Laminated slab mounting and positioning method and device based on space conversion

Abstract

The embodiment of the invention discloses a laminated slab mounting and positioning method and device based on space conversion. A specific embodiment of the method comprises the steps of performing feature information extraction on a three-dimensional model of the laminated slab to obtain positioning feature point information and a first common control point position; point position measurement is carried out on public control points arranged on the construction site to determine a construction coordinate system and the position of a second public control point; performing space conversion processing on the construction coordinate system and the design coordinate system to generate coordinate system space conversion information; performing feature point measurement correction on the target laminated slab to obtain actually measured feature point information of the laminated slab; generating actual measurement pose information of the laminated slab and target feature point information of the laminated slab; laminated slab installation error information is generated; and the laminated slab installation error information is sent to a construction monitoring terminal so that a constructor can install and adjust the target laminated slab. According to the embodiment, the overall positioning precision of the laminated slab can be improved, so that the mounting error is reduced and the construction quality is improved.

Description

Method and apparatus for installing and positioning composite slabs based on spatial transformation Technical Field

[0001] The embodiments disclosed herein relate to the field of computer technology, and more specifically to a method and apparatus for mounting and positioning composite plates based on spatial transformation. Background Technology

[0002] In building construction, the installation accuracy of composite slabs, as precast components, affects the overall structural load-bearing performance, floor slab elevation, slab joint quality, and the construction quality of cast-in-place layers. Currently, composite slabs are typically hoisted and positioned using a total station for layout, and manually checked with lines or levels. On-site adjustments can be made using adjustable supports, wedges, or temporary supports. However, in actual construction sites, there are many obstructions and significant variations in lighting and reflection conditions, leading to potential jitter, misalignment, or localized distortion in the total station's measurement results. Furthermore, the alignment between the design model and the on-site coordinate system often relies on manual methods, resulting in mismeasurement of control points or a few anomalies, leading to significant errors in overall positioning and consequently reducing construction quality. Summary of the Invention

[0003] The summary portion of this disclosure is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description portion. This summary portion is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0004] Some embodiments of this disclosure propose a method and apparatus for installing and positioning composite plates based on spatial transformation to solve the technical problems mentioned in the background section above.

[0005] In a first aspect, some embodiments of this disclosure provide a method for installing and positioning composite slabs based on spatial transformation. The method includes: extracting feature information from a pre-constructed three-dimensional model of the composite slab to obtain positioning feature point information and the location of a first common control point, wherein the three-dimensional model of the composite slab corresponds to a design coordinate system; measuring the location of the common control points laid out at the construction site using construction surveying equipment to determine the construction coordinate system and the location of a second common control point; and performing spatial transformation processing on the construction coordinate system and the design coordinate system based on the locations of the first and second common control points to generate... Coordinate system spatial transformation information; using the aforementioned construction surveying equipment, feature point measurements are performed on the target composite slab to obtain measured feature point information of the composite slab. During the installation phase, based on the aforementioned positioning feature point information, the aforementioned measured feature point information of the composite slab, and the aforementioned coordinate system spatial transformation information, measured pose information and target feature point information of the composite slab are generated. Based on the aforementioned measured pose information and the aforementioned measured feature point information of the composite slab, installation error information of the composite slab is generated. The aforementioned installation error information of the composite slab is sent to the construction monitoring terminal for construction personnel to adjust the installation of the target composite slab.

[0006] Secondly, some embodiments of this disclosure provide a composite slab installation positioning device based on spatial transformation. The device includes: a feature information extraction unit configured to extract feature information from a pre-constructed three-dimensional model of the composite slab to obtain positioning feature point information and the position of a first common control point, wherein the three-dimensional model of the composite slab corresponds to a design coordinate system; a point measurement unit configured to perform point measurement on the common control points set up at the construction site using construction surveying equipment to determine the construction coordinate system and the position of a second common control point; and a spatial transformation unit configured to perform spatial transformation processing on the construction coordinate system and the design coordinate system based on the positions of the first and second common control points to generate a coordinate system space. The system includes: a coordinate system conversion information unit; a measurement correction unit configured to measure and correct feature points of the target composite slab using the aforementioned construction surveying equipment to obtain measured feature point information of the composite slab, wherein the target composite slab is in the installation stage; a first generation unit configured to generate measured pose information and target feature point information of the composite slab based on the aforementioned positioning feature point information, the aforementioned measured feature point information of the composite slab, and the aforementioned coordinate system spatial transformation information; a second generation unit configured to generate composite slab installation error information based on the aforementioned measured pose information and the aforementioned measured feature point information of the composite slab; and a sending unit configured to send the aforementioned composite slab installation error information to the construction monitoring terminal for construction personnel to install and adjust the target composite slab.

[0007] Thirdly, some embodiments of this disclosure provide an electronic device, including: one or more processors; and a storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation of the first aspect above.

[0008] Fourthly, some embodiments of this disclosure provide a computer-readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

