CN109760059B - Mechanical arm assembly task planning method based on BIM and building assembly method - Google Patents
Mechanical arm assembly task planning method based on BIM and building assembly method Download PDFInfo
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Abstract
The invention provides a mechanical arm assembly task planning method based on BIM, and belongs to the field of civil engineering and building construction. The method combines a scene modeling technology based on images, a BIM platform, a mechanical arm and a robot operating system to quickly generate a planning method of an assembly task plan; performing three-dimensional reconstruction on a mechanical arm construction scene to form a scene model; performing combined matching processing on the designed building BIM model and the three-dimensional reconstructed scene model on a BIM platform to generate a task model; generating component coordinates of the mechanical arm for executing the assembly task according to the task model, assigning the component coordinates to a control program of a robot operating system, and generating a control instruction; and the mechanical arm performs assembly operation according to the control instruction, and completes an assembly task according to the planned assembly sequence and the point coordinates. The invention can effectively solve the problems of efficiency and accuracy of the mechanical arm in executing the component assembling operation, and has the advantages of low cost, small error and good practicability.
Description
Technical Field
The invention belongs to the field of civil engineering and building construction, and particularly relates to a planning method for a mechanical arm to execute an assembly task based on a BIM platform.
Background
With the progress of building technology, people put forward higher requirements on buildings, and the industrial importance is gradually brought to the standardized design, the fine construction and the rapid construction. The assembly type building is vigorously developed, the adjustment and the upgrade of an industrial structure are promoted, the environment friendliness of the building is realized, and the assembly type building is not only an objective requirement on social and economic development, but also a mainstream trend of the industrial upgrade of the building industry.
The assembly type building adds a manufacturing link between design and construction, and a factory manufactures various required prefabricated components according to the design of a design department and then transports the prefabricated components to the site for assembly, namely design-manufacture-assembly. In the construction process of the fabricated building, the field assembly of the prefabricated parts becomes a new technical problem. The existing assembly of the prefabricated parts generally adopts a hoisting method, and before the prefabricated parts are hoisted, the hoisting sequence is generally controlled by numbering the prefabricated parts. The method has certain problems in construction safety guarantee, construction precision and construction efficiency. And the development of the building construction robot provides new possibility for assembling the prefabricated parts.
In the assembly operation, a mechanical arm (or an industrial robot, such as an ABB robot and a bankcard robot commonly found in the market) is usually used, and the mechanical arm has the characteristics of large load capacity, high positioning accuracy, high response speed and the like. At present, a feasible approach is to adopt a modular structure and use a robot to perform prefabrication and assembly of modules, so that the operation difficulty of the robot is greatly reduced, and the construction speed of a new building can be effectively improved. The mechanical arm has the characteristics of repeated instruction, accurate positioning, fine operation and the like, and becomes a good tool for realizing quick construction and fine construction.
At present, the mechanical arm mainly adopts several control modes such as off-line programming, visual guidance, manual control and the like in industrial application. The existing invention mostly realizes the grabbing and path correction of the mechanical arm from the robot motion path planning and ROS-based system, and lacks the combined application with BIM and the mechanical arm planning from the task perspective.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a BIM-based mechanical arm assembly task planning method and a corresponding building assembly method, and aims to quickly obtain a task-level assembly plan and a program available for a robot by combining actual framing and three-dimensional modeling with the advantages of BIM in building information integration and analysis, effectively solve the problems of efficiency and accuracy of mechanical arm assembly component operation execution, assist an operator in realizing the task-level planning of mechanical arm assembly operation, realize simulation and automatic planning of an assembly process, and formulate an assembly scheme meeting actual requirements.
