Robot positioning method in building construction environment

Abstract

The invention relates to a robot positioning method in a building construction environment, which corrects dimensional deviation between BIM (Building Information Modeling) data and an actual construction process by utilizing an RFID (Radio Frequency Identification Device) positioning principle, efficiently constructs a working map with low cost and completes positioning of a construction robot. Dimensional deviation caused by a construction process and content deviation caused by field design adjustment inevitably exist between BIM model data and an actually constructed building object. Therefore, the data of the BIM model cannot be directly used as the map data of the construction robot, and the field map data cannot be quickly and efficiently constructed no matter manual recheck measurement or three-dimensional scanning modeling is adopted. According to the robot positioning method in the building construction environment, the RFID positioning principle is used for correcting the deviation between BIM model data and the actual construction process, a working map can be constructed efficiently at low cost, and positioning of the construction robot can be completed.

Description

Technical Field

[0001] The present invention relates to the field of robot positioning, and particularly to a method for robot positioning in a construction environment. Background Art

[0002] With the rapid development of robot technology, more and more robots are widely used in various scenarios. In order to enable robots to autonomously reach corresponding workstations to complete their work, it is necessary to construct their working maps and perform regional positioning of the robots. In currently common technologies, there are roughly the following several robot positioning methods, including: ultrasonic positioning, visual positioning, GPS positioning, light reflection positioning, and SLAM technology, etc.

[0003] 1. Ultrasonic positioning: Uses ultrasonic sensors to emit and receive sound waves to calculate distances. The advantages are low cost and good real-time performance, but the accuracy is affected by the environment and it is suitable for short-distance positioning.

[0004] 2. Visual positioning: Captures images through a camera and uses computer vision algorithms for positioning. The advantages are rich information and strong adaptability, but the computational load is large and it is affected by lighting.

[0005] 3. GPS positioning: Suitable for outdoor use, providing global position information, but affected by satellite signals and environmental factors, with limited accuracy.

[0006] 4. Light reflection positioning: Uses laser or infrared sensors for distance measurement, with high accuracy but interfered by environmental factors, and is commonly used in specific industrial inspections.

[0007] 5. SLAM technology: Combines sensor data to construct a map and perform positioning in real time, suitable for unknown environments, but with high computational complexity.

[0008] These methods have their own advantages and disadvantages and are suitable for different scenarios. For example, ultrasonic and visual positioning are commonly used in indoor environments, GPS is suitable for outdoor use, and SLAM technology is suitable for exploration of unknown environments. However, the above existing methods are not a good choice for construction sites. If it is necessary to construct a map of the construction site at low cost using existing BIM model data and complete the positioning of construction robots, it is necessary to correct the dimensional deviation between the BIM model data and the actual construction process.

[0009] The present invention relates to a method for robot positioning in a construction environment, which corrects the dimensional deviation between BIM data and the actual construction process by using the RFID positioning principle, and efficiently and low-costly constructs a working map and completes the positioning of construction robots. Summary of the Invention

[0010] To solve the above problems, the present invention provides a method for robot positioning in a building construction environment, which can correct the dimensional deviation between BIM model data and the actual construction process by using the RFID positioning principle, and efficiently and low-cost construct a working map and complete the positioning of the construction robot.

[0011] Due to the inevitable dimensional deviation caused by construction techniques and content deviation caused by on-site design adjustments between BIM model data and the actual physical building completed in construction. Therefore, the data of the BIM model cannot be directly used as the map data for the construction robot, and neither manual recheck measurement nor 3D scanning and modeling can quickly and efficiently construct on-site map data. A method for robot positioning in a building construction environment proposed by the present invention uses the RFID positioning principle to correct the deviation between BIM model data and the actual construction process, and can efficiently and low-cost construct a working map and complete the positioning of the construction robot.

[0012] On the same side of the vertical columns at the construction site, RFID tags are pasted at the horizontal center position at the same height to form a regular grid.

[0013] The RFID tags are pasted at the same height, and the height of the RFID tags from the ground of the floor where they are located is 600 - 900 cm.

