CN109760059A - Mechanical arm fittage planing method and building assembly method based on BIM - Google Patents
Mechanical arm fittage planing method and building assembly method based on BIM Download PDFInfo
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- CN109760059A CN109760059A CN201910150958.1A CN201910150958A CN109760059A CN 109760059 A CN109760059 A CN 109760059A CN 201910150958 A CN201910150958 A CN 201910150958A CN 109760059 A CN109760059 A CN 109760059A
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Abstract
The present invention provides a kind of mechanical arm fittage planing method based on BIM, belongs to civil engineering work construction field.This method combines scene modeling technology, BIM platform, mechanical arm and robot operating system based on image, quickly generates the planing method of fittage plan；Three-dimensional reconstruction is carried out to mechanical arm construction scene, forms model of place；The model of place of building BIM model and three-dimensional reconstruction to design is done in BIM platform in conjunction with matching treatment, generates task model；The component coordinate that mechanical arm executes fittage is generated according to task model, is assigned to the control program of robot operating system, generates control instruction；Mechanical arm carries out assembly manipulation according to control instruction, according to the assemble sequence and position coordinate of planning, completes fittage.The present invention can effectively solve the efficiency and precision problem that mechanical arm executes mounting structure operation, and at low cost, error is small, have good practicability.
Description
Technical field
The invention belongs to civil engineering work construction fields, hold more particularly, to a kind of mechanical arm based on BIM platform
The planing method of row fittage.
Background technique
With the progress of Building technology, more stringent requirements are proposed to building by people, standardized designs, fining construction with
And it quickly builds and gradually industry is caused to be paid attention to.Assembled architecture is greatly developed, industry restructuring upgrading is pushed, realizes building
Environment friendly is both objective requirement and the main trend of construction industry industrial upgrading of socio-economic development.
Assembled architecture increases manufacture link, design of the factory according to design department, manufacture between design and construction
Then various required prefabricated components are transported to on-site consolidation, i.e. design-manufacture-assembly.In assembled architecture work progress
In, the on-site consolidation of component becomes new technical problem.The assembly of current prefabricated components is generally using the method for lifting, in structure
Before part lifting, generally lifting sequence can be controlled by the way of to prefabricated components number.This mode construction safety guarantee,
It is all had certain problems in construction precision and construction efficiency.And construction machine man-based development is the assembly of prefabricated components
Provide new possibility.
In assembling work, it will usually using mechanical arm (or industrial robot, such as in the market common ABB robot,
Ku Ka robot), mechanical arm has the characteristics that loading capacity is big, positioning accuracy is high, fast response time.At present, more feasible
Approach be that prefabricated, the assembling of module are carried out using robot using modular construction, this will substantially reduce the operation of robot
Difficulty, while the construction speed of new building can be effectively improved.Mechanical arm being capable of repetitive instruction, accurate positioning, accurate operation with it
The features such as, become the good tool for realizing and quickly building, finely building.
Currently, mechanical arm in industrial application mainly using off-line programing, vision guide, several controlling parties such as manually control
Formula.Existing invention is mostly crawl and the course corrections that mechanical arm is realized from robot trajectory path planning and based on ROS system,
Lack and is planned with the connected applications of BIM and the mechanical arm carried out from task visual angle.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the mechanical arm assembly based on BIM that the present invention provides a kind of
Mission planning method and corresponding building assembly method, it is intended that being integrated, in terms of analysis by BIM in architecture information
Advantage is quickly obtained the available task level assemble planning of robot and program, can effectively solve in conjunction with actually finding a view and three-dimensional modeling
Certainly mechanical arm executes the efficiency and precision problem of mounting structure operation, and operator is assisted to realize mechanical arm assembling work
Task level planning, realize to the analogue simulation of assembling process and automatic planning, formulate the assembling scheme for meeting actual requirement.