In order to achieve the above object, according to one aspect of the present invention, there is provided a BIM-based robot arm assembly task planning method, including the steps of:
step 1: performing three-dimensional reconstruction based on images on a mechanical arm and a working scene thereof for implementing an assembly operation task to obtain a three-dimensional reduction reconstruction model of a support normal and a mapping coordinate of the mechanical arm and the working scene;
step 2: building design BIM models which are corresponding to the target buildings and are composed of the assembling component units are constructed by applying the BIM platforms based on the assembling component units of the target building models;
and step 3: importing the three-dimensional reduction reconstruction model obtained in the step 1 into a BIM platform, measuring size information of the BIM platform, and enabling the BIM platform to be a three-dimensional reconstruction scene model with the same real size through scaling operation;
and 4, step 4: adjusting the three-dimensional reconstruction scene model of the mechanical arm and the working surface thereof obtained in the step 3 in the BIM platform, and calibrating a base coordinate system of the three-dimensional reconstruction scene model to a world coordinate system of the BIM platform to form a three-dimensional scene model of the mechanical arm and the working surface thereof with the same origin of the coordinate system;
and 5: integrating the building design BIM obtained in the step (2) and the three-dimensional scene model obtained in the step (4) on a BIM platform to form a conceptual model of a mechanical arm operation assembly task, and representing an ideal state of a target building after the assembly task executed by the mechanical arm is completed;
step 6: applying the conceptual model obtained in the step 5 to generate point position coordinates for the clamps of the mechanical arm to execute assembly operation on each component unit of the target building;
and 7: arranging the point location coordinates generated in the step 6 according to a construction sequence, representing initial coordinates of the position of each action of the mechanical arm, and then converting the initial coordinates into executable program codes of the mechanical arm to obtain main program codes of the mechanical arm;
and 8: and (5) after the main program code is obtained according to the step (7), debugging is carried out in a robot control system (ROS) to form a mechanical arm assembly control program, namely, the task-level planning of mechanical arm assembly is completed.
Further, step 1 comprises the following sub-steps:
1.1, site preparation, comprising: arranging a mechanical arm, a working surface thereof, a component placing area, a scene modeling camera and a modeling computer workstation on site according to actual construction requirements;
1.2, marking four corners of a base plane and a working surface of the mechanical arm through a target;
1.3, shooting a plurality of pictures by using a scene modeling camera around the mechanical arm and the working surface of the mechanical arm, and simultaneously ensuring that at least 60% of adjacent images are overlapped;
1.4, based on the image acquired in the step 1.3, sequentially performing sparse reconstruction, dense reconstruction, grid mapping and chartlet processing, and finally generating and storing a three-dimensional reduction reconstruction model of the mechanical arm and the working scene in an OBJ format supporting normal and chartlet coordinates;
and step 4, calibrating the base coordinate system of the mechanical arm by using the targets of the four corners of the working surface in the scene reconstruction model, and calibrating the base coordinate system to the world coordinate system of the BIM platform.
Further, in step 2, each assembly member unit comprises its own geometrical parameters and the position of the gripping point required for the robot to grip.
Furthermore, the assembled component units are connected by adopting a mortise and tenon structure, and the grabbing points are positioned in concave parts of the mortise and tenon structure.
Further, the plurality of building design BIM models are assembled using the same assembly component unit, the same assembly component unit is transferred to the same position of the component placement area one by one in the same orientation, and the robot arm places the same assembly component unit to the same position of the component placement area every time the robot arm takes out one assembly component unit.
In order to achieve the above object, according to another aspect of the present invention, a BIM-based building assembly method is provided, which obtains a task-level plan of mechanical arm assembly according to any one of the BIM-based mechanical arm assembly task planning methods described above, and then introduces a corresponding mechanical arm assembly control program into a mechanical arm control system, so as to control a mechanical arm to perform a corresponding assembly task operation, thereby assembling a physical model of a target building.