[0014] The encoding numbers of each RFID tag and the column numbers of the positions where they are pasted should be recorded in detail and one-to-one correspondence.

[0015] The column numbers at the construction site of each floor described above should be the same as the column numbers in the BIM model data.

[0016] Taking the columns with the same number as the reference object, the z-x axis plane information of the BIM model is image-overlaid and fused with the grid map of the on-site RFID tags to draw a two-dimensional plane map of the corresponding floor with RFID tag grid information.

[0017] This two-dimensional plane map of the floor is transmitted to the robot, and the robot can communicate with the RFID tags on the floor during the construction operation to achieve the positioning of the robot in the floor area. Specific Embodiment

[0019] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variants. The basic principles defined in the following description can be applied to other implementation schemes, variant schemes, improvement schemes, equivalent schemes, and other technical schemes that do not depart from the spirit and scope of the present invention.

[0020] Due to the inevitable dimensional deviations caused by construction techniques and content deviations caused by on-site design adjustments between BIM model data and the actual physical building completed in construction, it is impossible to directly use the data of the BIM model as the map data for construction robots. Moreover, neither manual recheck measurement nor three-dimensional scanning and modeling can quickly and efficiently construct on-site map data. A method for robot positioning in a building construction environment proposed by the present invention uses the RFID positioning principle to correct the deviation between BIM model data and the actual construction process, and can efficiently and low-costly construct a working map and complete the positioning of the construction robot.

[0021] Paste RFID tags at the horizontal center positions at the same height on the same side of the vertical columns at the construction site to form a regular grid.

[0022] The RFID tags are pasted at the same height, and the height of the RFID tags from the ground of the floor where they are located is 600 - 900 cm, and this height can better adapt to most construction robots on site.

[0023] The coding numbers of each RFID tag and the column numbers of the positions where they are pasted should be recorded in detail and one-to-one correspondence.

[0024] The column numbers of the columns at the construction site of each floor described above should be the same as the column numbers in the BIM model data.

[0025] Taking the columns with the same numbers as references, superimpose and fuse the z-x axis plane information of the BIM model with the grid map of the on-site RFID tags, and draw a two-dimensional plane map of the corresponding floor with the grid information of the RFID tags.

[0026] Transmit this two-dimensional plane map of the floor to the robot. The robot can communicate with the RFID tags on the floor during the construction operation to achieve the positioning of the robot in the floor area.

[0027] Using the RFID tags to form a grid for area positioning at the construction site has low cost, fast layout, is not affected by the complex light environment at the construction site, and at the same time, the grid system composed of multiple groups of FID tags also effectively reduces the influence of obstacles blocking at the construction site on area positioning.

[0028] The embodiments described above are only used to illustrate the technical ideas and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The scope of the patent adoption of the present invention cannot be limited only by these embodiments, that is, all equivalent changes or modifications made according to the spirit disclosed by the present invention still fall within the scope of the patent of the present invention.

Claims

1. A method for robot positioning in a construction environment, characterized in that Utilize the RFID positioning principle to correct the deviation between BIM model data and the actual construction process for the positioning of on-site robots.

2. The method according to claim 1, wherein On the same side of the vertical columns at the construction site, paste RFID tags at the horizontal center positions at the same height to form a regular grid.

3. The RFID tag according to claim 2, characterized in that The encoding numbers of each RFID tag and the column numbers of the positions where they are pasted should be recorded in detail and one-to-one correspondence.

4. The column according to claim 2, characterized in that The column numbers at the construction site of each floor should be the same as the column numbers in the BIM model data.

5. The method according to claim 1, wherein Taking the columns with the same numbers as references, overlay and fuse the z-x axis plane information of the BIM model with the grid map of the on-site RFID tags to draw a two-dimensional plane map of the corresponding floor with RFID tag grid information.

6. The method according to claim 1, wherein Transmit this two-dimensional plane map of the floor to the robot. The robot can communicate with the RFID tags on the floor during the construction operation to achieve the positioning of the robot in the floor area.