Steel structure pre-assembly method, device and equipment and readable storage medium
By using 3D laser scanning technology to establish a virtual model of the steel structure, the problems of cumbersome detection and large errors in traditional virtual pre-assembly technology were solved, and efficient and accurate pre-assembly of the steel structure was achieved, saving space and time.
Patent Information
- Application Number
- CN202510635019.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-16
- Publication Date
- 2025-09-12
AI Technical Summary
When faced with complex steel structures with large spatial spans, traditional virtual pre-assembly technology has a cumbersome inspection process, a large workload in the field, and large errors in manually collected feature points, resulting in a lack of credibility in the three-dimensional model.
3D laser scanning technology is used to directly collect 3D data of the steel structure to be assembled, build a virtual model, and pre-assemble based on the model, avoiding manual measurement errors and improving accuracy and speed.
It achieves fast and accurate pre-assembly of steel structures, saves space and construction time, reduces consumption of manpower and material resources, and improves the reliability of assembly.
Smart Images
Figure CN120633150A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of steel assembly, and in particular to a steel structure pre-assembly method, device, equipment and readable storage medium. Background Art
[0002] With the rapid development of my country's steel industry technology and the continuous increase in steel production, the application of steel structures in the field of civil engineering is becoming more and more extensive, and the use of large and complex steel structures is also gradually increasing.
[0003] Due to limitations in transportation and hoisting, large steel structures are generally manufactured in sections or separate units. Large steel structure components have strong spatial correlations, and due to the cumulative assembly errors, simply controlling the accuracy of individual components cannot meet on-site installation requirements. Therefore, to improve the overall construction quality of steel structures and ensure smooth on-site assembly of each component, pre-assembly work must be performed in the factory before the components leave the factory. Currently, pre-assembly work can be divided into physical pre-assembly and virtual pre-assembly. Compared to physical pre-assembly, virtual pre-assembly does not require space or hoisting equipment, saving steel structure factories a significant amount of manpower and material resources and shortening construction periods.
[0004] Traditional virtual pre-assembly technology uses equipment such as total stations and steel tape measures to collect the coordinates and characteristic distances of feature points on the target unit component, and then models the unit component based on these feature points and characteristic distances, and then performs overall virtual pre-assembly. However, when faced with steel structures with complex structures and large spatial spans, this traditional method has the disadvantages of a cumbersome detection process and a large amount of field work. Moreover, there are no real feature points in real scenes, and the errors in manually collecting feature points are large, resulting in a lack of credibility in the three-dimensional model of the unit component established using these feature points. Therefore, there is an urgent need for a steel structure pre-assembly method that can overcome the above-mentioned shortcomings. Summary of the Invention
[0005] The purpose of the present invention is to provide a steel structure pre-assembly method, device, equipment and readable storage medium. Three-dimensional laser scanning directly collects the three-dimensional data of various large and complex entities into a computer, and then quickly reconstructs the three-dimensional model of the target and various geometric data such as points, lines, surfaces, and bodies. Compared with entity pre-assembly, it has the advantages of saving space, saving construction time, and advanced technology. Compared with equipment such as total stations, it has the advantages of fast acquisition speed, high accuracy, surface measurement, and no need to contact the target object.
[0006] In order to achieve the above object, the present invention provides the following technical solutions:
[0007] In a first aspect, the present invention provides a steel structure pre-assembly method, the method comprising:
[0008] Utilizing three-dimensional laser scanning technology to measure the steel structure to be assembled, and obtaining three-dimensional coordinate information of surface points of the steel structure to be assembled;
[0009] Establishing a virtual model of the steel structure to be assembled based on the three-dimensional coordinate information of the surface points of the steel structure to be assembled;
[0010] The steel structure to be assembled is pre-assembled based on the virtual model of the steel structure to be assembled.
[0011] In some embodiments, the three-dimensional laser scanning technology is used to measure the steel structure to be assembled to obtain the three-dimensional coordinate information of the surface points of the steel structure to be assembled, including:
[0012] Measuring attribute information of the surface points of the steel structure to be assembled based on the three-dimensional laser scanning technology; the attribute information includes horizontal angle, altitude angle and distance;
[0013] Based on the attribute information, the three-dimensional coordinate information of the surface points of the steel structure to be assembled is calculated.
[0014] In some embodiments, establishing a virtual model of the steel structure to be assembled based on the three-dimensional coordinate information of the surface points of the steel structure to be assembled includes:
[0015] Preprocessing the three-dimensional coordinate information of the surface points of the steel structure to be assembled;
[0016] The pre-processed three-dimensional coordinate information of the surface points of the steel structure to be assembled is input into the virtual construction platform to establish a virtual model of the steel structure to be assembled.