To achieve the goals above, according to one aspect of the present invention, a kind of mechanical arm assembly times based on BIM is provided
Business planing method, includes the following steps:
Step 1: to the mechanical arm and its operative scenario for implementing assembly manipulation task, the three-dimensional reconstruction based on image is carried out,
Obtain the support normal of mechanical arm and operative scenario and the three-dimensional reduction reconstruction model of mapping coordinates；
Step 2: it is corresponding to go out target structures using BIM platform construction for the mounting structure unit based on target structures model
The architectural design BIM model being made of mounting structure unit；
Step 3: the three-dimensional reduction reconstruction model that step 1 is obtained imported into BIM platform, measures its dimension information, and lead to
Zoom operations are crossed to become and the consistent three-dimensional reconstruction model of place of full-size(d)；
Step 4: the three-dimensional reconstruction model of place of set-up procedure 3 obtains in BIM platform mechanical arm and its working face, it will
Its pedestal coordinate system demarcates the world coordinate system to BIM platform, forms coordinate origin mutually unified mechanical arm and its working face
Three-dimensional scene models；
Step 5: the architectural design BIM model that step 2 is obtained, the three-dimensional scene models obtained with step 4 are in BIM platform
It is integrated, forms the conceptual model of robotic arm manipulation fittage, indicate target after the completion of the fittage that mechanical arm executes
The perfect condition of building；
Step 6: the conceptual model that applying step 5 obtains generates on each member unit of target structures for mechanical arm
The position coordinate of fixture execution assembly manipulation；
Step 7: the position coordinate that step 6 is generated is arranged according to sequence of construction, indicates position locating for each movement of mechanical arm
Then initial coordinate is converted to the executable program code of mechanical arm by the initial coordinate set, obtain the main program generation of mechanical arm
Code；
Step 8: after obtaining main program code according to step 7, being debugged in robot control system ROS, form machine
Tool arm assembly control program, i.e. the task level planning of completion mechanical arm assembly.
Further, step 1 includes following sub-step:
1.1, Farm Planning, comprising: require placement of mechanical arm at the scene and its working face, component to place according to practice of construction
Region and scene modeling camera and Modeling Calculation machine work station；
1.2, it is marked by four angles of the target to mechanical arm base plane and working face；
1.3, usage scenario modeling camera shoots multiple pictures around mechanical arm and its working face, while ensuring adjacent image
At least 60% overlapping；
1.4, the image acquired based on step 1.3 passes sequentially through sparse rebuild, at dense reconstruction, mesh mapping and textures
Reason, finally to support that the OBJ format of normal and mapping coordinates generates mechanical arm and the three-dimensional of operative scenario restores reconstruction model simultaneously
Storage；
In step 4, using the target of four corners of working face in scene reconstruction model to mechanical arm pedestal coordinate system
It is demarcated, by the world coordinate system of pedestal coordinate system calibration to BIM platform.
Further, in step 2, needed for each mounting structure unit includes itself geometric parameter and grabs for robot
Crawl point position.
Further, the connection between mounting structure unit uses joinery and its construction, and crawl point is located at the recess of joinery and its construction.
Further, multiple architectural design BIM models are assembled using same mounting structure unit, same to assemble
Member unit is sent to the same position of component placement region with identical direction one by one, and mechanical arm often takes a mounting structure list away
It is first then place a same mounting structure unit again to the same position of component placement region.
To achieve the goals above, other side according to the invention provides a kind of building assembly side based on BIM
Method obtains appointing for mechanical arm assembly according to any one foregoing mechanical arm fittage planing method based on BIM
Then corresponding mechanical arm is assembled control program and imports mechanical arm control system by grade of being engaged in planning, control mechanical arm executes corresponding
Fittage operation, assemble the physical model of target structures.
In general, the above technical scheme conceived by the present invention compared with prior art, has the advantage that
(1) reduction and the simulation capacity for taking full advantage of scene modeling technology are quickly rebuild using image-based technique
Environment point cloud model, including the relative positional relationship for obtaining robot and construction area；
(2) characteristic point of mechanical arm and working face is measured, and binding isotherm conceptual model, physical location is carried out
Amendment, solves the calibration of mechanical arm coordinate system and the calibration of construction area, can with the conversion between two planes of rapid survey
Relationship；
(3) learning concept model is taken full advantage of, it is contemplated that its accuracy for controlling point, it is determined that each building element
The three-dimensional coordinate of the target point of placement has carried out assembly sequence plan to the fittage of different construction styles；
(4) amendment repeatedly for passing through the path of the calibration and mechanical arm that design a model, so that manipulator motion is safer
It is more reliable, it avoids colliding with ambient enviroment, safety is higher.
(5) method proposed by the present invention, mechanical arm is reliable and stable, with high accuracy feature, 3 D scene rebuilding technology
Height restores the characteristics of reality construction scene, combines with the powerful feature of BIM model parameterization ability to express and computing capability,
It is efficiently accurate to efficiently solve the problems, such as that mechanical arm executes fittage operation.