[0009] The above-described embodiments of this disclosure have the following beneficial effects: the composite slab installation and positioning method based on spatial transformation of some embodiments of this disclosure can improve the overall positioning accuracy of the composite slab, thereby reducing installation errors and improving construction quality. Specifically, the reasons for the large installation and positioning errors of the composite slab and the reduction in construction quality are as follows: there are many obstructions and large variations in lighting and reflection conditions at the actual construction site, which makes the measurement results of the total station prone to jitter, misaiming, or local distortion. Secondly, the alignment between the design model and the on-site measurement coordinate system often relies on manual alignment, resulting in mismeasurement of control points or individual abnormal points, which leads to a large error in the overall positioning and thus reduces construction quality. Based on this, the composite slab installation and positioning method based on spatial transformation of some embodiments of this disclosure first extracts feature information from the pre-constructed three-dimensional model of the composite slab to obtain the positioning feature point information and the position of the first common control point. The three-dimensional model of the composite slab corresponds to a design coordinate system. Thus, the coordinates of the pre-designed positioning feature points and the position of the first common control point in the three-dimensional model of the composite slab can be determined. Then, using construction surveying equipment, the positions of the common control points set up at the construction site are measured to determine the construction coordinate system and the location of the second common control point. This allows for the measurement of the coordinates of the common control points in the actual construction scenario and the construction coordinate system with fixed points at the construction site (such as tower crane foundations or permanent observation points) as the origin. Subsequently, based on the locations of the first and second common control points, a spatial transformation is performed on the construction coordinate system and the design coordinate system to generate coordinate system spatial transformation information. Thus, by using the measured locations of the first and second common control points, the construction coordinate system and the design coordinate system can be spatially aligned, thereby reducing the impact of mismeasured control points or individual anomalies and minimizing spatial transformation errors. Next, using the aforementioned construction surveying equipment, feature point measurements are performed on the target composite slab to obtain the measured feature point information of the composite slab. The target composite slab is currently in the installation phase. Therefore, by performing multiple measurements and corrections on each feature point of the target composite slab being installed and positioned, outliers in the total station measurement results due to jitter, misaiming, or local distortion can be eliminated, thereby reducing actual construction measurement errors. Next, based on the aforementioned positioning feature point information, the aforementioned measured feature point information of the composite slab, and the aforementioned coordinate system spatial transformation information, the measured pose information of the composite slab and the target feature point information of the composite slab are generated. This allows for the generation of measured pose information and target feature point information of the composite slab that characterize the current actual pose state of the target composite slab and the actual positions of the feature points, thus determining the current installation status of the target composite slab. Subsequently, based on the aforementioned measured pose information and the aforementioned measured feature point information of the composite slab, composite slab installation error information is generated. By comparing the current actual pose state of the target composite slab and the actual positions of the feature points with the pre-designed feature point positions, a relatively accurate target composite slab installation error can be determined.Finally, the installation error information of the composite slabs is sent to the construction monitoring terminal so that construction personnel can adjust the installation of the target composite slabs. This allows construction personnel to reinstall and adjust the target composite slabs, thereby improving the overall positioning accuracy of the composite slabs, reducing installation errors, and improving construction quality. Attached Figure Description

[0010] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.

[0011] Figure 1 is a flowchart of some embodiments of the composite plate installation and positioning method based on spatial transformation according to the present disclosure; Figure 2 is a planar schematic diagram of the three-dimensional model of the composite plate in the composite plate installation and positioning method based on spatial transformation according to the present disclosure; Figure 3 is a schematic diagram of the spatial transformation of the coordinate system in the composite plate installation and positioning method based on spatial transformation according to the present disclosure; Figure 4 is a schematic diagram of an application scenario of the composite plate installation and positioning method based on spatial transformation according to some embodiments of the present disclosure; Figure 5 is a structural schematic diagram of some embodiments of the composite plate installation and positioning device based on spatial transformation according to the present disclosure; Figure 6 is a structural schematic diagram of an electronic device suitable for implementing some embodiments of the present disclosure. Detailed Implementation

[0012] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0013] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0014] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0015] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0016] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0017] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] Figure 1 illustrates a flowchart 100 of some embodiments of the composite slab installation and positioning method based on spatial transformation according to the present disclosure. This composite slab installation and positioning method based on spatial transformation includes the following steps: Step 101, extracting feature information from a pre-constructed three-dimensional model of the composite slab to obtain positioning feature point information and the position of a first common control point.

[0019] In some embodiments, the execution entity (e.g., a computing device) of the composite slab installation and positioning method based on spatial transformation can extract feature information from a pre-constructed three-dimensional model of the composite slab to obtain positioning feature point information and the position of the first common control point. The aforementioned three-dimensional model of the composite slab corresponds to a design coordinate system. The aforementioned three-dimensional model of the composite slab can be a BIM model (Building Information Modeling). The aforementioned design coordinate system can be the BIM spatial coordinate system of the BIM model. The aforementioned positioning feature point information can be the three-dimensional coordinates of various pre-designed positioning feature points in the aforementioned three-dimensional model of the composite slab. The aforementioned positioning feature points can be coordinate points used to locate the target composite slab. The aforementioned target composite slab can be a composite slab undergoing installation and positioning. For example, each positioning feature point can include the vertices of the four corners of the aforementioned target composite slab and the midpoints of the two long sides. The aforementioned position of the first common control point can be the coordinate points of various pre-designed common control points in the aforementioned three-dimensional model of the composite slab. The aforementioned common control points can be reference points used to align the design coordinate system and the construction coordinate system, and exist in both the design coordinate system and the construction coordinate system. As shown in Figure 2, the yellow points around the composite slab include the six positioning feature points (e.g., the four corner vertices and the midpoints of the two long sides) and various common control points on the target composite slab. In practice, the aforementioned execution entity can directly extract information from the pre-built 3D model of the composite slab in Revit tools to read the coordinates of each pre-marked positioning feature point and the coordinates of each common control point as the positioning feature point information and the position of the first common control point, respectively.

[0020] It should be noted that the aforementioned computing devices can be either hardware or software. When the computing device is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or as a single server or a single terminal device. When the computing device is software, it can be installed on the hardware devices listed above. It can be implemented as, for example, multiple software programs or software modules used to provide distributed services, or as a single software program or software module. No specific limitations are made here. It should be understood that the number of the aforementioned computing devices can be arbitrary, depending on the implementation requirements.

[0021] Step 102: Using construction surveying equipment, measure the positions of the common control points set up at the construction site to determine the construction coordinate system and the location of the second common control point.

[0022] In some embodiments, the aforementioned executing entity can use construction surveying equipment to measure the positions of common control points set up at the construction site to determine the construction coordinate system and the location of the second common control point. The location of the second common control point can be the three-dimensional coordinates obtained by measuring each of the actual common control points set up at the construction site. The aforementioned construction surveying equipment can include, but is not limited to, total stations and levels. In practice, the aforementioned executing entity can construct a three-dimensional coordinate system using any point on the ground at the construction site as the origin, the direction perpendicular to the ground as the Z-axis, and any two mutually perpendicular directions on the ground as the X-axis and Z-axis, as the construction coordinate system. Then, it can control the total station to measure the three-dimensional coordinates of each common control point set up at the construction site to obtain the coordinates of each control point as the location of the second common control point. In some optional implementations of some embodiments, the aforementioned executing entity can use construction surveying equipment to measure the positions of common control points set up at the construction site to determine the construction coordinate system and the location of the second common control point through the following steps: First, construct a construction coordinate system based on the fixed points within the construction site. The aforementioned design coordinate system (O-XYZ) can be a three-dimensional coordinate system constructed within the BIM space, with the project planning origin as the reference, the X-axis parallel to the long side of the building, and the Z-axis representing the vertical absolute elevation. In practice, a fixed point on site (such as a tower crane foundation or a permanent observation point) can be used as the origin, with the X' axis parallel to the construction site road (for easier total station observation), and the Z' axis coinciding with the Z-axis of the aforementioned design coordinate system to construct a three-dimensional coordinate system as the construction coordinate system (O'-X'Y'Z'), thereby ensuring that the elevation reference of the construction coordinate system and the design coordinate system is consistent.