In general, the above technical solutions contemplated by the present invention have the following advantages compared to the prior art:
(1) the restoring and simulating capabilities of a scene modeling technology are fully utilized, and an environment point cloud model is quickly reconstructed by utilizing an image-based technology, wherein the relative position relation between the robot and a construction area is obtained;
(2) measuring the characteristic points of the mechanical arm and the working surface, correcting the actual position by combining a theoretical conceptual model, solving the calibration of a mechanical arm coordinate system and the calibration of a construction area, and quickly measuring the conversion relation between two planes;
(3) the method fully utilizes a theoretical conceptual model, considers the accuracy of control point positions, determines the three-dimensional coordinates of a target point placed by each building component, and plans the assembly sequence of assembly tasks in different building forms;
(4) through the calibration of the design model and the repeated correction of the path of the mechanical arm, the movement of the mechanical arm is safer and more reliable, the collision with the surrounding environment is avoided, and the safety is higher.
(5) The method provided by the invention combines the characteristics of stability, reliability and high precision of the mechanical arm, the characteristic of high reduction of the three-dimensional scene reconstruction technology to the actual construction scene, and the characteristics of strong parameterized expression capability and calculation capability of the BIM model, and effectively solves the problem of high efficiency and precision in the operation of executing the assembly task by the mechanical arm.
Drawings
FIG. 1 is a schematic flow chart of the three-dimensional scene reconstruction procedure according to the preferred embodiment of the present invention;
FIG. 2 is a schematic assembly plan generation flow diagram of an embodiment of the present invention;
FIG. 3 is a schematic view of a robotic arm to which the preferred embodiment of the present invention is applied;
FIG. 4 is a schematic view of an assembled component unit of a preferred embodiment of the present invention;
FIG. 5 is a schematic view of a wall model assembled using the assembled structural elements of FIG. 4;
FIG. 6 is a schematic view of a stair model assembled using the assembly member units of FIG. 4;
fig. 7 is a schematic view of a pyramid model assembled using the assembly member unit of fig. 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The basic principle of the invention is as follows: BIM has advantages in building information integration, analysis and calculation, and the like, and has become a support tool for developing automatic construction. Research has been conducted to import scanned scene point cloud information into the BIM for automatic detection of completion status. On the basis of the BIM platform, according to the concept of the invention, once the assembling scene information of the robot is imported, the three-dimensional coordinates of the assembling task can be quickly generated. Image-based three-dimensional reconstruction is a highly flexible scene modeling and computation technique. The task-level planning provided by the invention quickly reconstructs a real-time scene model of robot assembly and introduces the real-time scene model into a BIM platform. And through calibration and calculation of the assembly task model, a placement point of an executable module structure is quickly generated, and finally, an assembly control instruction is generated according to calling of a robot control program.
The implementation mode of the invention mainly comprises the following parts of image acquisition, scene analysis, model combination and assembly output. Fig. 1 and 2 show the basic steps of three-dimensional reconstruction and generation of an assembly plan. Now, the present invention will be described in more detail with reference to the embodiment in which the robot arm performs an assembly task:
step 1: performing three-dimensional reconstruction based on images on a mechanical arm and a working scene thereof for implementing an assembly operation task to obtain a three-dimensional reduction reconstruction model of a support normal and a mapping coordinate of the mechanical arm and the working scene; the method mainly comprises the steps that a group of multi-view-angle surrounding images are collected as materials for a working scene of a robot for implementing an assembly operation task, wherein the working scene comprises a working face, an operation area and the like, and the materials are used for carrying out three-dimensional reconstruction work;
in one specific scenario, the method comprises the following sub-steps:
1.1, preparing an experimental site, wherein the preparation comprises a mechanical arm, a working face of the mechanical arm and a component placement area, an experimental platform comprises a seventh-generation large industrial robot such as an ABB industrial robot (shown in figure 3, the robot has 6 degrees of freedom and is the best robot in the same load grade at present), a construction plane (1.6m x 0.9m), a scene modeling camera (Sony a5100) and a modeling computer workstation (Dell precision), and the construction space is about 8 square meters; the working scene mainly comprises a robot parking area, a component preparation area and a component operation area (working surface);
1.2, marking four corners of a base plane and a construction plane of the mechanical arm through the manufactured target;
1.3, around a construction scene, 48 photographs were taken around the arm and its working face while ensuring at least 60% overlap of adjacent images;
and 1.4, data import is carried out by utilizing scene modeling software through acquisition of image information, specifically, the technology is based on a scene capture technology of an image, a captured scene is stored as a three-dimensional point cloud graph based on an SFM technology, the technical support can adopt Recap Photo software of an Autodesk platform, and three-dimensional reconstruction can be carried out through acquired multi-view scene photos. The three-dimensional point cloud model comprises a large amount of geometric information and a large amount of semantic information, and the addition of the semantic information can promote the formation of a scene BIM model. And finally generating a scene model in an OBJ file format and storing the scene model through the processes of sparse reconstruction, dense reconstruction, grid mapping, mapping and the like, performing corresponding operation by adopting Rhinoceros software supporting files in the OBJ format, properly cutting and reserving the three-dimensional reconstructed model file, adjusting the model file in the scene modeling software, storing the model file as an OBJ file supporting a normal and mapping coordinates, and ensuring that mapping coordinate information can be stored in the OBJ file to form a three-dimensional restored reconstruction model of the scene.