Detailed description of the invention
Attached drawing 1 is the flow diagram of the 3 D scene rebuilding step of the preferred embodiment of the present invention；
Attached drawing 2 is the assembly planning product process schematic diagram of the embodiment of the preferred embodiment of the present invention；
The mechanical arm schematic diagram that attached drawing 3 is applied to by the preferred embodiment of the present invention；
Attached drawing 4 is the mounting structure cell schematics of the preferred embodiment of the present invention；
Attached drawing 5 be using Fig. 4 mounting structure unit splicing at Wall model schematic diagram；
Attached drawing 6 be using Fig. 4 mounting structure unit splicing at stair model schematic；
Attached drawing 7 be using Fig. 4 mounting structure unit splicing at pyramid model schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Basic principle of the invention is as follows: BIM architecture information it is integrated, in terms of there is advantage, it has also become
Develop the branch stake tool of automated construction.Scene point cloud information after scanning is imported BIM by existing research, and shape is completed in automatic detection
State.On the basis of BIM platform, design according to the invention, robotic asssembly scene information is once imported, so that it may fast fast-growing
At the three-dimensional coordinate of fittage.Three-dimensional reconstruction based on image is the scene modeling and computing technique of a kind of high flexible.This
The task level planning that invention proposes quickly has rebuild the real-time scene model of robotic asssembly, and is introduced into BIM platform.Pass through
Calibration and calculating to fittage model, quickly generate the set-point of executable modular structure, are finally controlled according to robot
The calling of program generates assembly control instruction.
Embodiments of the present invention mainly include Image Acquisition, scene analysis, models coupling, these portions of assembly output
Point.Attached drawing 1,2 illustrates three-dimensional reconstruction and generates the basic step of assemble planning.Fittage operation is executed now in conjunction with mechanical arm
Case study on implementation, to the present invention introduced in more detail:
Step 1: to the mechanical arm and its operative scenario for implementing assembly manipulation task, the three-dimensional reconstruction based on image is carried out,
Obtain the support normal of mechanical arm and operative scenario and the three-dimensional reduction reconstruction model of mapping coordinates；Mainly to implementation assembly behaviour
The operative scenario for making the robot of task acquires the circular image of one group of multi-angle of view as element including working face, operating area etc.
Material, to carry out three-dimensional reconstruction work；
In a specific scene, including following sub-step:
1.1, experimental site prepares, the preparation including mechanical arm and its working face, component placement region, and experiment porch includes
7th generation large scale industry robot such as ABB industrial robot (is current identical load etc. as shown in figure 3, having 6 freedom degrees
The best robot of performance in grade), construction plane (1.6m*0.9m), scene modeling camera (Sony a5100) and Modeling Calculation
Machine work station (Dell precision), about 8 square metres of construction space；Operative scenario is mainly quasi- by robot diamond, component
Preparation area, component operating space (working face) composition；
1.2, it is marked by four angles of the target of production to mechanical arm base plane and plane of constructing；
1.3, around construction scene, 48 photos are had taken around mechanical arm and its working face, while ensuring at least
60% adjacent image overlapping；
1.4, by the acquisition of image information, data importing is carried out using scene modeling software, is based specifically on image
Scene capture technology, and capturing scenes are saved as into the three-dimensional point cloud figure based on SFM technology, technical support can use
The Recap Photo software of Autodesk platform can carry out three-dimensional reconstruction by the view scene photo of acquisition.Three-dimensional point
Cloud model includes a large amount of geological information and a large amount of semantic information, and the addition of semantic information can promote scenario B IM model
It is formed.It is finally raw with the file format of OBJ then by processes such as sparse reconstruction, dense reconstruction, mesh mapping, stick picture disposings
At model of place and store, it can be using supporting the Rhinoceros software of OBJ formatted file to carry out corresponding operating, to Three-dimensional Gravity
The model file built carries out shearing and reservation appropriate, after adjusting in scene modeling software, saves as supporting normal and patch
The obj file of figure coordinate, it is ensured that mapping coordinates information can be stored in wherein, form the three-dimensional reduction reconstruction model of scene.
Step 2: according to the mounting structure of target structures model, going out the corresponding building of target structures using BIM platform construction
BIM model is designed, that is, forms the task model that mechanical arm implements fittage operation, which being capable of display member unit
Geometry, type of attachment, assemble sequence and set-point.
Specifically, the buildings model being made of mounting structure unit is designed, can be designed by different number of member unit group
At various forms of buildings models.As also shown in e.g. figs. 4-7, three kinds of Revit software design different fittage moulds be can use
Type is Wall model, stair model and pyramid model respectively.According to different target structures, the class for the member unit being related to
Type and quantity also can be different.In the present embodiment mounting structure element number be wall 12,20, stair, pyramid 30,
Wherein, all construction tasks are all assembled with same mounting structure unit, and each member unit not only includes basic
Geometric parameter also grabs required point position comprising robot, and the connection between component uses joinery and its construction；Wherein, crawl is steady
Fixed precondition is exactly that the frictional force of crawl generation can support the gravity for being grabbed object, and feasible crawl point is located at recess.