[0023] The second step involves measuring the coordinates of each common control point with reflective strips affixed to it within the construction site using the aforementioned construction surveying equipment, based on the construction coordinate system described above. In practice, after establishing the construction coordinate system with the fixed site point as the origin, the X' axis parallel to the construction site road, and the Z' axis coinciding with the Z-axis of the design coordinate system, construction workers can use reflective strips affixed to the common control points on the composite slab. Then, using a total station and level located at the fixed site point, they can measure the three-dimensional coordinates of each actual common control point deployed on the construction site to obtain the coordinates of each second control point.

[0024] The third step is to determine the coordinates of each of the above-mentioned second control points as the location of the second common control point.

[0025] Step 103: Based on the locations of the first and second common control points, perform spatial transformation processing on the construction coordinate system and the design coordinate system to generate coordinate system spatial transformation information.

[0026] In some embodiments, the executing entity can perform spatial transformation processing on the construction coordinate system and the design coordinate system based on the positions of the first and second common control points to generate coordinate system spatial transformation information. In practice, the executing entity can use a seven-parameter spatial transformation model and fit the positions of the first and second common control points (i.e., the three-dimensional coordinates of the common control points in the two coordinate systems) using the least squares method to obtain the model parameters (e.g., ΔX, ΔY, ΔZ, α, β, γ, k) corresponding to the seven-parameter spatial transformation model as coordinate system spatial transformation information, thereby realizing the mapping from the design coordinate system to the construction coordinate system.

[0027] As shown in Figure 3, it includes the above-mentioned design coordinate system (O-XYZ) and construction coordinate system (O'-X'Y'Z'), as well as a pair of corresponding common control points P1 and P2. In practice, by performing coordinate system space transformation through multiple pairs of common control point coordinates, it can be ensured that the positional error after transformation is ≤2mm.

[0028] In some optional implementations of certain embodiments, the execution entity can perform spatial transformation processing on the construction coordinate system and the design coordinate system based on the locations of the first common control point and the second common control point to generate coordinate system spatial transformation information: First, based on the locations of the first common control point and the second common control point, perform the following iterative transformation steps: First sub-step, randomly select the coordinates of each second control point from the locations of the second common control points as the coordinates of each target second control point. In practice, the execution entity can select a random number of coordinates of each second control point from the locations of the second common control points as the coordinates of each target second control point.

[0029] The second sub-step involves generating the first and second centroid coordinates based on the selected coordinates of each target's second control point and the corresponding coordinates of each target's first control point. In practice, the aforementioned execution entity can generate the average coordinates of each selected target's second control point and the average coordinates of each corresponding target's first control point, and use these as the second and first centroid coordinates, respectively.

[0030] It should be noted that for each second control point coordinate, there is a corresponding first control point coordinate, and the two correspond to the same common control point in the construction site or the aforementioned composite slab 3D model. In practice, the control point corresponding to each control point coordinate (including the first and second control point coordinates) can be identified by character labels, thereby determining the correspondence between the first and second control point coordinates.

[0031] The third sub-step involves decentering the selected target second control point coordinates and corresponding target first control point coordinates based on the generated first and second centroid coordinates, resulting in processed first and second control point coordinates. In practice, firstly, the executing entity can subtract the second centroid coordinate from the second control point coordinate of each target to obtain the processed second control point coordinate μ′. Then, the executing entity can subtract the first centroid coordinate from the first control point coordinate of each target to obtain the processed first control point coordinate μ.

[0032] The fourth sub-step involves generating initial coordinate system spatial transformation information based on the coordinates of each processed first control point and each processed second control point. In practice, the executing entity can determine the scale factor s, rotation matrix R, and translation vector T from the design coordinate system to the construction coordinate system using the coordinates of each processed first control point and each processed second control point as the initial coordinate system spatial transformation information. Specifically, in the first step, for each processed first control point coordinate, the executing entity can first determine the processed first control point coordinate P... i(i is the total number of coordinates of the first control point after processing) and the corresponding coordinates of the second control point after processing, P. i As a sample pair, the coordinates of the first control point P after processing are... i As a 3×1 column vector (i.e. (x i y i , z i ) T The processed coordinates of the second control point are used as a 3×1 column vector (i.e., (x... i ′,y i ′,z i ′) T Thus, the 3×3 outer product matrix P of the sample pair is determined. i (P i ′) T Then, the aforementioned execution entity can accumulate the outer product matrices corresponding to the coordinates of each first control point to obtain the covariance matrix H. In the second step, the aforementioned execution entity can perform singular value decomposition (i.e., H = UΣV) on the determined covariance matrix H. T This yields U and V, both 3×3 orthogonal matrices, and Σ, a diagonal matrix (i.e., a singular value diagonal matrix). In the third step, the executing entity can generate a coordinate rotation matrix R using the two orthogonal matrices obtained from the singular value decomposition, i.e., R = VU. T Furthermore, when the determinant of the obtained rotation matrix R is negative, the aforementioned execution entity can correct the sign of the last column of V and regenerate the rotation matrix R to ensure that the determinant of the rotation matrix R is positive, thereby guaranteeing that the aforementioned rotation matrix R is a legal rotation matrix that satisfies the right-hand coordinate system constraint. Fourthly, after generating the rotation matrix R, the aforementioned execution entity can determine the sum of the square norms of the coordinates of each processed first control point and the sum of the square norms of the coordinates of each processed second control point, and use the ratio of the sum of the square norms of the coordinates of each processed second control point to the sum of the square norms of the coordinates of each processed first control point as the scale factor s. The aforementioned scale factor s can be used to characterize the scale difference between the two coordinate systems. When the design coordinate system and the aforementioned construction coordinate system use the same unit and there is no scale error, the scale factor s is usually close to 1. However, when there is unit inconsistency or scale error, the scale factor s can compensate for this scale difference. Fifth, the executing entity can determine the difference between the second centroid coordinates and the first centroid coordinates after scaling and rotation transformation as the translation vector T, i.e., T = μ′ - sRμ. Thus, the executing entity can obtain the initial coordinate system spatial transformation information used for coordinate system transformation between the design coordinate system and the construction coordinate system. The executing entity can use this initial coordinate system spatial transformation information to transform the coordinate point P in any design coordinate system. i Convert the coordinates of point P in the construction coordinate system using the following expression.i ′:P i =sRP i +T.

