Construction site size measuring method and device and electronic equipment

Abstract

The invention provides a construction site size measurement method and device and electronic equipment, and the method comprises the steps: obtaining a three-dimensional model of a to-be-measured construction site, planning an inspection route of a measurement device according to the three-dimensional model, controlling the measurement device to move to a target measurement point along the inspection route, and carrying out the posture correction of the measurement device based on an optical mark. Scanning a to-be-measured target based on the measuring device to obtain local point cloud data, converting the local point cloud data to a global coordinate system to obtain global point cloud data, determining actual size parameters of the to-be-measured target according to the global point cloud data, and determining theoretical size parameters of the to-be-measured target according to the three-dimensional model. If the difference value between the actual size parameter and the theoretical size parameter is smaller than a preset difference value threshold value, the actual size parameter serves as the size measurement result of the to-be-measured target, and the technical problems that a traditional manual measurement mode is low in efficiency and poor in precision and has safety risks are solved through the method.

Description

Technical Field

[0001] This invention relates to the field of automated inspection technology, specifically to a method, apparatus, and electronic equipment for measuring dimensions at construction sites. Background Technology

[0002] As modern construction engineering rapidly develops towards industrialization, standardization, and high quality, higher demands are placed on the dimensional accuracy of building components, installation quality, and standardized management of the construction process. Dimensional measurement, as a core component of construction quality control, directly impacts the overall quality and progress of the project through its efficiency and accuracy.

[0003] Currently, traditional construction site dimensional measurement mainly relies on manual operation. It typically involves using tools such as measuring tapes, straightedges, levels, and total stations, and is completed through visual observation and manual recording. This method has many inherent defects and limitations in practical applications. First, it is inefficient and labor-intensive. In construction scenarios with numerous components and dense inspection points, manual point-by-point measurement is time-consuming, making it difficult to achieve comprehensive and rapid coverage, and easily overlooking critical areas. Second, measurement accuracy is unstable and susceptible to interference. Measurement results largely depend on the operator's experience and sense of responsibility, and are easily affected by the complex and dynamic environment of the construction site; accumulated measurement errors often exceed the ±5mm accuracy control requirement. Third, there are significant safety and management risks. For measurement tasks in hazardous areas (such as the edges of unsealed floors or near large equipment), manual inspection faces high safety risks. Summary of the Invention

[0004] This invention provides a method, device, and electronic equipment for measuring construction site dimensions, in order to solve the technical problems of low efficiency, poor accuracy, and safety risks associated with traditional manual measurement methods.

[0005] This invention provides a method for measuring the dimensions of a construction site. The method includes: acquiring a three-dimensional model of the construction site to be measured, and planning an inspection route for a measuring device based on the three-dimensional model. The construction site to be measured includes multiple targets to be measured, and the inspection route includes target measurement points of multiple targets to be measured and associated optical markers. The measuring device is controlled to move along the inspection route to the target measurement points. The pose of the measuring device is corrected based on the optical markers, and the target to be measured is scanned based on the pose-corrected measuring device to obtain local point cloud data. The local point cloud data is converted to a global coordinate system to obtain global point cloud data, wherein the global coordinate system is the same as the coordinate system of the three-dimensional model. The actual size parameters of the target to be measured are determined based on the global point cloud data, and the theoretical size parameters of the target to be measured are determined based on the three-dimensional model. If the difference between the actual size parameters and the theoretical size parameters is less than a preset difference threshold, the actual size parameters are used as the size measurement result of the target to be measured.

[0006] In one embodiment of the present invention, after determining the actual size parameters of the target under test based on the global point cloud data and the theoretical size parameters of the target under test based on the three-dimensional model, the method further includes: if the difference between the actual size parameters and the theoretical size parameters is greater than or equal to the preset difference threshold, then the measuring device is re-controlled to scan the target under test in order to re-measure the size of the target under test.

[0007] In one embodiment of the present invention, the pose correction of the measuring device based on the optical marker includes: identifying the optical marker and acquiring an image of the optical marker through the measuring device to obtain an image of the optical marker; determining the image coordinates of the optical marker based on the image of the optical marker; obtaining the global coordinates of the optical marker; determining the spatial position and current attitude angle of the measuring device in the global coordinate system based on the image coordinates and global coordinates of the optical marker; determining the current pose of the measuring device based on the spatial position and the attitude angle; comparing the current pose with the expected pose of the target measurement point to determine the pose error; generating a motion correction command based on the pose error; and controlling the measuring device to adjust its own attitude based on the motion correction command until the pose error is less than or equal to a preset error threshold.

