical volume is as follows: based on the estimated capacity of the objects stored in the logical volume (this estimate often has a large margin relative to the actual capacity of the objects to be stored) and the grouping of independent redundant disk arrays (RAID, Redundant Array of Independent Disks), the physical storage space is pre-divided into stripes. A logical volume can be understood as a stripe, thereby allocating physical storage space to the logical volume.

[0092] It should be noted that Figure 1 The scenario diagram of the scheduling system of the construction site robot shown is merely an example. The scheduling system and scenario of the construction site robot described in the embodiment of the present application are intended to more clearly illustrate the technical solution of the embodiment of the present application, and do not constitute a limitation on the technical solution provided in the embodiment of the present application. A person of ordinary skill in the art can appreciate that with the evolution of the scheduling system of the construction site robot and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is equally applicable to similar technical problems.

[0093] It should be noted that the serial numbers of the following embodiments are not intended to limit the preferred order of the embodiments.

[0094] Please refer to Figure 2 , Figure 2 FIG. 1 is a flow chart of an embodiment of a method for dispatching a robot at a construction site of a construction project provided by an embodiment of the present application. Figure 2 As shown, the process of the scheduling method for the construction site robot provided by this application is as follows:

[0095] 201. Obtain three-dimensional point cloud data of the construction site environment.

[0096] In an embodiment of the present application, obtaining three-dimensional point cloud data of the construction site environment includes: controlling a mobile laser radar to scan the construction site environment to obtain three-dimensional point cloud data of the construction site environment. For example, the mobile laser radar is installed on a collection vehicle, and when the collection vehicle moves, the mobile laser radar collects point clouds.

[0097] Specifically, a mobile laser radar is used to scan the construction site environment in all directions. The radar is preferably a mobile backpack radar. During the movement of the laser radar, multiple frames of point cloud data can be collected, and then each frame of point cloud data is spliced ​​to form three-dimensional point cloud data of the construction site environment. It should be noted that in addition to the mobile laser radar, a depth camera or a 3D scanner can also be used to obtain multiple frames of point clouds, where the depth camera includes but is not limited to time-of-flight (TOF) based on indirect time-of-flight (iToF) or direct time-of-flight (dToF), binocular vision, or structured light, etc., which are not limited here.

[0098] 202. Divide the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data is of a ground type.

[0099] In a specific embodiment, the three-dimensional point cloud data is divided into first point cloud data and second point cloud data, including: based on the height of the mobile laser radar, the first point cloud data within a preset ground longitudinal range is intercepted from the three-dimensional point cloud data, and the point cloud data of the three-dimensional point cloud data minus the first point cloud data is determined as the second point cloud data.

[0100] Specifically, when the mobile laser radar is set on the top of the collection vehicle, the height of the mobile laser radar can be understood as the height of the collection vehicle. For example, the height of the collection vehicle is 1.6 meters. At this time, when intercepting the first point cloud data within the preset ground longitudinal range, the point cloud data between 1.4 meters and 1.8 meters away from the mobile laser radar can be intercepted.

[0101] In another specific embodiment, a 2D image captured by a camera on a collection vehicle is obtained, and the single-frame 2D image captured by the camera on the collection vehicle and the single-frame point cloud data captured by a mobile laser radar on the collection vehicle are captured from the same viewing angle. The 2D image is segmented into ground areas to obtain ground segmentation areas on the 2D image, the 2D image and the corresponding single-frame point cloud data are aligned, and the point cloud data located in the ground segmentation area in the single-frame point cloud data are respectively extracted and fused to obtain fourth point cloud data. Fifth point cloud data within a preset ground longitudinal range is intercepted from the three-dimensional point cloud data based on the height of the mobile laser radar. The three-dimensional model formed by the multiple three-dimensional point clouds in the fourth point cloud data is determined as the first three-dimensional model, and the three-dimensional model formed by the multiple three-dimensional point clouds in the fifth point cloud data is determined as the second three-dimensional model, and the overlapping model between the first three-dimensional model and the second three-dimensional model is obtained, and the three-dimensional point cloud in the overlapping model is determined as the first point cloud data, and the point cloud data of the three-dimensional point cloud data minus the first point cloud data is determined as the second point cloud data.

[0102] 203. Generate a first plane based on the first point cloud data.

[0103] In a specific embodiment, generating a first plane based on first point cloud data includes: performing plane fitting on the first point cloud data to obtain the first plane.

[0104] In another specific embodiment, the first point cloud data is filtered to obtain third point cloud data, and the first plane is generated based on the third point cloud data.