[0033] The fifth sub-step involves determining the coordinate residual value corresponding to the coordinates of each distinct second control point among the generated initial coordinate system transformation information. In practice, for each distinct second control point coordinate (i.e., not overlapping with the selected target second control point coordinates) among the aforementioned second common control point locations, firstly, the executing entity can use the initial coordinate system transformation information to transform the corresponding first control point coordinates to the aforementioned construction coordinate system, obtaining the transformed first control point coordinates. Then, the executing entity can determine the coordinate residual value by taking the square root of the sum of the squares of the differences between the aforementioned second control point coordinates and the transformed first control point coordinates, and then taking the square root of the sum of the squares of the differences corresponding to the X-axis, Y-axis, and Z-axis, respectively.

[0034] The second step involves determining the initial coordinate system spatial transformation information based on the fact that all determined coordinate residual values ​​are less than or equal to a preset residual threshold. This residual threshold can be 8 mm.

[0035] The third step involves optimizing the initial coordinate system spatial transformation information based on the determined coordinate residual values, in response to the determination that there are coordinate residual values ​​greater than or equal to the preset residual threshold, and then repeating the iterative transformation steps described above. In practice, to improve the accuracy and stability of the initial coordinate system spatial transformation information, in response to the determination that there are coordinate residual values ​​greater than or equal to the preset residual threshold, the executing entity can also use the least squares method to iteratively optimize the scale factor s, rotation matrix R, and translation vector T included in the initial coordinate system spatial transformation information, based on the positions of the first and second common control points. Specifically, the executing entity can use the expression Pi′=sRPi+T as the spatial transformation model, and iteratively update the scale factor s, rotation matrix R, and translation vector T with the constraint of minimizing the sum of squares of the determined coordinate residual values. Through this optimization process, while ensuring that abnormal control points have been eliminated, the parameter deviation caused by measurement noise can be further reduced, thereby improving the overall accuracy and stability of subsequent composite plate positioning and installation adjustments.

[0036] Step 104: Using construction surveying equipment, the target composite slab is measured and corrected to obtain the measured feature point information of the composite slab.

[0037] In some embodiments, the executing entity can use the construction surveying equipment to measure and correct feature points on the target composite slab, obtaining measured feature point information of the composite slab. The target composite slab is in the installation phase. In practice, the executing entity can use the total station included in the construction surveying equipment to perform multiple coordinate measurements on each feature point on the target composite slab, which is already in the installation phase, and use the average coordinate of the three-dimensional coordinates obtained after multiple measurements as the measured feature point coordinates of the corresponding feature point, thus obtaining the measured feature point information of the composite slab.

[0038] In some optional implementations of certain embodiments, the execution entity can obtain measured feature point information of the composite slab by measuring and correcting feature points of the target composite slab using the construction surveying equipment through the following steps: First, for each feature point coordinate sequence in the set of feature point coordinate sequences, perform the following correction steps: First sub-step, remove outliers from the feature point coordinate sequence to update the feature point coordinate sequence. In practice, the execution entity can use the median of the coordinates to remove outliers from the feature point coordinate sequence as outliers to update the feature point coordinate sequence.

[0039] The second sub-step involves generating the measured feature point coordinates of the composite slab based on the updated feature point coordinate sequence. In practice, the aforementioned execution entity can generate the mean coordinates of each feature point included in the updated feature point coordinate sequence and use these mean coordinates as the measured feature point coordinates of the composite slab.

[0040] The second step is to determine the coordinates of each measured feature point of the generated composite slab as the measured feature point information of the composite slab.

[0041] In some optional implementations of certain embodiments, the execution entity can update the feature point coordinate sequence by removing outliers through the following steps: First, determine the median information of the three axes corresponding to the feature point coordinate sequence. In practice, the execution entity can determine the median coordinate values ​​of each feature point in the feature point coordinate sequence on the X, Y, and Z axes, and use the determined median values ​​of the X, Y, and Z axes as the median information of the three axes. Second, generate median deviation information of each axis based on the median information of the three axes. Each median deviation information of the three axes corresponds to the feature point coordinates in the feature point coordinate sequence. In practice, for each feature coordinate point in the feature point coordinate sequence, the execution entity can subtract the X, Y, and Z values ​​of the feature coordinate point from the median values ​​of the X, Y, and Z axes included in the median deviation information of the three axes, respectively, to obtain the corresponding median deviation values ​​of the X, Y, and Z axes. Then, the aforementioned executing entity can determine the generated X-axis median deviation value, Y-axis median deviation value, and Z-axis median deviation value as the three-axis median deviation information corresponding to the aforementioned feature coordinate points.

[0042] The third step involves performing outlier removal on the feature point coordinate sequence based on the aforementioned median deviation information for each of the three axes, in order to update the feature point coordinate sequence. In practice, the executing entity can determine the median of the median deviation values ​​for each X-axis, Y-axis, and Z-axis in the aforementioned median deviation information. Then, the executing entity can... The median of the median deviation values ​​of each X-axis, The median of the median deviation values ​​of each Y-axis The median of each Z-axis median deviation value is used as the X-axis deviation threshold, Y-axis deviation threshold, and Z-axis deviation threshold, respectively. The aforementioned λ can be a weighting parameter. As an example, λ can be 3. Finally, for each of the three-axis median deviation information, in response to determining that the X-axis median deviation value included in the three-axis median deviation information is greater than or equal to the aforementioned X-axis deviation threshold, or the Y-axis median deviation value is greater than or equal to the aforementioned Y-axis deviation threshold, or the Z-axis median deviation value is greater than or equal to the aforementioned Z-axis deviation threshold, the executing entity can remove the feature coordinate points corresponding to the aforementioned three-axis median deviation information from the aforementioned feature point coordinate sequence to update the feature point coordinate sequence.