[0017] In some embodiments, pre-assembling the steel structure to be assembled based on the virtual model of the steel structure to be assembled includes:
[0018] Obtaining an ideal assembly model of the steel structure to be assembled;
[0019] According to the ideal assembly model, the virtual model of the steel structure to be assembled is pre-assembled.
[0020] In some embodiments, pre-assembling the virtual model of the steel structure to be assembled according to the ideal assembly model includes:
[0021] According to the ideal assembly model, a spatial geometric transformation is performed on the virtual model of the steel structure to be assembled, thereby completing the pre-assembly of the virtual model of the steel structure to be assembled.
[0022] In some embodiments, the method further comprises:
[0023] Obtaining fitting results of the ideal assembly model and the pre-assembly virtual model;
[0024] Based on the fitting result, the steel structure to be assembled is assembled.
[0025] In a second aspect, the present invention further provides a steel structure pre-assembly device, the device comprising:
[0026] An information acquisition module is used to measure the steel structure to be assembled using a three-dimensional laser scanning technology to obtain three-dimensional coordinate information of surface points of the steel structure to be assembled;
[0027] A model building module, configured to build a virtual model of the steel structure to be assembled based on the three-dimensional coordinate information of the surface points of the steel structure to be assembled;
[0028] The model assembly module is used to pre-assemble the steel structure to be assembled based on the virtual model of the steel structure to be assembled.
[0029] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steel structure pre-assembly method provided in the first aspect is implemented.
[0030] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steel structure pre-assembly method provided in the first aspect.
[0031] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steel structure pre-assembly method provided in the first aspect.
[0032] The beneficial effects of the present invention are:
[0033] The steel structure pre-assembly method provided in the present invention first utilizes 3D laser scanning technology to measure the steel structure to be assembled, obtaining 3D coordinate information of surface points of the steel structure to be assembled; then, based on the 3D coordinate information of the surface points of the steel structure to be assembled, a virtual model of the steel structure to be assembled is established; and finally, based on the virtual model of the steel structure to be assembled, the steel structure to be assembled is pre-assembled. 3D laser scanning directly captures the complete 3D data of various large and complex entities into a computer, thereby rapidly reconstructing the target's 3D model and various geometric data such as points, lines, surfaces, and volumes. Compared to physical pre-assembly, it has the advantages of saving space and time, and advanced technology. Compared to equipment such as total stations, it has the advantages of fast acquisition speed, high accuracy, surface measurement, and no need to contact the target object.
[0034] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] Figure 1 This is a schematic flow chart of a steel structure pre-assembly method according to one embodiment of the present invention;
[0036] Figure 2 This is a schematic flow chart of another steel structure pre-assembly method according to one embodiment of the present invention;
[0037] Figure 3 This is a schematic structural diagram of a steel structure pre-assembly device according to one embodiment of the present invention;
[0038] Figure 4 This is a schematic structural diagram of another steel structure pre-assembly device according to an embodiment of the present invention;
[0039] Figure 5 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION
[0040] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.
[0041] It should be noted that references to "one embodiment," "an embodiment," "an example embodiment," etc., in this specification indicate that the described embodiment may include specific features, structures, or characteristics. However, not every embodiment must include these specific features, structures, or characteristics. In addition, such references do not necessarily refer to the same embodiment. Furthermore, when specific features, structures, or characteristics are described in conjunction with an embodiment, whether or not explicitly described, it is indicated that it is within the knowledge of those skilled in the art to incorporate such features, structures, or characteristics into other embodiments.
[0042] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0043] In some embodiments, as Figure 1 As shown, a flow chart of a steel structure pre-assembly method is provided, and the specific method includes:
[0044] S101, using three-dimensional laser scanning technology to measure the steel structure to be assembled, and obtaining three-dimensional coordinate information of surface points of the steel structure to be assembled.
[0045] The steel structure to be assembled is a steel structure that needs to be assembled, and the three-dimensional coordinate information is the coordinates of the surface points of the steel structure to be assembled in the world coordinate system.
[0046] Specifically, the three-dimensional laser scanning system is mainly composed of a scanning head, a controller, a computer and a power supply system. Many of them also integrate sensors such as GPS, gyroscopes, and CCD cameras. The scanning head of the three-dimensional laser system can be controlled to scan around the steel structure to be assembled, so as to obtain the three-dimensional coordinate information of the surface points of the steel structure to be assembled, and send it to the computer through a communication connection with the computer, thereby obtaining the three-dimensional coordinate information of the surface points of the steel structure to be assembled.