[0105] Specifically, the first point cloud data is subjected to straight-through filtering, voxel filtering, statistical filtering, Gaussian filtering, bilateral filtering, radius filtering, etc. to obtain the third point cloud data. The first plane is generated based on the third point cloud data.

[0106] The pass-through filter retains or removes certain points in the point cloud data by setting a specific attribute range. For example, the data range of the point cloud data in a certain dimension can be limited to a specified interval to remove unnecessary point cloud data. The voxel filter divides the point cloud into small voxels (cubes) and selects a representative point in each voxel to achieve the purpose of downsampling without destroying the geometric structure of the point cloud. This method reduces the number of points by randomly sampling the point cloud, but maintains its overall distribution and shape characteristics. The statistical filter identifies and removes outliers by calculating the mean and standard deviation of the distance between each point and its neighboring points. Specifically, for each point in the point cloud, find its nearest K neighbors and calculate the average distance of these neighbors. Then a threshold is calculated based on this average and the corresponding standard deviation, and all points exceeding this threshold will be considered outliers and removed. Gaussian filtering is a smoothing filtering method based on Gaussian function, which is suitable for removing random noise and maintaining edge information. It achieves denoising by applying Gaussian weights to weighted average points in the neighborhood. Bilateral filtering combines the two factors of spatial distance and pixel value similarity to effectively remove noise while retaining edge information. It is particularly suitable for ordered point cloud data. Radius filtering sets a radius threshold and removes all points whose distance exceeds the threshold. This method is simple and effective and is often used for preliminary denoising.

[0107] In a specific embodiment, generating a first plane based on the third point cloud data includes: using the RANSAC (Random Sampling Consensus) algorithm to perform plane fitting on the third point cloud data to obtain the first plane. The RANSAC algorithm can estimate the parameters of the mathematical model from a set of observation data containing "outliers" in an iterative manner. It is an uncertain algorithm that has a certain probability of obtaining a reasonable result; in order to increase the probability, the number of iterations must be increased. The algorithm was first proposed by Fischler and Bolles in 1981. The basic assumption of RANSAC is that the data consists of "inliers", for example: the distribution of the data can be explained by some model parameters; "outliers" are data that cannot adapt to the model; data other than these are noise. The reasons for the generation of outliers are: extreme values ​​of noise; incorrect measurement methods; incorrect assumptions about the data.

[0108] In another specific embodiment, the third point cloud data is plane-fitted using the RANSAC algorithm to obtain a second plane, the second plane is rotated around the first straight line for a preset number of times, each time by a preset angle, to obtain a third plane for a preset number of times; the second plane is rotated around the second straight line for a preset number of times, each time by a preset angle, to obtain a fourth plane for a preset number of times; wherein the preset angle may be 1 degree or other angles, the preset number of times may be 5 times or other times, the first straight line and the second straight line are both located on the second plane, and the first straight line and the second straight line are perpendicular. The second plane, the third plane for a preset number of times, and the fourth plane for a preset number of times are determined as multiple fifth planes, and the first plane is selected from the fifth plane.

[0109] Specifically, the first point cloud data is projected onto different fifth planes to obtain different projection areas, thereby obtaining projection areas of multiple fifth planes, and the fifth plane having the largest projection area is determined as the first plane.

[0110] 204. Project the second point cloud data onto the first plane to obtain a two-dimensional grid map.

[0111] Specifically, each 3D point in the second point cloud data is projected onto the first plane to obtain each 2D point on the 2D grid map, and the mapping relationship between each 3D point in the second point cloud data and each 2D point on the 2D grid map is saved. The 2D grid map is saved as a PGM format image, and the coordinates of each 2D point on the 2D grid map and the coordinates of the corresponding 3D point are stored in a yaml format file.

[0112] 205. Dispatching robots based on two-dimensional grid maps.

[0113] In an embodiment of the present application, scheduling a robot based on a two-dimensional grid map includes: obtaining a task type input by a user; and controlling the robot based on the task type.

[0114] like Figure 3 As shown, in the embodiment of the present application, controlling the robot based on the task type includes:

[0115] (1) When the task type is a material handling task, a first scheduling pop-up window pops up on the two-dimensional grid map.

[0116] like Figure 3 As shown, in the first scheduling pop-up window, you can enter the material collection location, unloading location, AGV number, handling type and quantity, etc. The AGV number is the number of the robot.

[0117] (2) Detect the first click image coordinates and the second click image coordinates clicked by the user on the two-dimensional grid map.

[0118] (3) The first click image coordinates and the second click image coordinates are converted into the world coordinate system to obtain the material picking position corresponding to the first click image coordinates and the material unloading position corresponding to the second click image coordinates.