[0043] Step 105: Based on the positioning feature point information, the measured feature point information of the composite plate, and the coordinate system space transformation information, generate the measured pose information of the composite plate and the target feature point information of the composite plate.

[0044] In some embodiments, the execution entity can generate the measured pose information and target feature point information of the composite slab based on the positioning feature point information, the measured feature point information of the composite slab, and the coordinate system spatial transformation information. In practice, the execution entity can convert the positioning feature point information located in the design coordinate system into coordinates in the construction coordinate system using the coordinate system spatial transformation information, and use these coordinates as the target feature point information of the composite slab. Furthermore, the difference between the target feature point information of the composite slab and the corresponding coordinate points (i.e., coordinates corresponding to the same feature point) in the measured feature point information of the composite slab can be used as the measured pose information of the composite slab.

[0045] In some optional implementations of certain embodiments, the execution entity can generate the measured pose information of the composite plate and the target feature point information of the composite plate based on the aforementioned positioning feature point information, the aforementioned measured feature point information of the composite plate, and the aforementioned coordinate system spatial transformation information through the following steps: First, based on the aforementioned coordinate system spatial transformation information, perform spatial transformation on the aforementioned positioning feature point information to obtain the coordinates of each target positioning feature point. In practice, the execution entity can use the scale factor s, rotation matrix R, translation vector T, and the aforementioned expression P included in the aforementioned coordinate system spatial transformation information. i =sRP i +T, spatially transform the coordinates of each positioning feature point included in the above positioning feature point information, which is located in the above design coordinate system, to obtain the coordinates of each target positioning feature point located in the above construction coordinate system.

[0046] The second step is to determine the coordinates of the actual measured feature points on the composite plate corresponding to the coordinates of each target positioning feature point. In practice, the aforementioned execution entity can determine the coordinates of the actual measured feature points on the composite plate corresponding to the coordinates of each target positioning feature point by using the corresponding feature point label or the minimum distance (i.e., the minimum distance between the coordinates of the target positioning feature point and the corresponding actual measured feature point coordinates on the composite plate).

[0047] It should be noted that for each target positioning feature point coordinate, there is a corresponding measured feature point coordinate of the composite slab. Both correspond to the same positioning feature point in the composite slab at the construction site or in the aforementioned 3D model of the composite slab. In practice, each positioning feature point can be labeled with a character tag, thereby aligning the coordinates corresponding to that positioning feature point (including the positioning feature point coordinates and the measured feature point coordinates of the composite slab), which facilitates subsequent positioning and installation error determination.

[0048] The third step involves generating the centroid coordinates of the positioning feature points and the measured feature points of the composite plates based on the coordinates of the target positioning feature points and the measured feature points, respectively. In practice, the executing entity can generate the mean coordinates of the target positioning feature points and the mean coordinates of the measured feature points of the composite plates, and use them as the centroid coordinates of the positioning feature points and the measured feature points, respectively.

[0049] The fourth step involves decentering each transformed positioning feature point coordinate and its corresponding measured feature point coordinate, based on the centroid coordinates of the aforementioned positioning feature points and measured feature points. This yields the processed positioning feature point coordinates and the processed measured feature point coordinates. In practice, the executing entity can subtract the centroid coordinates of each transformed positioning feature point from the aforementioned positioning feature point coordinates to obtain the corresponding processed positioning feature point coordinates, and subtract the centroid coordinates of each corresponding measured feature point on the composite plate from the aforementioned measured feature point coordinates to obtain the corresponding processed measured feature point coordinates.

[0050] The fifth step involves generating the composite plate rotation matrix and translation vector based on the coordinates of each processed and measured feature point. In practice, the execution entity can determine the composite plate rotation matrix R1 and translation vector T1, representing the installation pose of the target composite plate, using the coordinates of each processed and measured feature point.

[0051] In practice, during the hoisting and positioning of composite slabs, the composite slabs can be considered as prefabricated components that satisfy the rigid body assumption. That is, within the allowable installation error range, the relative distances between points on the slab remain constant, and the main changes occurring in the composite slab are its overall position and attitude. Based on the rigid body motion model in three-dimensional Euclidean space, the transformation of any rigid body from its current pose to its target pose can be equivalently represented as a combination of rotation and translation transformations. Therefore, rotation matrices and translation vectors can be used to characterize the measured pose of the composite slab. Specifically, the composite slab rotation matrix R1 can characterize the orientation adjustment of the aforementioned Mubao composite slab relative to the construction coordinate system (e.g., clockwise / counterclockwise rotation about the vertical axis and pitch / roll changes about the horizontal axis). The aforementioned composite slab translation vector T1 can characterize the overall position correction of the target composite slab in three-dimensional space (i.e., displacement along the X, Y, and Z axes). By combining the rotation matrix R1 and the translation vector T1 of the composite plate, the correspondence between the target coordinates and the measured coordinates of multiple feature points on the target composite plate can be unified into a set of rigid body transformation parameters. This allows for the prediction and positioning of the adjusted coordinates of any point on the target composite plate based on these rigid body transformation parameters, thereby determining the installation error of the target composite plate.

[0052] Specifically, in the first step, for each processed localized feature point coordinate, the aforementioned executing entity can first transfer the processed localized feature point coordinates F... i (i is the total number of processed feature point coordinates) and the corresponding processed measured feature point coordinates F i As a coordinate pair, the processed coordinates of the localized feature point F are... i As a 3×1 column vector, the corresponding processed measured feature point coordinates F i Let ' be a 3×1 column vector, thus determining the 3×3 outer product matrix F of this coordinate pair. i (F i ′) T Then, the aforementioned execution entity can accumulate the outer product matrices corresponding to the coordinates of each of the processed localized feature points to obtain the covariance matrix H1. In the second step, the aforementioned execution entity can perform singular value decomposition (i.e., H1 = U1Σ1V1) on the determined covariance matrix H1. T This yields U1 and V1, both 3×3 orthogonal matrices, and Σ1, a diagonal matrix (i.e., a singular value diagonal matrix). In the third step, the executing entity can generate a coordinate rotation matrix R1 using the two orthogonal matrices obtained from the singular value decomposition, i.e., R = V1U1. T Fourthly, the executing entity can determine the difference between the measured centroid coordinates of the feature points and the centroid coordinates of the positioning feature points after rotation transformation as the translation vector T1 of the composite plate, i.e., T1 = a′ - R1a. Here, a′ is the measured centroid coordinate of the feature point, and a is the centroid coordinate of the positioning feature point. This ensures that the measured feature point coordinates of the composite plate corresponding to the positioning feature point coordinates satisfy F... i ′≈RF i +T.