[0008] In one embodiment of the present invention, the measuring device includes at least a mobile platform, a shock-absorbing bracket mounted on the mobile platform, a scanner mounted on the shock-absorbing bracket, and a vision module for identifying the optical mark and acquiring an image.

[0009] In one embodiment of the present invention, determining the actual size parameters of the target under test based on the global point cloud data includes: filtering the global point cloud data to remove interfering point clouds; extracting key geometric features of the target under test from the processed global point cloud data; and determining the actual size parameters based on the key geometric features, wherein the actual size parameters include at least the length and width of the target under test.

[0010] In one embodiment of the present invention, controlling the measuring device to move along the inspection route to the target measuring point includes: if the network signal of the measuring device meets a preset signal threshold, uploading the raw sensing data collected by the measuring device to the cloud, wherein the raw sensing data includes at least the local point cloud data and optical marker images; the cloud fuses the raw sensing data, the inspection route, and the three-dimensional model of the site to be measured to identify obstacles near the measuring device and plan an obstacle avoidance path; the cloud generates motion control commands based on the obstacle avoidance path and sends the motion control commands to the measuring device to control the measuring device to move to the target measuring point while avoiding the obstacles.

[0011] In one embodiment of the present invention, controlling the measuring device to move along the inspection route to the target measuring point further includes: if the network signal of the measuring device does not meet the preset signal threshold, then sending the inspection route to the measuring device through the communication interface; fusing the raw sensing data collected by the measuring device with the inspection route, and performing local automatic obstacle avoidance planning and inspection path adjustment to move to the target measuring point.

[0012] In one embodiment of the present invention, if an intruder is detected entering the scanning area during the scanning process of the measuring device, the scanning is paused. After the intruder leaves the scanning area, the pose of the measuring device is re-corrected based on the optical marker, and the target is scanned again based on the re-corrected measuring device. The optical marker is maintained every first preset period to maintain the recognition success rate of the optical marker above a preset success rate threshold. The scanning accuracy of the measuring device is verified every second preset period to maintain the scanning accuracy of the measuring device above a preset accuracy threshold.

[0013] This invention also provides a construction site dimension measuring device, comprising: a route planning module for acquiring a three-dimensional model of the construction site to be measured and planning an inspection route for the measuring device based on the three-dimensional model, wherein the construction site to be measured includes multiple targets to be measured, and the inspection route includes multiple target measurement points of the targets to be measured and associated optical markers; a target scanning module for controlling the measuring device to move along the inspection route to the target measurement point, performing pose correction on the measuring device based on the optical markers, and scanning the target to be measured based on the pose-corrected measuring device to obtain local point cloud data; a coordinate transformation module for transforming the local point cloud data to a global coordinate system to obtain global point cloud data, wherein the global coordinate system is the same as the coordinate system of the three-dimensional model; a dimension measurement module for determining the actual dimension parameters of the target to be measured based on the global point cloud data and determining the theoretical dimension parameters of the target to be measured based on the three-dimensional model; and a result verification module for using the actual dimension parameters as the dimension measurement result of the target to be measured if the difference between the actual dimension parameters and the theoretical dimension parameters is less than a preset difference threshold.

[0014] The present invention also provides an electronic device, comprising: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the site dimension measurement method as described in any of the above embodiments.

[0015] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a computer processor, causes the computer to perform any of the site dimension measurement methods described in the above embodiments.

[0016] The beneficial effects of this invention are as follows: The present invention proposes a method, device, and electronic device for measuring the dimensions of a construction site. This method acquires a three-dimensional model of the construction site to be measured and plans the inspection route of the measuring device based on the model. The construction site includes multiple targets to be measured, and the inspection route includes target measurement points and associated optical markers for these targets. The measuring device is controlled to move along the inspection route to the target measurement points. The device's pose is corrected based on the optical markers, and the corrected device is used to scan the target to obtain local point cloud data. This local point cloud data is then converted to a global coordinate system to obtain global point cloud data. The global coordinate system is the same as the coordinate system of the three-dimensional model. The actual size parameters of the target to be measured are determined based on the global point cloud data, and the theoretical size parameters are determined based on the three-dimensional model. If the difference between the actual size parameters and the theoretical size parameters is less than a preset difference threshold, the actual size parameters are used as the size measurement result of the target. The measurement is automatically triggered by the measuring device, and the point cloud data is automatically processed and compared, replacing the traditional, inefficient, and cumbersome manual point-by-point measurement. This greatly improves the efficiency of measurement operations, enabling rapid and comprehensive coverage of a large number of inspection points. It solves the problems of easy omissions and slow speed of manual inspections. Automated measurement devices replace manual labor in entering dangerous or harsh environments to perform measurement tasks, fundamentally eliminating personal safety risks in related operations and ensuring the safety of construction workers.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0019] In the attached diagram: Figure 1 This is a schematic diagram illustrating the implementation environment of a construction site dimension measurement method according to an embodiment of the present invention. Figure 2 This is a flowchart of a construction site dimension measurement method provided in one embodiment of the present invention; Figure 3 This is a block diagram of a construction site dimension measuring device provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0020] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0021] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0022] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0023] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the implementation environment of a construction site dimension measurement method according to an embodiment of the present invention.