Quality, form, posture and the connection type of member unit should be examined in conjunction with the feature of mechanical arm and working face
Consider, such as guarantees its assembled tightness, and the error for avoiding lateral displacement from being formed with the mode of mortise-tenon joint.
Step 3: the three-dimensional reduction reconstruction model that step 1 is obtained imported into BIM platform, measures its dimension information, and lead to
Zoom operations are crossed to become and the consistent three-dimensional reconstruction model of place of full-size(d)；
Step 4: the three-dimensional reconstruction model of place of set-up procedure 3 obtains in BIM platform mechanical arm and its working face, it will
Its pedestal coordinate system demarcates the world coordinate system to BIM platform, forms coordinate origin mutually unified mechanical arm and its working face
Three-dimensional scene models.The effect of model of place calibration is that the model of place of reconstruction is expressed as to operable BIM model, is determined
Put together machines the Control coordinate system of people, the fundamental coordinate system for the people that puts together machines be it is relatively-stationary, usually built in ROS system
Known coordinate system.
The scene threedimensional model that mechanical arm and its working face can be adjusted in BIM platform, by its pedestal coordinate system, i.e. machine
Device people's fundamental coordinate system, calibration arrive the world coordinate system of BIM platform modeling software, that is, form the mutually unified machinery of coordinate origin
The three-dimensional scene models of arm and its working face.
Specifically, reconstruct model of place can be imported in Rhino, mechanical arm pedestal is sat using the target of four corners
Mark system is demarcated, and by its pedestal coordinate system, i.e. robot fundamental coordinate system, the generation of BIM platform modeling software Rhino is arrived in calibration
Boundary's coordinate system；According to four angle points of construction plane, it is unified for Virtual Construction model, task model needs to establish virtual
On working face, size is identical as the working face in model of place.
Due to including target in task model, in BIM platform, the position of basic plane coordinate system and origin can be by
It determines, is consistent on this basis by the positive direction and the positive direction of BIM platform coordinate system that make robot motion, completes three
Tie up the calibration of model of place.
Step 5: the architectural design BIM model that step 2 is obtained, the three-dimensional scene models obtained with step 4 are in BIM platform
It is integrated, forms the conceptual model of robotic arm manipulation fittage, indicate target after the completion of the fittage that mechanical arm executes
The perfect condition of building；The BIM model of different construction styles in the step 2 can usually be gone out using BIM platform construction, as
Form the task model that mechanical arm implements fittage operation.
Specifically, it by the mechanical arm of the OBJ format formed in the step 2 and its three-dimensional scene models of working face, leads
Enter into the software of BIM platform, measures its dimension information, and become and the consistent mould of full-size(d) by zoom operations
Type.In the present embodiment, three kinds of BIM construction task models are imported into Rhino, that is, imported into calibration in step 4 and completes machine
In people's coordinate system and the unified reconstruct model of place of world coordinate system, and task model is established in virtual work plane.When
It is real using four targets of virtual work plane and reconstruction plane as reference when BIM task model is matched with model of place
The matching of existing construction task and robotic asssembly.
Step 6: the conceptual model that applying step 5 obtains generates on each member unit of target structures for mechanical arm
Fixture executes the coordinate of the coordinate of the crawl point of assembly manipulation and the set-point of each component；Specifically, using BIM software
Computing capability is parameterized, each assembly structure of wall, stair and three kinds of pyramid different construction task models can be generated with a key
The three-dimensional coordinate of the crawl point and set-point of part unit；Preferably, the mode transmitted with vertex, such as robot, biography can be determined
The modes such as band are sent, same mounting structure unit are placed in the same position of component rest area one by one according to identical direction, often
It takes one away and just places one again, can so make the coordinate grabbed in task model a little there was only one group, to greatly simplify
The moving line of mechanical arm and the data capacity for reducing task model.
Step 7: the position coordinate that step 6 is generated is arranged according to sequence of construction, indicates position locating for each movement of mechanical arm
Then initial coordinate is converted to the executable program code of mechanical arm by the initial coordinate set, obtain the main program generation of mechanical arm
Code；
Specifically, it is arranged according to sequence of construction defined in 4D BIM model (containing the 3D BIM of sequence of movement),
Ultimately produce the extractible one group of performance objective dot file of robot control program.For general robot operating system (ROS
System), this file can save as " txt " format, and control program is facilitated to use at any time.For example, all structures in given design
The final position and direction of part block will generate assembling plan and be written in a text file, be stored as planning, each component
Set-point will be saved after generation and export as " txt " file, can check and call, also can be converted " xlsx ".?