[0053] The sixth step is to determine the coordinates of each of the above target positioning feature points as the target feature point information of the composite plate.

[0054] Step 7: Determine the above-mentioned rotation matrix and translation vector of the composite plate as the measured pose information of the composite plate.

[0055] Step 106: Generate composite plate installation error information based on the measured pose information and the measured feature point information of the composite plate.

[0056] In some embodiments, the execution entity can generate composite plate installation error information based on the measured pose information and the measured feature point information of the composite plate. In practice, the execution entity can determine the average magnitude of the differences between the composite plate target feature point information included in the measured pose information and the corresponding coordinate points (i.e., the coordinates of the same feature point) in the measured feature point information as the composite plate installation error information. This characterizes the overall installation error of different positioning feature points in the target composite plate.

[0057] In some optional implementations of certain embodiments, the execution entity can generate composite plate installation error information based on the measured pose information and the measured feature point information of the composite plate through the following steps: First, generate the composite plate deviation based on the composite plate rotation matrix and translation vector included in the measured pose information of the composite plate. In practice, firstly, the execution entity can determine the composite plate translation adjustment amount through the composite plate translation vector, that is, directly use the composite plate translation adjustment amount T1 = (Δx, Δy, Δz). Here, Δx can represent the overall position correction amount of the target composite plate along the X-axis direction in the construction coordinate system. Δy can represent the overall position correction amount of the target composite plate along the Y-axis direction in the construction coordinate system. Δz can represent the overall height correction amount (e.g., height increase or decrease) of the target composite plate along the Z-axis direction in the construction coordinate system. Thus, through the composite plate translation adjustment amount, the execution entity can quantify the "point-level error" into the overall three-dimensional displacement adjustment amount of the target composite plate. Then, the aforementioned execution entity can determine the composite plate rotation adjustment amount. Specifically, the aforementioned execution entity can extract the in-plane rotation angle Δψ about the vertical axis as the composite plate rotation adjustment amount from the composite plate rotation matrix R1 using the following expression: Δψ = arctan2((R1) 21 (R1) 11 Here, arctan2() can be the arctangent function with quadrant information. (R1) 21 (R1) 11 These are the elements in the second row and first column of the aforementioned composite plate rotation matrix R1, respectively. The aforementioned in-plane rotation angle Δψ can characterize the clockwise or counterclockwise rotation angle adjustment that the target composite plate needs to perform in the horizontal plane. Therefore, the overall rotation adjustment amount in the composite plate plane can be obtained through the aforementioned composite plate rotation adjustment amount, thereby reducing edge misalignment or corner offset caused by in-plane angular deviations during composite plate installation. Finally, the aforementioned execution entity can determine the aforementioned composite plate translation adjustment amount and the aforementioned composite plate rotation adjustment amount as the composite plate deviation amount.

[0058] The second step is to generate the tilt angle of the composite slab based on the measured feature point information and the rotation matrix of the composite slab. In practice, when the attitude deviation of the target composite slab is within a small angle range (e.g., less than a preset angle threshold), the execution entity can use a small angle approximation method to extract the tilt angles around the X-axis and Y-axis from the rotation matrix R1 of the composite slab, denoted as Δα and Δβ respectively. Therefore, the execution entity can determine the two tilt angles of the target composite slab relative to the construction coordinate system using the following expression, and the determined two tilt angles are taken as the tilt angles of the composite slab: Δα≈arctan2((R1) 32 (R1) 33 ), Δβ≈arctan2(-(R1) 31 (R1) 33 Among them, (R1) 32 (R1) 31 (R1) 33 These are the elements in the 3rd row, 2nd column, 3rd row, 1st column, and 3rd row, 3rd column of the aforementioned composite slab rotation matrix R1. Δα represents the tilt adjustment amount (corresponding to the pitch direction) around the X-axis in the aforementioned construction coordinate system. Δβ represents the tilt adjustment amount (corresponding to the roll direction) around the Y-axis in the aforementioned construction coordinate system. Therefore, by determining the tilt angle of the composite slab, construction personnel can perform attitude correction on the composite slab during the installation stage according to the overall tilt direction and magnitude, thereby reducing elevation inconsistencies or end overlap errors caused by slab warping.

[0059] The third step is to determine the aforementioned deviation and tilt angle of the composite slab as the composite slab installation error information. For example, a composite slab installation error information includes (Δx: +6.0, Δy: -4.0, Δz: 1.5, Δψ: -0.15°, Δα: +0.8°, Δβ: -0.5°), which can characterize that the composite slab as a whole needs to move about 6.0 mm in the +X direction of the current construction coordinate system, about 4.0 mm in the -Y direction, about 1.5 mm in height along the Z-axis (height direction), and about 0.15° of negative rotation around the Z-axis (which can be the negative direction agreed upon in the project), about 0.8° of positive tilt adjustment around the X-axis (i.e., lifting or lowering along the +Y side), and about 0.5° of negative tilt adjustment around the Y-axis (i.e., lifting or lowering along the -X side).

[0060] It should be noted that the specific lifting or lowering direction of the composite slab involved in the installation adjustment of the composite slab as represented by the above composite slab installation error information can be uniquely determined by the positive direction of the coordinate axis and the right-hand rule, or it can be agreed upon by default during the construction process and when establishing the construction coordinate system.

[0061] Step 107: Send the composite slab installation error information to the construction monitoring terminal so that construction personnel can adjust the installation of the target composite slab.