[0024] like Figure 1 As shown, the implementation environment may include a measurement device 110 and a cloud platform 120. The measurement device 110 includes at least a mobile platform, a shock-absorbing bracket, a scanner, a vision module, and a local computing and communication module. In this embodiment, the mobile platform can be a quadruped robot (robot dog). This mobile platform carries other modules of the measurement device and moves autonomously within the test site. The shock-absorbing bracket is mounted on the back of the mobile platform and carries a scanner for sending coded structured light to the target (such as beams, columns, or walls in the test site) and acquiring local point cloud data. The vision module can be a camera for recognizing optical markers (such as highly reflective QR codes) pre-set near the target measurement point and acquiring images of the optical markers. The local computing and communication module is integrated inside the mobile platform and is responsible for the initial processing of the raw sensor data, communication with the cloud platform 120, receiving and executing motion commands, and executing localized path planning and obstacle avoidance algorithms when the network is poor.

[0025] For example, the cloud 120 can store and maintain a 3D model of the entire construction site to be measured, and upon receiving a measurement task, plan an inspection route covering all target measurement points for the measuring device 110 and distribute the inspection route. The cloud 120 can also receive raw sensing data (such as optical marker images and point cloud data) uploaded by the measuring device 110 in real time, dynamically fuse the raw sensing data with the 3D model of the construction site to be measured, identify obstacles on the inspection route, and calculate a safe and efficient obstacle avoidance path in real time. The cloud 120 generates motion control commands based on the obstacle avoidance path and distributes the motion control commands to the measuring device 110 to control the measuring device 110 to move to the target measurement point while avoiding obstacles.

[0026] Please see Figure 2 , Figure 2 This is a flowchart illustrating a construction site dimension measurement method provided in one embodiment of the present invention. This method can be applied to... Figure 1 The implementation environment shown can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0027] like Figure 2 As shown, in an exemplary embodiment, the site dimension measurement method includes at least steps S210 to S250, which are described in detail below: Step S210: Obtain a 3D model of the site to be measured, and plan the inspection route of the measuring device according to the 3D model. The site to be measured includes multiple targets to be measured, and the inspection route includes target measurement points of multiple targets to be measured and associated optical markers.

[0028] In one embodiment of the present invention, the measuring device includes at least a mobile platform, a shock-absorbing bracket mounted on the mobile platform, a scanner mounted on the shock-absorbing bracket, and a vision module for identifying optical marks and acquiring images.

[0029] For example, if the mobile platform is a robot dog, a passive compliant structure or magnetorheological compliant device is used in the robot dog's legs to achieve shock absorption. At the same time, a gimbal can be installed on the scanner. With the help of the gimbal's vibration sensing technology and adaptive fast control algorithm, the vibration generated by the robot dog's walking can be sensed and compensated to ensure that the scanner maintains a relatively stable posture during movement and prevents blurry scans.

[0030] For example, a 3D model of the construction site to be measured (which can be a BIM model, such as a precast slab installation area model or a beam and column structure area model) is imported into the mobile platform of the measuring device (which can be a robot dog in this embodiment). The inspection route is planned according to the inspection requirements (such as joint size and component verticality). Target measurement points are set along the component edges, splice joints and other key locations of the target to be measured (interval of 1-2m, adapted to the 0.5-3m single scan range of the structure light scanner). The BIM model is a Building Information Modeling (BIM) model, which can provide the geometric information, physical information, rule information and other actual existence information of the building.

[0031] For example, high-contrast reflective QR codes are used as optical markers. Considering their resistance to construction site dust, strong light interference, and ease of cleaning, high-contrast reflective QR codes are affixed to fixed structures (such as columns, formwork corners, and embedded parts) at the site to be measured as optical markers (1-2 markers are affixed near each target measurement point, covering key nodes in the measurement area). This ensures that any target measurement point on the robot dog's walking path can recognize at least two optical markers. The global coordinates of each optical marker are measured using a total station, and the global coordinate data of the optical markers are bound to the coordinate system of the BIM model of the site to be measured (such as building axis coordinates) to form a positioning reference for the global coordinate system (error ±5mm).