The subsequent online building stage can extract above-mentioned project documentation and be handled, and obtain main program code.
Step 8:, can be by being associated with by the construction task target dot file that BIM is generated after obtaining main program code according to step 7
The distribution of all construction performance objective points is completed in routine call, forms mechanical arm assembly control program, i.e. completion mechanical arm assembly
Task level planning." xlsx " file generated can be called by interface routine and generate control program, to the dress of three construction tasks
It is emulated on robot platform with process, the feasibility of proving program；
Step 9: according to task level planning procedure, mechanical arm executes fittage operation, completes to build designed three kinds
The assembling and building of model, until terminating assembly.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of mechanical arm fittage planing method based on BIM, which comprises the steps of:
Step 1: to the mechanical arm and its operative scenario for implementing assembly manipulation task, carrying out the three-dimensional reconstruction based on image, obtain
The three-dimensional reduction reconstruction model of the support normal and mapping coordinates of mechanical arm and operative scenario；
Step 2: it is corresponding by filling to go out target structures using BIM platform construction for the mounting structure unit based on target structures model
Architectural design BIM model with member unit composition；
Step 3: the three-dimensional reduction reconstruction model that step 1 is obtained imported into BIM platform, measures its dimension information, and pass through contracting
Operation is put to become and the consistent three-dimensional reconstruction model of place of full-size(d)；
Step 4: the three-dimensional reconstruction model of place of set-up procedure 3 obtains in BIM platform mechanical arm and its working face, by its bottom
The calibration of seat coordinate system forms the three of coordinate origin mutually unified mechanical arm and its working face to the world coordinate system of BIM platform
Tie up model of place；
Step 5: the architectural design BIM model that step 2 is obtained, the three-dimensional scene models obtained with step 4 are carried out in BIM platform
Integration forms the conceptual model of robotic arm manipulation fittage, indicates target structures after the completion of the fittage that mechanical arm executes
Perfect condition；
Step 6: the conceptual model that applying step 5 obtains generates the fixture on each member unit of target structures for mechanical arm
Execute the position coordinate of assembly manipulation；
Step 7: the position coordinate that step 6 is generated is arranged according to sequence of construction, indicates each movement present position of mechanical arm
Then initial coordinate is converted to the executable program code of mechanical arm by initial coordinate, obtain the main program code of mechanical arm；
Step 8: after obtaining main program code according to step 7, being debugged in robot control system ROS, form mechanical arm
Assembly control program, i.e. the task level planning of completion mechanical arm assembly.
2. a kind of mechanical arm fittage planing method based on BIM according to claim 1, which is characterized in that step 1
Including following sub-step:
1.1, Farm Planning, comprising: require placement of mechanical arm and its working face, component rest area at the scene according to practice of construction
Domain and scene modeling camera and Modeling Calculation machine work station；
1.2, it is marked by four angles of the target to mechanical arm base plane and working face；
1.3, usage scenario modeling camera shoots multiple pictures around mechanical arm and its working face, while ensuring adjacent image at least
60% overlapping；
1.4, the image acquired based on step 1.3 passes sequentially through sparse reconstruction, dense reconstruction, mesh mapping and stick picture disposing, most
Afterwards to support the OBJ format of normal and mapping coordinates to generate the three-dimensional reduction reconstruction model of mechanical arm and operative scenario and store；
In step 4, mechanical arm pedestal coordinate system is carried out using the target of four corners of working face in scene reconstruction model
Calibration, by the world coordinate system of pedestal coordinate system calibration to BIM platform.
3. a kind of mechanical arm fittage planing method based on BIM according to claim 1 or 2, which is characterized in that step
In rapid 2, each mounting structure unit includes itself geometric parameter and the position for the point of crawl needed for robot crawl.
4. a kind of mechanical arm fittage planing method based on BIM according to claim 3, which is characterized in that assembly
Connection between member unit uses joinery and its construction, and crawl point is located at the recess of joinery and its construction.
5. a kind of mechanical arm fittage planing method based on BIM according to claim 3, which is characterized in that multiple
Architectural design BIM model is assembled using same mounting structure unit, same mounting structure unit with identical direction by
A same position for being sent to component placement region, mechanical arm often take a mounting structure unit away then to component placement region
Same position places a same mounting structure unit again.
6. a kind of building assembly method based on BIM, which is characterized in that according to described in Claims 1 to 4 any one based on
The mechanical arm fittage planing method of BIM obtains the task level planning of mechanical arm assembly, then assembles corresponding mechanical arm
It controls program and imports mechanical arm control system, control mechanical arm executes corresponding fittage operation, assembles target structures
Physical model.
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