Step 2: according to the assembly components of the target building model, a building design BIM model corresponding to the target building is constructed by applying a BIM platform, namely a task model of the mechanical arm for implementing assembly task operation is formed, and the task model can display the geometric shape, the connection form, the assembly sequence and the placement points of the component units.
In particular, a building model consisting of assembled component units is designed, and different forms of building models consisting of different numbers of component units can be designed. As shown in fig. 4 to 7, three different assembly task models, namely a wall model, a stair model and a pyramid model, can be designed by using Revit software. The type and number of the involved construction elements may also vary according to the target building. In the embodiment, the number of the assembly component units is 12, 20 stairs and 30 pyramid-shaped components, wherein all construction tasks are assembled by using the same assembly component units, each component unit not only comprises basic geometric parameters, but also comprises a point position required by robot grabbing, and the connection between the components adopts a mortise and tenon structure; the precondition of stable grabbing is that the friction force generated by grabbing can support the gravity of the object to be grabbed, and a feasible grabbing point is positioned in the concave position.
The quality, form, posture and connection mode of the component units are considered in combination with the characteristics of the mechanical arm and the working face, for example, the assembling compactness of the component units is ensured by adopting a mortise-tenon joint mode, and errors formed by transverse displacement are avoided.
And step 3: importing the three-dimensional reduction reconstruction model obtained in the step 1 into a BIM platform, measuring size information of the BIM platform, and enabling the BIM platform to be a three-dimensional reconstruction scene model with the same real size through scaling operation;
and 4, step 4: and (3) adjusting the three-dimensional reconstruction scene model of the mechanical arm and the working surface thereof obtained in the step (3) in the BIM platform, and calibrating the base coordinate system of the three-dimensional reconstruction scene model to the world coordinate system of the BIM platform to form the three-dimensional scene model of the mechanical arm and the working surface thereof with the same origin of the coordinate system. The calibration of the scene model is used for representing the reconstructed scene model as an operable BIM model and determining a control coordinate system of the assembling robot, wherein a basic coordinate system of the assembling robot is relatively fixed and is a known coordinate system built in an ROS system.
The scene three-dimensional model of the mechanical arm and the working face thereof can be adjusted in the BIM platform, and the base coordinate system, namely the basic coordinate system of the robot, is calibrated to the world coordinate system of the modeling software of the BIM platform, namely the three-dimensional scene model of the mechanical arm and the working face thereof with the same origin of the coordinate system is formed.
Specifically, the reconstructed scene model can be led into the Rhino, the mechanical arm base coordinate system is calibrated by using the targets of four corners, and the base coordinate system, namely the robot basic coordinate system, is calibrated to the world coordinate system of the BIM platform modeling software Rhino; and unifying the four corner points of the construction plane into a virtual construction model, wherein the task model needs to be established on a virtual working plane, and the size of the task model is the same as that of the working plane in the scene model.