[0032] Step S220: Control the measuring device to move along the inspection route to the target measuring point, perform pose correction on the measuring device based on the optical marker, and scan the target to be measured based on the pose-corrected measuring device to obtain local point cloud data.

[0033] In one embodiment of the present invention, controlling the measuring device to move along the inspection route to the target measuring point includes: if the network signal of the measuring device meets the preset signal threshold, uploading the raw sensing data collected by the measuring device to the cloud, wherein the raw sensing data includes at least local point cloud data and optical marker images; the cloud fuses the raw sensing data, the inspection route and the three-dimensional model of the site to be measured to identify obstacles near the measuring device and plan an obstacle avoidance path; the cloud generates motion control commands based on the obstacle avoidance path and sends the motion control commands to the measuring device to control the measuring device to move to the target measuring point while avoiding obstacles.

[0034] In one embodiment of the present invention, controlling the measuring device to move along the inspection route to the target measuring point further includes: if the network signal of the measuring device does not meet the preset signal threshold, the inspection route is sent to the measuring device through the communication interface; the raw sensing data collected by the measuring device is fused with the inspection route, and local automatic obstacle avoidance planning and inspection path adjustment are performed to move to the target measuring point.

[0035] For example, in scenarios with good network signal (meeting a preset signal threshold), the measuring device uploads the raw perception data collected by the vision module to the cloud in real time. The cloud then merges the 3D or BIM model with the raw perception data and performs in-depth processing on the data using a preset algorithm that is computationally efficient and has good obstacle avoidance performance. This helps the measuring device to more accurately identify obstacles such as scaffolding and material piles, while planning the optimal obstacle avoidance path. Based on the obstacle avoidance path, motion control commands are generated and fed back to the moving platform of the measuring device to guide it to the target measurement point covered by the marker.

[0036] For example, in scenarios where the network signal is not stable enough (the network signal does not meet the preset signal threshold), the inspection route can be sent to the measurement device in an agreed data format based on the communication interface provided by the measurement device mobile platform SDK. The mobile platform of the measurement device, relying on its own motion control capabilities, adjusts according to the fused sensor data and the optimized inspection path to achieve local autonomous obstacle avoidance and travel to the target measurement point to carry out relevant measurement work.

[0037] In one embodiment of the present invention, pose correction of the measuring device based on optical markers includes: identifying optical markers and acquiring images of them to obtain an image of the optical markers; determining the image coordinates of the optical markers based on the image of the optical markers; obtaining the global coordinates of the optical markers; determining the spatial position and current attitude angle of the measuring device in the global coordinate system based on the image coordinates and global coordinates of the optical markers; determining the current pose of the measuring device based on the spatial position and attitude angle; comparing the current pose with the expected pose of the target measurement point to determine the pose error; generating a motion correction command based on the pose error; and controlling the measuring device to adjust its own attitude based on the motion correction command until the pose error is less than or equal to a preset error threshold.

[0038] For example, when the mobile platform (robot dog) of the measuring device moves, it acquires environmental images at a fixed frame rate through a vision module. It then obtains optical marker images through image preprocessing, marker recognition, and corner point extraction, determining the image coordinates (u1,v1), (u2,v2), (u3,v3), and (u4,v4) of the optical marker in the image coordinate system. It also obtains the global coordinates (Xw1,Yw1,Zw1), (Xw2,Yw2,Zw2), (Xw3,Yw3,Zw3), and (Xw4,Yw4,Zw4) of the optical marker in the global coordinate system. The spatial position (X,Y,Z) and current attitude angle (roll,pitch,yaw) of the measuring device are calculated using the PNP algorithm (Perspective-N-Point). Based on the current spatial position and attitude angle, the current pose (Xc,Yc,Zc,roll,pitch,yaw) of the measuring device is then determined.

[0039] For example, based on the parameters of the camera mounted on the measuring device, a camera intrinsic parameter matrix (K) and distortion coefficients (D) are established. The distortion coefficients are used to perform image coordinate distortion correction, and then the image coordinates are converted into global coordinates in the global coordinate system. The PNP algorithm is used to obtain the current pose (Xc, Yc, Zc, roll, pitch, yaw) of the camera at the current moment. The current pose (Xc, Yc, Zc, roll, pitch, yaw) of the measuring device is compared with the expected pose (X_pred, Y_pred, Z_pred, roll_pred, pitch_pred, yaw_pred) calculated by the measuring device's own cruise route to obtain the pose error. The pose error is input into the robot dog's controller to generate motion correction commands to adjust the motor output, so that the subsequent expected pose moves closer to the current pose, thereby eliminating accumulated drift and completing the correction.

