CN112379627A - Positioning system and positioning method for assembly type building - Google Patents
Positioning system and positioning method for assembly type building Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/18—Adjusting tools; Templates
- E04G21/1841—Means for positioning building parts or elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
The invention is suitable for the technical field of construction positioning, and provides a positioning system and a positioning method for an assembly type building. The positioning system comprises a hoisting field measuring and calculating device and a control console, wherein the hoisting field measuring and calculating device comprises an attitude control module, an information collection module and an information processing module. By applying the electronic information technology such as the control console, the attitude control module, the information collection module, the information processing module and the like to the fabricated building, operators can remotely and clearly identify the position needing hoisting operation and the distance between a hoisting part and an installation position, the working efficiency is greatly improved, the operation risk is reduced, the construction quality is ensured, the labor and construction operation cost is reduced, the current situation of construction disorder is improved, the construction safety is improved, a scientific basis is provided for fabricated construction, and the fabricated building has wide popularization and application prospects. The positioning method is implemented by using the positioning system, and has the same advantages.
Description
Technical Field
The invention belongs to the technical field of construction positioning, and particularly relates to a positioning system and a positioning method for an assembly type building.
Background
The prefabricated building refers to a building which is formed by prefabricating and finishing part or all of components of the building in a factory, then transporting the components to a construction site, and assembling the components in a reliable connection mode. Because the industrial production mode is adopted, the quality and the precision are greatly improved, the common quality problems of hollowing, cracks, leakage, honeycomb pitted surface and the like in the prior art are radically treated, and in addition, the assembly type decoration is realized, the complete building finished product can be provided for the owners, and the overall building quality is qualitatively improved. Besides, the environmental protection, the energy conservation and the reduction of the labor cost can also generate very good social benefits.
In the last 10 years of development, the prefabricated house system with Chinese characteristics is initially built in China, namely, the prefabricated house structure system which is mainly of a light steel structure and is supplemented by a wood structure, a light steel-reinforced concrete structure and a light steel-steel structure is formed. Further, there has been a further search for house integration. Such as the construction of modern large dwellings, the construction of modern push-to-mount residential buildings, and the like. Changing the traditional extensive development mode, the transformation to the industrialization represented by fabricated building is a great trend.
However, there are many technical problems in the construction of the fabricated building, which results in low construction quality. Especially, the positioning problem of the assembled vertical component is a key point in the construction and is also a difficult point. Traditional hoist and mount are all by tower crane operator remote observation, the cooperation of operation face personnel commander of talkbacking and construction plane staff, require the height to the tower crane operator, construction speed is slow, the safe risk is high.
Disclosure of Invention
It is an aim of embodiments of the present invention to provide a location system for a fabricated building which addresses the problems mentioned in the background.
The embodiment of the invention is realized in such a way that the positioning system for the fabricated building comprises a hoisting field measuring and calculating device and a control console, wherein the hoisting field measuring and calculating device comprises an attitude control module, an information collection module and an information processing module;
the console is used for sending a first control instruction;
the attitude control module is used for receiving a first control instruction so as to adjust the attitude of the hoisting field measuring and calculating device and sending a second control instruction to the information collection module;
the information collection module is used for receiving a second control instruction, carrying out laser scanning on the fabricated building, measuring the inclination angle of the hoisting field measuring and calculating device, and sending scanning data and inclination angle data to the attitude control module and the information processing module; the attitude control module receives the scanning data and the inclination angle data to perform attitude calibration;
the information processing module is used for receiving the scanning data and the inclination angle data, acquiring a monocular image and a binocular image of the fabricated building, summarizing the received scanning data, the inclination angle data and the binocular image into the monocular image by adopting a three-dimensional reconstruction technology, and sending summarized data to the console; the console receives the summarized data and displays it.
Preferably, the console includes:
a first wireless data transmission module;
the control module is used for sending a first control instruction; the sent first control instruction is sent to the attitude control module through the first wireless data transmission module;
the image receiving module is used for receiving summarized data;
and the display module is used for displaying the summarized data.
Preferably, the attitude control module includes:
a second wireless data transmission module;
a microprocessor A; the microprocessor A receives a first control instruction through the second wireless data transmission module and sends an attitude adjustment instruction according to the first control instruction; and is used for sending out a second control instruction; and for receiving the scan data and the tilt angle data to issue attitude calibration instructions;
a transverse steering engine; the transverse steering engine adjusts the transverse attitude of the hoisting field measuring and calculating device according to the attitude adjusting instruction, and calibrates the transverse attitude of the hoisting field measuring and calculating device according to the attitude calibrating instruction;
a longitudinal steering engine; and the longitudinal steering engine adjusts the longitudinal attitude of the hoisting field measuring and calculating device according to the attitude adjusting instruction, and calibrates the longitudinal attitude of the hoisting field measuring and calculating device according to the attitude calibrating instruction.