Because the task model comprises the target, in the BIM platform, the positions of the basic plane coordinate system and the original point can be determined, and on the basis, the calibration of the three-dimensional scene model is completed by keeping the positive direction of the robot motion consistent with the positive direction of the BIM platform coordinate system.
And 5: integrating the building design BIM obtained in the step (2) and the three-dimensional scene model obtained in the step (4) on a BIM platform to form a conceptual model of a mechanical arm operation assembly task, and representing an ideal state of a target building after the assembly task executed by the mechanical arm is completed; the BIM platform can be generally applied to construct BIM models of different building forms in the step 2, that is, task models for forming the mechanical arm to perform assembly task operations.
Specifically, the mechanical arm in the OBJ format and the three-dimensional scene model of the working surface thereof formed in step 2 are imported into software of the BIM platform, the size information of the mechanical arm is measured, and the mechanical arm is changed into a model with the real size through scaling operation. In this embodiment, three BIM construction task models are imported into Rhino, that is, into the reconstructed scene model in which the robot coordinate system and the world coordinate system are unified in step 4, and the task model is established on the virtual working plane. When the BIM task model is matched with the scene model, the four targets of the virtual working plane and the reconstruction working plane are used as references, and the matching of the construction task and the robot assembly is realized.
Step 6: applying the conceptual model obtained in the step 5, and generating coordinates of a grabbing point for a clamp of the mechanical arm to perform assembling operation on each component unit of the target building and coordinates of a placing point of each component; specifically, by applying the parameterized computing capability of BIM software, three-dimensional coordinates of a grabbing point and a placing point of each assembly component unit of three different construction task models of a wall body, a stair and a pyramid can be generated in one key; preferably, the same assembled component units can be placed at the same position of the component placing area one by one according to the same orientation by using a vertex conveying mode, such as a robot mode, a conveyor belt mode and the like, and the assembled component units are placed one by one after each component is taken away, so that only one set of coordinates of the grabbing point in the task model can be obtained, the movement route of the mechanical arm is greatly simplified, and the data capacity of the task model is reduced.
And 7: arranging the point location coordinates generated in the step 6 according to a construction sequence, representing initial coordinates of the position of each action of the mechanical arm, and then converting the initial coordinates into executable program codes of the mechanical arm to obtain main program codes of the mechanical arm;
specifically, a set of execution target point files that can be extracted by the robot control program are generated by arranging according to the construction order defined in the 4D BIM model (i.e., the 3D BIM including the action order). For a general robot operating system (ROS system), this file can be saved in a 'txt' format, which is convenient for the control program to use at any time. For example, given the final positions and orientations of all building blocks in a design, an assembly plan will be generated and written into a text file, stored as a plan, and the placement points of each building block will be saved and exported as a "txt" file after generation, which can be viewed and called, and also converted to "xlsx". The plan file can be extracted and processed in the subsequent online construction stage, and a main program code is obtained.