[0119] Specifically, according to the mapping relationship between the first clicked image coordinates and each three-dimensional point in the second point cloud data and each two-dimensional point on the two-dimensional grid map, the first clicked image coordinates are converted to the world coordinate system to obtain the material collection position corresponding to the first clicked image coordinates. According to the mapping relationship between the second clicked image coordinates and each three-dimensional point in the second point cloud data and each two-dimensional point on the two-dimensional grid map, the second clicked image coordinates are converted to the world coordinate system to obtain the material collection position corresponding to the second clicked image coordinates.

[0120] (4) Enter the material pickup location and unloading location into the first scheduling pop-up window.

[0121] Specifically, the material picking position and the material unloading position are automatically input into the corresponding positions of the first scheduling pop-up window.

[0122] (5) When it is detected that the user clicks the confirmation button on the first scheduling pop-up window, the robot is controlled to pick up materials from the material picking position and move to the unloading position to unload the materials.

[0123] like Figure 3 As shown, the user clicks "Confirm Add", and it is detected that the user clicks the confirmation button on the first scheduling pop-up window.

[0124] In a specific embodiment, different construction floors in the construction site environment correspond to different two-dimensional grid maps. By generating maps for different construction floors in the construction site environment, two-dimensional grid maps corresponding to different construction floors in the construction site environment can be obtained. The two-dimensional grid maps corresponding to different construction floors correspond to different floor numbers. When it is detected that the user clicks the confirmation button on the first scheduling pop-up window, it is determined whether the user enters the AGV number in the first scheduling pop-up window. If the user enters the AGV number in the first scheduling pop-up window, the robot corresponding to the AGV number is controlled to pick up materials from the material picking position and move to the unloading position to unload. If the user does not enter the AGV number in the first scheduling pop-up window, the floor number corresponding to the two-dimensional grid map is obtained, the positions of multiple robots whose work sites are floors corresponding to the floor numbers are obtained, and the robot closest to the material picking position in the floor corresponding to the floor number is controlled to pick up materials from the material picking position and move to the unloading position to unload.

[0125] like Figure 4 As shown, in the embodiment of the present application, the scheduling method of the construction site robot of the construction project includes:

[0126] (1) When the task type is a robot summoning task, a second scheduling pop-up window pops up on the two-dimensional grid map.

[0127] (2) Detect the coordinates of the third clicked image on the two-dimensional grid map by the user.

[0128] (3) Convert the coordinates of the third clicked image to the world coordinate system to obtain the target position.

[0129] (4) Enter the target location into the second scheduling pop-up window.

[0130] (5) When it is detected that the user clicks the confirmation button on the second scheduling pop-up window, the robot is controlled to move to the target position.

[0131] like Figure 5 As shown, in the embodiment of the present application, the scheduling method of the construction site robot of the construction project includes:

[0132] (1) When the task type is a favorite task, a third scheduling pop-up window pops up on the two-dimensional grid map.

[0133] (2) Detect the coordinates of the fourth clicked image clicked by the user on the two-dimensional grid map.

[0134] (3) The fourth clicked image coordinates are converted into the world coordinate system to obtain the world horizontal coordinate and world vertical coordinate of the collection point corresponding to the fourth clicked image coordinates.

[0135] (4) Enter the world horizontal and vertical coordinates of the collection point into the third scheduling pop-up window.

[0136] (5) When it is detected that the user clicks the confirmation button on the third scheduling pop-up window, the favorite point is stored.

[0137] In this application, compared with the related art, the scheduling method of the construction site robot of the construction project includes: obtaining three-dimensional point cloud data of the construction site environment; dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to the ground type; generating a first plane based on the first point cloud data; projecting the second point cloud data on the first plane to obtain a two-dimensional grid map; scheduling the robot based on the two-dimensional grid map. This application can improve the accuracy of scheduling the construction site robot of the construction project.

[0138] This application can improve the efficiency of map construction and avoid repeated manual coordinate collection. It can truly display all the details of the construction site environment and is more suitable for scheduling high-dynamic and complex environments on the construction site. You can quickly obtain any world coordinate point in the site environment by directly clicking on the picture.

[0139] In order to facilitate better implementation of the scheduling method for a construction site robot provided in the embodiment of the present application, the embodiment of the present application also provides a scheduling device for a construction site robot based on the scheduling method for a construction site robot. The meanings of the terms are the same as those in the scheduling method for a construction site robot. For specific implementation details, please refer to the description in the above method embodiment.