[0040] Step S230: Convert the local point cloud data to the global coordinate system to obtain global point cloud data. The global coordinate system is the same as the coordinate system of the 3D model.

[0041] For example, a global coordinate system is completed based on the positioning reference of optical markers. Through data fusion, the actual size parameters of the scanned point cloud (global point cloud data) are compared with the theoretical size parameters of the three-dimensional model (BIM model) to complete the automated measurement and deviation check of the dimensions.

[0042] For example, based on the global coordinates of optical markers, the local point cloud data (relative coordinates of the measuring device) of each target measurement is transformed into global coordinate system to obtain global point cloud data. The global point cloud data of different target measurement points are associated through the ID of the optical markers to achieve seamless stitching of global point cloud data of multiple regions, so as to realize the association of data scanned from different target measurement points.

[0043] Step S240: Determine the actual size parameters of the target under test based on the global point cloud data, and determine the theoretical size parameters of the target under test based on the 3D model.

[0044] In one embodiment of the present invention, determining the actual size parameters of the target under test based on global point cloud data includes: filtering the global point cloud data to remove interfering point clouds; extracting key geometric features of the target under test from the processed global point cloud data; and determining the actual size parameters based on the key geometric features, wherein the actual size parameters include at least the length and width of the target under test.

[0045] For example, the robot dog automatically stops at the target measurement point according to the inspection route, triggers the structured light scanner to project coded light patterns to scan rough surfaces such as concrete and steel to output global point cloud data, and then uses the point cloud library to quickly remove noise and extract the surface feature lines of the target to be measured, thereby obtaining high-precision measurement data.

[0046] For example, the original global point cloud data is processed using a point cloud library to filter out interfering points in the construction site environment, including dust, temporary obstructions, and worker shadows, while retaining the effective point cloud of the target component itself. Point cloud density is optimized for rough surfaces (such as concrete) to ensure clear edge features and avoid dimensional calculation errors caused by cluttered point clouds. Key geometric features are extracted from the processed global point cloud data, and actual dimensional parameters are determined based on these key geometric features.

[0047] For example, data fusion is used to compare actual dimensional parameters with theoretical dimensional parameters of the BIM model, completing automated dimensional measurement and deviation checking. This includes: calculating actual dimensional parameters based on extracted key geometric features according to site inspection standards. Actual dimensional parameters may include length, width, verticality, joint gap, and flatness. For instance, when calculating length or width, the straight-line distance between the edges of the target component is measured (e.g., beam cross-section width, precast slab length). When calculating verticality, the angle between the plane of the target component and the ground or wall surface is calculated (e.g., vertical deviation between a wall / column and the ground). When calculating joint gap, the minimum distance between the edges of two target components is measured (e.g., precast slab joint width, steel structure node gap). When calculating flatness, the maximum deviation between the point cloud on the surface of the target component and the theoretical plane is calculated (e.g., floor slab surface flatness).

[0048] In one embodiment of the present invention, if an intruder is detected entering the scanning area during the scanning process of the measuring device, the scanning is paused. After the intruder leaves the scanning area, the pose of the measuring device is re-corrected based on the optical marker, and the target is scanned based on the re-corrected measuring device. The optical marker is maintained every first preset period to keep the recognition success rate of the optical marker higher than a preset success rate threshold. The scanning accuracy of the measuring device is checked every second preset period to keep the scanning accuracy of the measuring device higher than a preset accuracy threshold.

[0049] For example, intruders include personnel or other equipment entering the scanning area. The first preset period can be set to 3 to 7 days, the second preset period can be set to one week, the preset success rate threshold can be set to 95%, and the preset accuracy threshold can be set to a measurement deviation of less than or equal to 2 mm.

[0050] For example, an anomaly handling and secondary calibration mechanism ensures the long-term reliability of the entire site dimensional measurement system. Specifically, this includes: if the measuring device detects an intruder (personnel or equipment) entering the scanning area during scanning, it immediately pauses and waits for the intruder to leave before re-identifying the optical markers and correcting its pose before re-scanning the target to prevent interference from irrelevant point clouds. Regular inspection and maintenance of the optical markers are performed, including checking their status every 3-7 days, and reattaching, cleaning, or replenishing any detached or contaminated markers to ensure an optical marker recognition success rate of no less than 95%, thus maintaining the effectiveness of the positioning reference. Regular calibration of the measuring device's accuracy is also performed, including weekly calibration of the scanner using standard dimensional parts. If the measured value deviates from the standard value by more than 2mm, the scanner parameters (such as focal length and light intensity) are recalibrated to prevent equipment drift. These methods work together to address changes in the site environment, maintaining the long-term accuracy of dimensional measurements.