[0047] Optionally, the method for obtaining the three-dimensional coordinate information of the surface points of the steel structure to be assembled may also be: measuring the attribute information of the surface points of the steel structure to be assembled based on the three-dimensional laser scanning technology; and calculating the three-dimensional coordinate information of the surface points of the steel structure to be assembled based on the attribute information.
[0048] The attribute information includes horizontal angle, altitude angle and distance.
[0049] Specifically, the scanning head of the three-dimensional laser system can be controlled to scan around the steel structure to be assembled, so as to obtain the horizontal angle, elevation angle and distance of the surface point of the steel structure to be assembled. At this time, only the polar coordinates of the surface point of the steel structure to be assembled are obtained. It is necessary to convert the polar coordinates of the surface point of the steel structure to be assembled into the three-dimensional coordinate information of the surface point of the steel structure to be assembled according to the following formula (1).
[0050]
[0051] Among them, X is the three-dimensional horizontal coordinate of the surface point of the steel structure to be assembled, Y is the three-dimensional horizontal coordinate of the surface point of the steel structure to be assembled, Z is the three-dimensional horizontal coordinate of the surface point of the steel structure to be assembled, S is the distance, α is the horizontal angle, and β is the altitude angle.
[0052] S102: Building a virtual model of the steel structure to be assembled based on the three-dimensional coordinate information of the surface points of the steel structure to be assembled.
[0053] Specifically, a world coordinate system is constructed in the computer, and each point on the surface of the steel structure to be assembled is input into the world coordinate system according to its corresponding three-dimensional coordinate information. Then, these points are connected in sequence in the world coordinate system to form various surfaces, thereby obtaining a virtual model of the steel structure to be assembled.
[0054] Optionally, the method for establishing a virtual model of the steel structure to be assembled may also be: preprocessing the three-dimensional coordinate information of the surface points of the steel structure to be assembled; inputting the preprocessed three-dimensional coordinate information of the surface points of the steel structure to be assembled into a virtual construction platform to establish a virtual model of the steel structure to be assembled.
[0055] It should be noted that the 3D coordinate information of the surface points of the steel structure to be assembled may be missing or redundant. For example, the 3D coordinate information of the same point may be collected multiple times or some points may be missed. In the case of missing 3D coordinate information, the 3D coordinate information of multiple adjacent points of the target point can be averaged as the 3D coordinate information of the target point. In the case of redundant 3D coordinate information, the redundant 3D coordinate information can be directly deleted. The pre-processed 3D coordinate information of the surface points of the steel structure to be assembled is then input into the virtual construction platform, which automatically creates a virtual model of the steel structure to be assembled.
[0056] S103, pre-assembling the steel structure to be assembled based on the virtual model of the steel structure to be assembled.
[0057] Specifically, the steel structure to be assembled usually includes multiple steel structures, so there are also multiple virtual models. The multiple virtual models can be assembled according to the assembly rules of the multiple steel structures.
[0058] Optionally, the method for pre-assembling the steel structure to be assembled may also be: obtaining an ideal assembly model of the steel structure to be assembled; and pre-assembling a virtual model of the steel structure to be assembled according to the ideal assembly model.
[0059] Specifically, according to the ideal assembly model, a spatial geometric transformation is performed on the virtual model of the steel structure to be assembled, thereby completing the pre-assembly of the virtual model of the steel structure to be assembled.
[0060] The ideal assembly model is a model obtained after assembling the assembly models under ideal conditions.
[0061] For example, when assembling a steel structure to be assembled, workers usually design an assembly expectation, that is, an ideal assembly model. Each point on the ideal assembly model corresponds one-to-one to each point on the virtual model. Each point on the ideal assembly model is a design point, and each point on the virtual model is a measured point obtained by actual measurement. According to the correspondence between the design point and the measured point, the virtual model of the steel structure to be assembled is subjected to spatial geometric transformation so that the virtual model of the steel structure to be assembled fits the ideal assembly model as closely as possible, thereby completing the pre-assembly of the virtual model of the steel structure to be assembled.
[0062] The steel structure pre-assembly method in the above-mentioned embodiment first utilizes 3D laser scanning technology to measure the steel structure to be assembled, obtaining 3D coordinate information of the surface points of the steel structure to be assembled; then, based on the 3D coordinate information of the surface points of the steel structure to be assembled, a virtual model of the steel structure to be assembled is established; and finally, based on the virtual model of the steel structure to be assembled, the steel structure to be assembled is pre-assembled. 3D laser scanning directly captures the complete 3D data of various large and complex entities into a computer, and then rapidly reconstructs the target's 3D model and various geometric data such as points, lines, surfaces, and volumes. Compared to entity pre-assembly, it has the advantages of saving space, shortening construction time, and being technologically advanced. Compared to equipment such as total stations, it has the advantages of fast acquisition speed, high accuracy, surface measurement, and no need to contact the target object.