[0140] Please refer to Figure 6 , Figure 6 A schematic diagram of the structure of a scheduling device for a construction engineering construction site robot provided in an embodiment of the present application, wherein the scheduling device for the construction engineering construction site robot may include:

[0141] An acquisition module 701 is used to acquire three-dimensional point cloud data of the construction site environment;

[0142] A division module 702 is used to divide the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to a ground type;

[0143] A generating module 703, configured to generate a first plane based on the first point cloud data;

[0144] A projection module 704 is used to project the second point cloud data onto the first plane to obtain a two-dimensional grid map;

[0145] The scheduling module 705 is used to schedule the robot based on the two-dimensional grid map.

[0146] Optionally, obtain three-dimensional point cloud data of the construction site environment, including:

[0147] Control the mobile laser radar to scan the construction site environment and obtain the three-dimensional point cloud data of the construction site environment.

[0148] Optionally, generate a module for:

[0149] Filtering the first point cloud data to obtain third point cloud data;

[0150] A first plane is generated based on the third point cloud data.

[0151] Optionally, a scheduling module is used to:

[0152] Get the task type entered by the user;

[0153] Control the robot based on the task type.

[0154] Optionally, a scheduling module is used to:

[0155] When the task type is a material handling task, the first scheduling pop-up window pops up on the two-dimensional grid map;

[0156] Detecting first click image coordinates and second click image coordinates clicked by a user on a two-dimensional grid map;

[0157] The first click image coordinates and the second click image coordinates are converted into the world coordinate system, and the material picking position corresponding to the first click image coordinates and the material unloading position corresponding to the second click image coordinates are obtained;

[0158] Enter the material pickup location and material discharge location into the first scheduling pop-up window;

[0159] When it is detected that the user clicks the confirmation button on the first scheduling pop-up window, the robot is controlled to pick up materials from the picking position and move to the unloading position to unload the materials.

[0160] Optionally, a scheduling module is used to:

[0161] When the task type is a robot summon task, a second scheduling pop-up window pops up on the two-dimensional grid map;

[0162] Detecting the coordinates of a third clicked image clicked by the user on the two-dimensional grid map;

[0163] Convert the third click image coordinates to the world coordinate system to obtain the target position;

[0164] Enter the target location into the second scheduling pop-up window;

[0165] When it is detected that the user clicks the confirmation button on the second scheduling pop-up window, the robot is controlled to move to the target position.

[0166] Optionally, a scheduling module is used to:

[0167] When the task type is a favorite task, a third scheduling pop-up window will pop up on the two-dimensional grid map;

[0168] Detecting the coordinates of a fourth clicked image clicked by the user on the two-dimensional grid map;

[0169] Convert the fourth clicked image coordinates to the world coordinate system to obtain the world horizontal coordinate and world vertical coordinate of the collection point corresponding to the fourth clicked image coordinates;

[0170] Enter the world horizontal and vertical coordinates of the collection point into the third scheduling pop-up window;

[0171] When it is detected that the user clicks a confirmation button on the third scheduling pop-up window, the favorite point is stored.

[0172] The specific implementation of each of the above modules can be found in the previous embodiments and will not be described in detail here.

[0173] An embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the processor is used to execute the steps of the scheduling method for a construction site robot provided in this embodiment by calling a computer program stored in the memory.

[0174] Please refer to Figure 7 , Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0175] The electronic device may include components such as a processor 101 with one or more processing cores, a memory 102 with one or more computer-readable storage media, a power supply 103, and an input unit 104. Those skilled in the art will appreciate that the electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Among them:

[0176] The processor 101 is the control center of the electronic device, which uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing software programs and / or modules stored in the memory 102, and calling data stored in the memory 102. Optionally, the processor 101 may include one or more processing cores; optionally, the processor 101 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 101.

[0177] The memory 102 can be used to store software programs and modules. The processor 101 executes various functional applications and data processing by running the software programs and modules stored in the memory 102. The memory 102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 102 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 102 may also include a memory controller to provide the processor 101 with access to the memory 102.

[0178] The electronic device also includes a power supply 103 for supplying power to each component. Optionally, the power supply 103 can be logically connected to the processor 101 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 103 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0179] The electronic device may further include an input unit 104, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0180] Although not shown, the electronic device may also include a display unit 105, an image acquisition component, etc., which will not be described in detail here. Specifically in this embodiment, the processor 101 in the electronic device will load the executable code corresponding to one or more computer programs into the memory 102 according to the following instructions, and the processor 101 will execute the steps in the scheduling method of the construction site robot provided by the application, such as:

[0181] Acquire three-dimensional point cloud data of the construction site environment; divide the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to the ground type; generate a first plane based on the first point cloud data; project the second point cloud data onto the first plane to obtain a two-dimensional grid map; and dispatch the robot based on the two-dimensional grid map.