[0062] In some embodiments, the executing entity can send the composite slab installation error information to a construction monitoring terminal so that construction personnel can adjust the installation of the target composite slab. The construction monitoring terminal can be a terminal device used to monitor the construction site. For example, the construction monitoring terminal can be a portable terminal device (tablet or smartphone) used by construction site operators. In practice, the executing entity can send the composite slab installation error information to the construction monitoring terminal so that construction personnel can adjust the installation of the target composite slab by referring to the actual installation error represented by the composite slab installation error information.

[0063] The above-described embodiments of this disclosure have the following beneficial effects: the composite slab installation and positioning method based on spatial transformation of some embodiments of this disclosure can improve the overall positioning accuracy of the composite slab, thereby reducing installation errors and improving construction quality. Specifically, the reasons for the large installation and positioning errors of the composite slab and the reduction in construction quality are as follows: there are many obstructions and large variations in lighting and reflection conditions at the actual construction site, which makes the measurement results of the total station prone to jitter, misaiming, or local distortion. Secondly, the alignment between the design model and the on-site measurement coordinate system often relies on manual alignment, resulting in mismeasurement of control points or individual abnormal points, which leads to a large error in the overall positioning and thus reduces construction quality. Based on this, the composite slab installation and positioning method based on spatial transformation of some embodiments of this disclosure first extracts feature information from the pre-constructed three-dimensional model of the composite slab to obtain the positioning feature point information and the position of the first common control point. The three-dimensional model of the composite slab corresponds to a design coordinate system. Thus, the coordinates of the pre-designed positioning feature points and the position of the first common control point in the three-dimensional model of the composite slab can be determined. Then, using construction surveying equipment, the positions of the common control points set up at the construction site are measured to determine the construction coordinate system and the location of the second common control point. This allows for the measurement of the coordinates of the common control points in the actual construction scenario and the construction coordinate system with fixed points at the construction site (such as tower crane foundations or permanent observation points) as the origin. Subsequently, based on the locations of the first and second common control points, a spatial transformation is performed on the construction coordinate system and the design coordinate system to generate coordinate system spatial transformation information. Thus, by using the measured locations of the first and second common control points, the construction coordinate system and the design coordinate system can be spatially aligned, thereby reducing the impact of mismeasured control points or individual anomalies and minimizing spatial transformation errors. Next, using the aforementioned construction surveying equipment, feature point measurements are performed on the target composite slab to obtain the measured feature point information of the composite slab. The target composite slab is currently in the installation phase. Therefore, by performing multiple measurements and corrections on each feature point of the target composite slab being installed and positioned, outliers in the total station measurement results due to jitter, misaiming, or local distortion can be eliminated, thereby reducing actual construction measurement errors. Next, based on the aforementioned positioning feature point information, the aforementioned measured feature point information of the composite slab, and the aforementioned coordinate system spatial transformation information, the measured pose information of the composite slab and the target feature point information of the composite slab are generated. This allows for the generation of measured pose information and target feature point information of the composite slab that characterize the current actual pose state of the target composite slab and the actual positions of the feature points, thus determining the current installation status of the target composite slab. Subsequently, based on the aforementioned measured pose information and the aforementioned measured feature point information of the composite slab, composite slab installation error information is generated. By comparing the current actual pose state of the target composite slab and the actual positions of the feature points with the pre-designed feature point positions, a relatively accurate target composite slab installation error can be determined.Finally, the installation error information of the composite slabs is sent to the construction monitoring terminal so that construction personnel can adjust the installation of the target composite slabs. This allows construction personnel to reinstall and adjust the target composite slabs, thereby improving the overall positioning accuracy of the composite slabs, reducing installation errors, and improving construction quality.

[0064] Referring further to Figure 5, as an implementation of the methods shown in the above figures, this disclosure provides some embodiments of a composite plate mounting and positioning device based on spatial transformation. These device embodiments correspond to the method embodiments shown in Figure 1. The composite plate mounting and positioning device based on spatial transformation can be specifically applied to various electronic devices.

[0065] As shown in Figure 5, a composite slab installation and positioning device 500 based on spatial transformation in some embodiments includes: a feature information extraction unit 501, a point measurement unit 502, a spatial transformation unit 503, a measurement correction unit 504, a first generation unit 505, a second generation unit 506, and a sending unit 507. The feature information extraction unit 501 is configured to extract feature information from a pre-constructed three-dimensional model of the composite slab to obtain positioning feature point information and the position of a first common control point, wherein the three-dimensional model of the composite slab corresponds to a design coordinate system; the point measurement unit 502 is configured to perform point measurement on the common control points laid out at the construction site using construction surveying equipment to determine the construction coordinate system and the position of the second common control point; the spatial transformation unit 503 is configured to perform spatial transformation processing on the construction coordinate system and the design coordinate system based on the positions of the first and second common control points to generate coordinate system spatial transformation information; the measurement correction unit 504 is configured to... Using the aforementioned construction surveying equipment, feature point measurements are performed on the target composite slab to obtain measured feature point information of the composite slab, wherein the target composite slab is in the installation stage; the first generation unit 505 is configured to generate measured pose information of the composite slab and target feature point information of the composite slab based on the aforementioned positioning feature point information, the aforementioned measured feature point information of the composite slab, and the aforementioned coordinate system spatial transformation information; the second generation unit 506 is configured to generate composite slab installation error information based on the aforementioned measured pose information of the composite slab and the aforementioned measured feature point information of the composite slab; the sending unit 507 is configured to send the aforementioned composite slab installation error information to the construction monitoring terminal for construction personnel to install and adjust the target composite slab.

[0066] It is understood that the units described in this spatial transformation-based composite plate mounting and positioning device correspond to the various steps in the method described with reference to FIG1. ​​Therefore, the operations, features, and beneficial effects described above with respect to the method also apply to the spatial transformation-based composite plate mounting and positioning device 500 and the units contained therein, and will not be repeated here.

[0067] Referring now to FIG6, a schematic diagram of the structure of an electronic device 600 (e.g., a computing device) suitable for implementing some embodiments of the present disclosure is shown. The electronic device shown in FIG6 is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present disclosure.

[0068] As shown in Figure 6, the electronic device 600 may include a processing unit 601 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the electronic device 600. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0069] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows electronic device 600 to communicate wirelessly or wiredly with other devices to exchange data. Although FIG. 6 shows electronic device 600 with various devices, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Each box shown in FIG. 6 may represent one device, or multiple devices may be represented as needed.