[0051] Step S250: If the difference between the actual size parameter and the theoretical size parameter is less than the preset difference threshold, then the actual size parameter is taken as the size measurement result of the target to be measured.

[0052] In one embodiment of the present invention, after determining the actual size parameters of the target to be measured based on global point cloud data and the theoretical size parameters of the target to be measured based on the three-dimensional model, the method further includes: if the difference between the actual size parameters and the theoretical size parameters is greater than or equal to a preset difference threshold, then the measuring device is re-controlled to scan the target to be measured so as to re-measure the size of the target to be measured.

[0053] For example, after the target to be measured is remeasured, the actual size parameters and theoretical size parameters obtained are compared again, and the deviation of key indicators such as the length and width of the deviation component of the target to be measured is automatically calculated. When the deviation is greater than or equal to the preset deviation threshold, an alarm is triggered. After manual re-inspection, the accuracy of the alarm is confirmed, thereby completing the size measurement and deviation inspection of different targets to be measured at the construction site.

[0054] For example, the theoretical dimensional parameters of the target to be measured are retrieved from the 3D model of the construction site (such as the allowable deviation of the precast slab joints of ±5mm and the design value of the beam width of 200mm). The actual dimensional parameters that have been remeasured and manually verified are compared with the theoretical dimensional parameters, and the deviation value is automatically calculated (such as the deviation of 205mm for the actual beam width and 2mm for the actual joint width of 7mm). If the deviation value is greater than or equal to the preset deviation threshold (such as the joint deviation > 5mm), the target measurement point is marked as a deviation area.

[0055] For example, a measurement result report is generated based on the coordinate positioning of the 3D model containing the error area (such as the joint of the precast slab between the 3rd and 5th axes), the dimensional deviation value, the point cloud screenshot, and the color heat map (using red / yellow / green to distinguish the deviation / close deviation / qualified area). The measurement result report is synchronized to the site management system and supports exporting to PDF or table for easy follow-up rectification.

[0056] Please see Figure 3 , Figure 3 This is a block diagram of a construction site dimension measuring device provided in one embodiment of the present invention. This device can be applied to... Figure 1 The implementation environment shown can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0057] like Figure 3 As shown, the exemplary site dimension measuring device includes: The route planning module 310 is used to acquire a three-dimensional model of the site to be measured and to plan the inspection route of the measuring device based on the three-dimensional model. The site to be measured includes multiple targets to be measured, and the inspection route includes the target measurement points of the multiple targets to be measured and the associated optical markers. The target scanning module 320 is used to control the measuring device to move along the inspection route to the target measuring point, correct the pose of the measuring device based on the optical mark, and scan the target to be measured based on the corrected pose of the measuring device to obtain local point cloud data. The coordinate transformation module 330 is used to transform local point cloud data to the global coordinate system to obtain global point cloud data. The global coordinate system is the same as the coordinate system of the 3D model. The size measurement module 340 is used to determine the actual size parameters of the target under test based on global point cloud data, and to determine the theoretical size parameters of the target under test based on the 3D model. The result verification module 350 is used to take the actual size parameter as the size measurement result of the target if the difference between the actual size parameter and the theoretical size parameter is less than the preset difference threshold.

[0058] The route planning module 310 includes at least a mobile platform, a shock-absorbing bracket mounted on the mobile platform, a scanner mounted on the shock-absorbing bracket, and a vision module for recognizing optical markers and acquiring images.

[0059] The target scanning module 320 controls the measuring device to move along the inspection route to the target measuring point, including: if the network signal of the measuring device meets the preset signal threshold, the raw sensing data collected by the measuring device is uploaded to the cloud, the raw sensing data including at least local point cloud data and optical marker images; the cloud integrates the raw sensing data, the inspection route and the 3D model of the site to be measured to identify obstacles near the measuring device and plan an obstacle avoidance path; the cloud generates motion control commands based on the obstacle avoidance path and sends the motion control commands to the measuring device to control the measuring device to move to the target measuring point to avoid obstacles.

[0060] The target scanning module 320 controls the measuring device to move along the inspection route to the target measuring point, which also includes: if the network signal of the measuring device does not meet the preset signal threshold, the inspection route is sent to the measuring device through the communication interface; the raw sensing data collected by the measuring device is fused with the inspection route, and local automatic obstacle avoidance planning and inspection path adjustment are performed to move to the target measuring point.