And 8: after the main program code is obtained according to the step 7, the construction task target point file generated by the BIM can be called by the associated program, the distribution of all construction execution target points is completed, a mechanical arm assembly control program is formed, and the task level planning of mechanical arm assembly is completed. The generated 'xlsx' file can be called by an interface program to generate a control program, the assembly process of three construction tasks is simulated on a robot platform, and the feasibility of the program is verified;
and step 9: and according to the task-level planning program, the mechanical arm executes assembly task operation to complete the assembly and construction of the three designed building models until the assembly is finished.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A mechanical arm assembly task planning method based on BIM is characterized by comprising the following steps:
step 1: performing three-dimensional reconstruction based on images on a mechanical arm and a working scene thereof for implementing an assembly operation task to obtain a three-dimensional reduction reconstruction model of a support normal and a mapping coordinate of the mechanical arm and the working scene;
step 2: building design BIM models which are corresponding to the target buildings and are composed of the assembling component units are constructed by applying the BIM platforms based on the assembling component units of the target building models;
and step 3: importing the three-dimensional reduction reconstruction model obtained in the step 1 into a BIM platform, measuring size information of the BIM platform, and enabling the BIM platform to be a three-dimensional reconstruction scene model with the same real size through scaling operation;
and 4, step 4: adjusting the three-dimensional reconstruction scene model of the mechanical arm and the working surface thereof obtained in the step 3 in the BIM platform, and calibrating a base coordinate system of the three-dimensional reconstruction scene model to a world coordinate system of the BIM platform to form a three-dimensional scene model of the mechanical arm and the working surface thereof with the same origin of the coordinate system;
and 5: integrating the building design BIM obtained in the step (2) and the three-dimensional scene model obtained in the step (4) on a BIM platform to form a conceptual model of a mechanical arm operation assembly task, and representing an ideal state of a target building after the assembly task executed by the mechanical arm is completed;
step 6: applying the conceptual model obtained in the step 5 to generate point position coordinates for the clamps of the mechanical arm to execute assembly operation on each component unit of the target building;
and 7: arranging the point location coordinates generated in the step 6 according to a construction sequence, representing initial coordinates of the position of each action of the mechanical arm, and then converting the initial coordinates into executable program codes of the mechanical arm to obtain main program codes of the mechanical arm;
and 8: and (5) after the main program code is obtained according to the step (7), debugging is carried out in a robot control system (ROS) to form a mechanical arm assembly control program, namely, the task-level planning of mechanical arm assembly is completed.
2. The BIM-based manipulator assembly task planning method according to claim 1, wherein the step 1 comprises the following sub-steps:
1.1, site preparation, comprising: arranging a mechanical arm, a working surface thereof, a component placing area, a scene modeling camera and a modeling computer workstation on site according to actual construction requirements;
1.2, marking four corners of a base plane and a working surface of the mechanical arm through a target;
1.3, shooting a plurality of pictures by using a scene modeling camera around the mechanical arm and the working surface of the mechanical arm, and simultaneously ensuring that at least 60% of adjacent images are overlapped;
1.4, based on the image acquired in the step 1.3, sequentially performing sparse reconstruction, dense reconstruction, grid mapping and chartlet processing, and finally generating and storing a three-dimensional reduction reconstruction model of the mechanical arm and the working scene in an OBJ format supporting normal and chartlet coordinates;
and step 4, calibrating the base coordinate system of the mechanical arm by using the targets of the four corners of the working surface in the scene reconstruction model, and calibrating the base coordinate system to the world coordinate system of the BIM platform.
3. The BIM-based manipulator assembly task planning method according to claim 1 or 2, wherein in step 2, each assembly component unit comprises its own geometric parameters and the position of a grabbing point required for the robot to grab.
4. The BIM-based mechanical arm assembly task planning method according to claim 3, wherein the connection between the assembly component units adopts a mortise and tenon structure, and the grabbing points are located in recesses of the mortise and tenon structure.
5. The BIM-based robot arm assembly task planning method of claim 3, wherein the plurality of BIM models are assembled using the same assembly component unit, the same assembly component unit is transferred to the same position of the component placement area one by one in the same orientation, and the robot arm places the same assembly component unit to the same position of the component placement area every time the robot arm takes out one assembly component unit.
6. A building assembly method based on BIM is characterized in that according to the BIM-based mechanical arm assembly task planning method of any one of claims 1 to 4, a task-level plan of mechanical arm assembly is obtained, then a corresponding mechanical arm assembly control program is imported into a mechanical arm control system, and a mechanical arm is controlled to execute corresponding assembly task operation, so that a solid model of a target building is assembled.
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| US11790125B2 (en) | 2020-07-09 | 2023-10-17 | Peyman Poostchi | System and method for automated production of buildings and building components |
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| CN108241906A (en) * | 2018-01-11 | 2018-07-03 | 青岛理工大学 | A kind of assembled architecture digitlization construction method based on cloud platform |
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