[0070] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, it performs the functions defined above in the methods of some embodiments of this disclosure.

[0071] It should be noted that, in some embodiments of this disclosure, the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—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 or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In some embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In some embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0072] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0073] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to: extract feature information from a pre-constructed three-dimensional model of the composite slab to obtain location feature point information and the position of a first common control point, wherein the aforementioned three-dimensional model of the composite slab corresponds to a design coordinate system; perform point measurement on the common control points laid out at the construction site using construction surveying equipment to determine the construction coordinate system and the position of a second common control point; and perform spatial transformation processing on the aforementioned construction coordinate system and the aforementioned design coordinate system based on the positions of the first and second common control points. The coordinate system spatial transformation information is generated. Using the aforementioned construction surveying equipment, feature point measurements are performed on the target composite slab to obtain measured feature point information. During the installation phase, based on the aforementioned positioning feature point information, the measured feature point information of the composite slab, and the coordinate system spatial transformation information, measured pose information and target feature point information of the composite slab are generated. Based on the measured pose information and the measured feature point information of the composite slab, installation error information of the composite slab is generated. This installation error information is then sent to the construction monitoring terminal for construction personnel to adjust the installation of the target composite slab.

[0074] Computer program code for performing operations of some embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0075] 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 this disclosure. In this regard, 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, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can 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.

[0076] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0077] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for installing and positioning composite slabs based on spatial transformation, characterized in that, include: Feature information is extracted from a pre-constructed 3D model of the composite slab to obtain positioning feature point information and the position of the first common control point. The 3D model of the composite slab corresponds to a design coordinate system. Using construction surveying equipment, the common control points laid out at the construction site are measured to determine the construction coordinate system and the position of the second common control point. Based on the positions of the first and second common control points, a spatial transformation is performed between the construction coordinate system and the design coordinate system to generate coordinate system spatial transformation information. Using the construction surveying equipment, feature point measurements are performed on the target composite slab to obtain measured feature point information of the composite slab, wherein the target composite slab is in the installation stage. Based on the positioning feature point information, the measured feature point information of the composite slab, and the coordinate system spatial transformation information, measured pose information and target feature point information of the composite slab are generated. Based on the measured pose information and the measured feature point information of the composite slab, installation error information of the composite slab is generated. The installation error information of the composite slab is sent to a construction monitoring terminal for construction personnel to adjust the installation of the target composite slab.

2. The method according to claim 1, wherein, The step of using construction surveying equipment to measure the positions of common control points set up at the construction site to determine the construction coordinate system and the location of the second common control points includes: constructing a construction coordinate system based on fixed points within the construction site; based on the construction coordinate system, using the construction surveying equipment to measure the coordinates of each common control point with a reflective sheet attached within the construction site to obtain the coordinates of each second control point; and determining the coordinates of each second control point as the location of the second common control point.

3. The method according to claim 1, wherein, The step of using the construction surveying equipment to measure and correct feature points on the target composite slab to obtain measured feature point information of the composite slab includes: based on the construction coordinate system, repeatedly measuring each positioning feature point on the target composite slab using the construction surveying equipment to obtain a set of feature point coordinate sequences, wherein each feature point coordinate sequence corresponds to a positioning feature point; measuring and correcting the set of feature point coordinate sequences to generate the measured feature point coordinates of each composite slab; and determining the measured feature point coordinates of each composite slab as the measured feature point information of the composite slab.

4. The method according to claim 1, characterized in that, The step of using the construction surveying equipment to measure and correct feature points of the target composite slab to obtain measured feature point information of the composite slab includes: for each feature point coordinate sequence in the set of feature point coordinate sequences, performing the following correction steps: removing outliers from the feature point coordinate sequence to update the feature point coordinate sequence; generating measured feature point coordinates of the composite slab based on the updated feature point coordinate sequence; and determining the generated measured feature point coordinates of each composite slab as the measured feature point information of the composite slab.

5. The method according to claim 4, characterized in that, The step of removing outliers from the feature point coordinate sequence to update the feature point coordinate sequence includes: determining the triaxial median information corresponding to the feature point coordinate sequence; generating triaxial median deviation information based on the triaxial median information, wherein each triaxial median deviation information corresponds to the feature point coordinates in the feature point coordinate sequence; and performing outlier removal processing on the feature point coordinate sequence based on the triaxial median deviation information to update the feature point coordinate sequence.

6. The method according to claim 1, characterized in that, The step of generating composite plate installation error information based on the measured pose information and the measured feature point information of the composite plate includes: generating composite plate deviation based on the composite plate rotation matrix and the composite plate translation vector included in the measured pose information; generating composite plate tilt angle based on the measured feature point information and the composite plate rotation matrix; and determining the composite plate deviation and the composite plate tilt angle as composite plate installation error information.

7. A composite plate installation and positioning device based on spatial transformation, characterized in that, include: The feature information extraction unit is configured to extract feature information from a pre-constructed 3D model of the composite slab to obtain location feature point information and the position of the first common control point, wherein the 3D model of the composite slab corresponds to a design coordinate system; the point measurement unit is configured to perform point measurement on the common control points set up at the construction site using construction surveying equipment to determine the construction coordinate system and the position of the second common control point; the spatial transformation unit is configured to perform spatial transformation processing on the construction coordinate system and the design coordinate system based on the positions of the first and second common control points to generate coordinate system spatial transformation information; the measurement correction unit is configured to... Construction surveying equipment measures and corrects feature points on a target composite slab to obtain measured feature point information of the composite slab, wherein the target composite slab is in the installation stage; a first generation unit is configured to generate measured pose information and target feature point information of the composite slab based on the positioning feature point information, the measured feature point information of the composite slab, and the coordinate system spatial transformation information; a second generation unit is configured to generate composite slab installation error information based on the measured pose information and the measured feature point information of the composite slab; and a sending unit is configured to send the composite slab installation error information to a construction monitoring terminal for construction personnel to adjust the installation of the target composite slab.

8. An electronic device, characterized in that, include: One or more processors; A storage device on which one or more programs are stored; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 6.

9. A computer-readable medium, characterized in that, It stores a computer program thereon, wherein the computer program, when executed by a processor, implements the method as described in any one of claims 1 to 6.

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