[0061] The target scanning module 320 performs pose correction of the measuring device based on optical markers, including: identifying optical markers and acquiring images through the measuring device to obtain optical marker images; determining the image coordinates of the optical markers based on the optical marker images; acquiring the global coordinates of the optical markers; determining the spatial position and current attitude angle of the measuring device in the global coordinate system based on the image coordinates and global coordinates of the optical markers; determining the current pose of the measuring device based on the spatial position and attitude angle; comparing the current pose with the expected pose of the target measurement point to determine the pose error; generating motion correction commands based on the pose error; and controlling the measuring device to adjust its own attitude based on the motion correction commands until the pose error is less than or equal to a preset error threshold.

[0062] The size measurement module 340 determines the actual size parameters of the target under test based on the global point cloud data by: filtering the global point cloud data to remove interfering point clouds; extracting the key geometric features of the target under test from the processed global point cloud data; and determining the actual size parameters based on the key geometric features, wherein the actual size parameters include at least the length and width of the target under test.

[0063] The result verification module 350 determines the actual size parameters of the target under test based on the global point cloud data and the theoretical size parameters of the target under test based on the 3D model. It also includes: if the difference between the actual size parameters and the theoretical size parameters is greater than or equal to a preset difference threshold, the measuring device is re-controlled to scan the target under test in order to re-measure the size of the target under test.

[0064] The aforementioned device automatically triggers measurements, automatically processes and compares point cloud data, replacing the traditional, inefficient, and cumbersome manual point-by-point measurements. This greatly improves the efficiency of measurement operations, enabling rapid and comprehensive coverage of a large number of inspection points. It solves the problems of easy omissions and slow speed in manual inspections. Automated measurement devices replace manual labor in entering dangerous or harsh environments to perform measurement tasks, fundamentally eliminating personal safety risks associated with related operations and ensuring the safety of construction workers.

[0065] It is understood that the site dimension measuring device and the site dimension measuring method provided in the above embodiments belong to the same concept. The specific operation of the site dimension measuring method has been described in detail in the above embodiments and will not be repeated here. In practical applications, the site dimension measuring device provided in the above embodiments can be assigned to different functional modules as needed. That is, the internal structure of the site dimension measuring device can be divided into different functional modules, and then all or part of the functions of the corresponding functional modules can be implemented through the site dimension measuring method described in the above embodiments. No specific limitations are imposed here. For example, the route planning module 310 includes steps S210 and related steps, the target scanning module 320 includes steps S220 and related steps, the coordinate transformation module 330 includes steps S230 and related steps, the dimension measuring module 340 includes steps S240 and related steps, and the result verification module 350 includes steps S250 and related steps.

[0066] Figure 4 This is a schematic diagram of an electronic device provided in one embodiment of the present invention. It should be noted that... Figure 4 The computer system 400 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0067] like Figure 4 As shown, the computer system 400 includes a Central Processing Unit (CPU) 401, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 402 or programs loaded from storage portion 408 into Random Access Memory (RAM) 403, such as performing the methods described in the above embodiments. Various programs and data required for system operation are also stored in RAM 403. The CPU 401, ROM 402, and RAM 403 are interconnected via bus 404. An Input / Output (I / O) interface 405 is also connected to bus 404.

[0068] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 410 as needed so that computer programs read from it can be installed into storage section 408 as needed.

[0069] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by central processing unit (CPU) 401, it performs various functions defined in the system of the present invention.

[0070] It should be noted that the computer-readable medium shown in the embodiments of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0071] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0072] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0073] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the site dimension measurement method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0074] Another aspect of the present invention provides a computer program product or computer program including 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 executes the computer instructions, causing the computer device to perform the site dimension measurement method provided in the various embodiments described above.

[0075] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for measuring dimensions at a construction site, characterized in that, The method includes: A three-dimensional model of the construction site to be measured is obtained, and the inspection route of the measuring device is planned according to the three-dimensional model. The construction site to be measured includes multiple targets to be measured, and the inspection route includes target measurement points of multiple targets to be measured and associated optical markers. The measuring device is controlled to move along the inspection route to the target measuring point. The pose of the measuring device is corrected based on the optical mark, and the target to be measured is scanned based on the pose-corrected measuring device to obtain local point cloud data. The local point cloud data is transformed into a global coordinate system to obtain global point cloud data, and the global coordinate system is the same as the coordinate system of the three-dimensional model. The actual size parameters of the target under test are determined based on the global point cloud data, and the theoretical size parameters of the target under test are determined based on the three-dimensional model. If the difference between the actual size parameter and the theoretical size parameter is less than a preset difference threshold, then the actual size parameter is taken as the size measurement result of the target to be measured.