[0182] It should be noted that the electronic device provided in the embodiment of the present application and the scheduling method for the construction site robot in the above embodiment belong to the same concept, and its specific implementation process is detailed in the above related embodiments and will not be repeated here.

[0183] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program stored therein is executed on a processor of an electronic device provided in an embodiment of the present application, the processor of the electronic device executes the steps in the scheduling method of a construction site robot provided in the present application. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0184] The present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes various optional implementations of the above-mentioned scheduling method for a construction engineering construction site robot.

[0185] The above is a detailed introduction to the scheduling method and device for a construction site robot provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0186] It should be noted that when the above embodiments of the present application are applied to specific products or technologies, the relevant data of the user is involved, and the user's permission or consent is required, and the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

Claims

1. A method for dispatching robots at construction sites of construction projects, characterized in that: include: Obtain 3D point cloud data of the construction site environment; Dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to the ground type; generating a first plane based on the first point cloud data; Projecting the second point cloud data onto the first plane to obtain a two-dimensional grid map; The robot is dispatched based on the two-dimensional grid map.

2. The method for dispatching a robot at a construction site of a construction project according to claim 1, characterized in that: The step of obtaining three-dimensional point cloud data of the construction site environment includes: Control the mobile laser radar to scan the construction site environment to obtain the three-dimensional point cloud data of the construction site environment.

3. The method for dispatching a robot at a construction site of a construction project according to claim 1, characterized in that: The generating a first plane based on the first point cloud data comprises: filtering the first point cloud data to obtain third point cloud data; A first plane is generated based on the third point cloud data.

4. The method for dispatching a robot at a construction site of a construction project according to claim 1, characterized in that: The method of dispatching a robot based on the two-dimensional grid map includes: Get the task type entered by the user; The robot is controlled based on the task type.

5. The method for dispatching a robot at a construction site of a construction project according to claim 4, characterized in that: The controlling the robot based on the task type comprises: When the task type is a material handling task, a first scheduling pop-up window is popped up on the two-dimensional grid map; Detecting first click image coordinates and second click image coordinates clicked by a user on the two-dimensional grid map; The first click image coordinates and the second click image coordinates are converted into the world coordinate system, and the material picking position corresponding to the first click image coordinates and the material unloading position corresponding to the second click image coordinates are obtained; Enter the material pickup location and material discharge location into the first scheduling pop-up window; When it is detected that the user clicks the confirmation button on the first scheduling pop-up window, the robot is controlled to pick up materials from the material picking position and move to the unloading position to unload the materials.

6. The method for dispatching a robot at a construction site of a construction project according to claim 4, characterized in that: The method for dispatching a robot at a construction site of a building project comprises: When the task type is a robot summoning task, a second scheduling pop-up window pops up on the two-dimensional grid map; Detecting coordinates of a third clicked image clicked by a user on the two-dimensional grid map; Convert the third click image coordinates to the world coordinate system to obtain the target position; Enter the target location into the second scheduling pop-up window; When it is detected that the user clicks a confirmation button on the second scheduling pop-up window, the robot is controlled to move to the target position.

7. The method for dispatching a robot at a construction site of a construction project according to claim 4, characterized in that: The method for dispatching a robot at a construction site of a building project comprises: When the task type is a favorite task, a third scheduling pop-up window pops up on the two-dimensional grid map; detecting a fourth click image coordinate clicked by a user on the two-dimensional grid map; Convert the fourth clicked image coordinates to the world coordinate system to obtain the world horizontal coordinate and world vertical coordinate of the collection point corresponding to the fourth clicked image coordinates; Enter the world horizontal and vertical coordinates of the collection point into the third scheduling pop-up window; When it is detected that the user clicks a confirmation button on the third scheduling pop-up window, the favorite point is stored.

8. A dispatching device for a robot at a construction site of a building engineering project, characterized in that: include: An acquisition module is used to acquire three-dimensional point cloud data of the construction site environment; A division module, used for dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to a ground type; A generating module, used for generating a first plane based on the first point cloud data; A projection module, used for projecting the second point cloud data onto the first plane to obtain a two-dimensional grid map; A scheduling module is used to schedule the robot based on the two-dimensional grid map.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the steps in the method for scheduling a construction site robot of a construction project 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 a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps in the method for scheduling a construction site robot of a construction project as described in any one of claims 1 to 7.

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