[0063] In another embodiment, subsequent processing steps after completing the pre-assembly of the virtual model of the steel structure to be assembled are also described. The specific method includes: obtaining the fitting results of the ideal assembly model and the pre-assembly virtual model; and assembling the steel structure to be assembled based on the fitting results.
[0064] Specifically, the pre-assembly result of the virtual model may not be consistent with the ideal assembly model. The fitting result of the ideal assembly model and the pre-assembly virtual model can be calculated. When the fitting result meets expectations, it is determined that the steel structure to be assembled can be directly assembled. When the fitting result does not meet expectations, the steel structure to be assembled needs to be structurally adjusted. After the adjustment, it is pre-assembled again to obtain the pre-assembly virtual model, and the fitting result is calculated again. This process is repeated until the fitting result meets expectations, and then the steel structure to be assembled is assembled. This process does not require the steel structure to be assembled to be assembled multiple times, effectively reducing the manpower and material resources consumed when assembling the steel structure to be assembled.
[0065] In order to more comprehensively demonstrate this solution, this embodiment provides an optional method for pre-assembling a steel structure, such as Figure 2 As shown:
[0066] S201, measuring the attribute information of the surface points of the steel structure to be assembled based on the 3D laser scanning technology.
[0067] The attribute information includes horizontal angle, altitude angle and distance.
[0068] S202, foundation attribute information, calculate and obtain the three-dimensional coordinate information of the surface points of the steel structure to be assembled.
[0069] S203, pre-processing the three-dimensional coordinate information of the surface points of the steel structure to be assembled.
[0070] S204: inputting the pre-processed three-dimensional coordinate information of the surface points of the steel structure to be assembled into a virtual construction platform to establish a virtual model of the steel structure to be assembled.
[0071] S205: Obtain an ideal assembly model of the steel structure to be assembled.
[0072] S206, performing spatial geometric transformation on the virtual model of the steel structure to be assembled according to the ideal assembly model, and completing the pre-assembly of the virtual model of the steel structure to be assembled.
[0073] S207, obtaining fitting results of the ideal assembly model and the pre-assembly virtual model.
[0074] S208: assemble the steel structure to be assembled based on the fitting result.
[0075] The specific process of the above S201-S208 can be found in the description of the above method embodiment. The implementation principle and technical effects are similar and will not be repeated here.
[0076] Based on the same inventive concept, embodiments of the present application further provide a steel structure pre-assembly device for implementing the aforementioned steel structure pre-assembly method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the steel structure pre-assembly device provided below can be found in the above-described limitations of the steel structure pre-assembly method and will not be further elaborated here.
[0077] In one embodiment, Figure 3 As shown, a steel structure pre-assembly device is provided, which includes:
[0078] An information acquisition module 30 is used to measure the steel structure to be assembled using a three-dimensional laser scanning technology to obtain three-dimensional coordinate information of surface points of the steel structure to be assembled;
[0079] A model building module 31 is used to build a virtual model of the steel structure to be assembled based on the three-dimensional coordinate information of the surface points of the steel structure to be assembled;
[0080] The model assembly module 32 is used to pre-assemble the steel structure to be assembled based on the virtual model of the steel structure to be assembled.
[0081] In another embodiment, the above Figure 3 The information acquisition module 30 is specifically used to: measure the attribute information of the surface points of the steel structure to be assembled based on the three-dimensional laser scanning technology; the attribute information includes horizontal angle, altitude angle and distance; based on the attribute information, calculate the three-dimensional coordinate information of the surface points of the steel structure to be assembled.
[0082] In another embodiment, the above Figure 3 The model building module 31 is specifically used to: pre-process the three-dimensional coordinate information of the surface points of the steel structure to be assembled; input the pre-processed three-dimensional coordinate information of the surface points of the steel structure to be assembled into the virtual building platform to establish a virtual model of the steel structure to be assembled.
[0083] In another embodiment, Figure 4 As shown above Figure 3 The model assembly module 32 includes:
[0084] A model acquisition unit 320 is used to acquire an ideal assembly model of the steel structure to be assembled;
[0085] The model assembling unit 321 is used to pre-assemble the virtual model of the steel structure to be assembled according to the ideal assembly model.
[0086] In another embodiment, the above Figure 4 The model assembly unit 321 is specifically used to perform spatial geometric transformation on the virtual model of the steel structure to be assembled according to the ideal assembly model, so as to complete the pre-assembly of the virtual model of the steel structure to be assembled.