2. The construction site dimension measurement method according to claim 1, characterized in that, After determining the actual size parameters of the target under test based on the global point cloud data and the theoretical size parameters of the target under test based on the 3D model, the method further includes: If the difference between the actual size parameter and the theoretical size parameter is greater than or equal to the preset difference threshold, the measuring device is re-controlled to scan the target to be measured, so as to re-measure the size of the target.

3. The construction site dimension measurement method according to claim 1, characterized in that, Pose correction of the measuring device based on the optical markers includes: The optical marker is identified and an image is acquired using the measuring device to obtain an image of the optical marker. The image coordinates of the optical marker are then determined based on the image of the optical marker. Obtain the global coordinates of the optical marker, and determine the spatial position and current attitude angle of the measuring device in the global coordinate system based on the image coordinates and global coordinates of the optical marker; The current pose of the measuring device is determined based on the spatial position and the attitude angle. The current pose is then compared with the expected pose of the target measuring point to determine the pose error. Based on the pose error, a motion correction command is generated, and the measuring device is controlled to adjust its own posture according to the motion correction command until the pose error is less than or equal to a preset error threshold.

4. The method for measuring construction site dimensions according to any one of claims 1-3, characterized in that, The measuring device includes at least a mobile platform, a shock-absorbing bracket mounted on the mobile platform, a scanner mounted on the shock-absorbing bracket, and a vision module for identifying the optical markers and acquiring images.

5. The method for measuring site dimensions according to any one of claims 1-3, characterized in that, Determining the actual size parameters of the target under test based on the global point cloud data includes: The global point cloud data is filtered to remove interfering point clouds. Extract the key geometric features of the target object from the processed global point cloud data; The actual size parameters are determined based on the key geometric features, and the actual size parameters include at least the length and width of the target to be measured.

6. The method for measuring construction site dimensions according to any one of claims 1-3, characterized in that, Controlling the measuring device to move along the inspection route to the target measuring point includes: If the network signal of the measuring device meets the preset signal threshold, the raw sensing data collected by the measuring device is uploaded to the cloud. The raw sensing data includes at least the local point cloud data and the optical marker image. The cloud platform integrates the raw sensing data, the inspection route, and the 3D model of the construction site to be measured in order to identify obstacles near the measuring device and plan obstacle avoidance paths. The cloud platform generates motion control commands based on the obstacle avoidance path and sends the motion control commands to the measuring device to control the measuring device to move to the target measuring point while avoiding the obstacle.

7. The method for measuring site dimensions according to any one of claims 1-3, characterized in that, Controlling the measuring device to move along the inspection route to the target measuring point further includes: If the network signal of the measuring device does not meet the preset signal threshold, the inspection route will be sent to the measuring device through the communication interface. The raw sensing data collected by the measuring device is fused with the inspection route, and local automatic obstacle avoidance planning and inspection path adjustment are performed to move to the target measuring point.

8. The method for measuring construction site dimensions according to any one of claims 1-3, characterized in that, The method further includes: If an intruder is detected entering the scanning area during the scanning process of the measuring device, the scanning is paused. After the intruder leaves the scanning area, the pose of the measuring device is re-corrected based on the optical mark, and the target is scanned again based on the re-corrected measuring device. The optical marker is maintained every first preset period to keep the recognition success rate of the optical marker higher than a preset success rate threshold; The scanning accuracy of the measuring device is checked every second preset period to maintain the scanning accuracy of the measuring device above a preset accuracy threshold.

9. A construction site dimension measuring device, characterized in that, The device includes: The route planning module is used to acquire a 3D model of the construction site to be measured and plan the inspection route of the measuring device according to the 3D model. The construction site to be measured includes multiple targets to be measured, and the inspection route includes target measurement points of multiple targets to be measured and associated optical markers. The target scanning module is used to control the measuring device to move along the inspection route to the target measuring point, correct the pose of the measuring device based on the optical mark, and scan the target to be measured based on the corrected pose of the measuring device to obtain local point cloud data. The coordinate transformation module is used to transform the local point cloud data to the global coordinate system to obtain global point cloud data, wherein the global coordinate system is the same as the coordinate system of the three-dimensional model. The size measurement module is used to determine the actual size parameters of the target under test based on the global point cloud data, and to determine the theoretical size parameters of the target under test based on the three-dimensional model. The result verification module is used to take the actual size parameter as the size measurement result of the target under test if the difference between the actual size parameter and the theoretical size parameter is less than a preset difference threshold.

10. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the site dimension measurement method as described in any one of claims 1-7.

Images