[0087] In another embodiment, the above Figure 3 The steel structure pre-assembly device is further specifically used to: obtain the fitting results of the ideal assembly model and the pre-assembly virtual model; and assemble the steel structure to be assembled based on the fitting results.
[0088] The present application also provides an electronic device, in some embodiments, referring to Figure 5 As shown, electronic device 700 includes an input unit 710, a memory 720, a processor 730, and an output unit 740. Memory 720 stores program instructions that can be executed by processor 730. Processor 730 invokes the program instructions to execute the steel structure pre-assembly method and / or technical solution based on the aforementioned embodiment. Electronic device 700 can be a mobile terminal device such as a mobile phone or a computer.
[0089] In addition, embodiments of the present application further provide a computer-readable storage medium for storing a computer program for executing the steel structure pre-assembly method. For example, computer program instructions, when executed by a computer, can invoke or provide the method and / or technical solution according to the present application through the operation of the computer. The program instructions for invoking the method of the present application may be stored in a fixed or removable storage medium, and / or transmitted via a data stream in a broadcast or other signal-carrying medium, and / or stored in a storage medium that operates according to the program instructions.
[0090] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be implemented using a general-purpose computing device. They can be concentrated on a single computing device or distributed across a network consisting of multiple computing devices. Alternatively, they can be implemented using program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.
[0091] The various technical features of the above embodiments can be arbitrarily integrated. To make the description concise, not all possible integrations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the integration of these technical features, they should be considered to be within the scope of this specification.
[0092] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.
Claims
1. A steel structure pre-assembly method, characterized in that: The method comprises: Utilizing three-dimensional laser scanning technology to measure the steel structure to be assembled, and obtaining three-dimensional coordinate information of surface points of the steel structure to be assembled; Establishing a virtual model of the steel structure to be assembled based on the three-dimensional coordinate information of the surface points of the steel structure to be assembled; The steel structure to be assembled is pre-assembled based on the virtual model of the steel structure to be assembled.
2. The steel structure pre-assembly method according to claim 1, characterized in that: The three-dimensional laser scanning technology is used to measure the steel structure to be assembled to obtain the three-dimensional coordinate information of the surface points of the steel structure to be assembled, including: Measuring attribute information of the surface points of the steel structure to be assembled based on the three-dimensional laser scanning technology; the attribute information includes horizontal angle, altitude angle and distance; Based on the attribute information, the three-dimensional coordinate information of the surface points of the steel structure to be assembled is calculated.
3. The steel structure pre-assembly method according to claim 1, characterized in that: Based on the three-dimensional coordinate information of the surface points of the steel structure to be assembled, a virtual model of the steel structure to be assembled is established, including: Preprocessing the three-dimensional coordinate information of the surface points of the steel structure to be assembled; The pre-processed three-dimensional coordinate information of the surface points of the steel structure to be assembled is input into the virtual construction platform to establish a virtual model of the steel structure to be assembled.
4. The steel structure pre-assembly method according to claim 1, characterized in that: Pre-assembling the steel structure to be assembled based on the virtual model of the steel structure to be assembled, including: Obtaining an ideal assembly model of the steel structure to be assembled; According to the ideal assembly model, the virtual model of the steel structure to be assembled is pre-assembled.
5. The steel structure pre-assembly method according to claim 4, characterized in that: Pre-assembling the virtual model of the steel structure to be assembled according to the ideal assembly model, including: According to the ideal assembly model, a spatial geometric transformation is performed on the virtual model of the steel structure to be assembled, thereby completing the pre-assembly of the virtual model of the steel structure to be assembled.
6. The steel structure pre-assembly method according to claim 5, characterized in that: The method further comprises: Obtaining fitting results of the ideal assembly model and the pre-assembly virtual model; Based on the fitting result, the steel structure to be assembled is assembled.
7. A steel structure pre-assembly device, characterized in that: The device comprises: An information acquisition module is used to measure the steel structure to be assembled using a three-dimensional laser scanning technology to obtain three-dimensional coordinate information of surface points of the steel structure to be assembled; A model building module, configured to build a virtual model of the steel structure to be assembled based on the three-dimensional coordinate information of the surface points of the steel structure to be assembled; The model assembly module is used to pre-assemble the steel structure to be assembled based on the virtual model of the steel structure to be assembled.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steel structure pre-assembly method according to any one of claims 1 to 6 is implemented.
9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steel structure pre-assembly method according to any one of claims 1 to 6 is implemented.
10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steel structure pre-assembly method according to any one of claims 1 to 6 is implemented.