Preferably, the information collection module includes:
the microprocessor B is used for receiving a second control instruction and sending a driving instruction; the scanning data and the inclination angle data are sent to the attitude control module and the information processing module;
the precise steering engine is used for receiving a driving instruction so as to drive the laser radar to displace;
the laser radar is used for carrying out laser scanning on the fabricated building so as to obtain scanning data;
and the gyroscope is used for measuring the inclination angle of the hoisting field measuring and calculating device so as to obtain inclination angle data.
Preferably, the information collection module further includes:
the positioning module is used for acquiring positioning information of the hoisting field measuring and calculating device; the positioning information includes at least latitude and longitude, altitude, module angle, and time.
Preferably, the console is further configured to display the positioning information acquired by the positioning module.
Preferably, the information processing module includes:
the microprocessor C is used for receiving the scanning data and the inclination angle data; the system is used for summarizing the received scanning data, the received inclination angle data and the binocular image into a monocular image by adopting a three-dimensional reconstruction technology;
the binocular camera is used for acquiring binocular images;
the monocular camera is used for acquiring monocular images;
and the image transmission module is used for sending the summarized data to the console.
Another object of an embodiment of the present invention is to provide a positioning method for a prefabricated building, wherein the positioning method is implemented by using the positioning system described in any one of the above, and the positioning method comprises the following steps:
adjusting the posture of the measuring and calculating device on the hoisting site;
carrying out laser scanning on the fabricated building and measuring the inclination angle of the hoisting field measuring and calculating device;
carrying out attitude calibration on the hoisting field measuring and calculating device according to the scanning data and the inclination angle data;
acquiring a monocular image and a binocular image of the fabricated building, and summarizing scanning data, inclination angle data and the binocular image into the monocular image by adopting a three-dimensional reconstruction technology;
the summarized data is displayed.
Preferably, the three-dimensional reconstruction technology relies on a stereo matching algorithm, and is a process of acquiring real three-dimensional information to a computer through a computer vision technology, and the three-dimensional reconstruction technology comprises the following steps;
image acquisition: acquiring a two-dimensional graph of a three-dimensional object by using a camera;
calibrating the camera: solving the internal and external parameters of the camera, obtaining the three-dimensional point coordinates in the space by combining the matching result of the images, carrying out three-dimensional reconstruction, and using a checkerboard and utilizing a Zhang calibration method for calibration;
feature extraction: taking the feature points as matching elements, and extracting features by adopting a BM algorithm in a matching algorithm;
stereo matching: establishing a corresponding relation between image pairs according to the extracted features, and carrying out one-to-one correspondence on imaging points of the same physical space point in two different images:
three-dimensional reconstruction: and recovering the three-dimensional scene information according to the obtained information.
The positioning system for the fabricated building comprises a hoisting field measuring and calculating device and a control console, wherein the hoisting field measuring and calculating device comprises an attitude control module, an information collection module and an information processing module. By applying the electronic information technology such as the control console, the attitude control module, the information collection module, the information processing module and the like to the fabricated building, operators can remotely and clearly identify the position needing hoisting operation and the distance between a hoisting part and an installation position, the working efficiency is greatly improved, the operation risk is reduced, the construction quality is ensured, the labor and construction operation cost is reduced, the current situation of construction disorder is improved, the construction safety is improved, a scientific basis is provided for fabricated construction, and the fabricated building has wide popularization and application prospects.
The embodiment of the invention also provides a positioning method for the fabricated building, which comprises the following steps: adjusting the posture of the measuring and calculating device on the hoisting site; carrying out laser scanning on the fabricated building and measuring the inclination angle of the hoisting field measuring and calculating device; carrying out attitude calibration on the hoisting field measuring and calculating device according to the scanning data and the inclination angle data; acquiring a monocular image and a binocular image of the fabricated building, and summarizing scanning data, inclination angle data and the binocular image into the monocular image by adopting a three-dimensional reconstruction technology; the summarized data is displayed. In the practical application of the method, the steps are not strictly carried out in sequence, for example, the posture of the hoisting field measuring and calculating device can be adjusted, the monocular image and the binocular image of the fabricated building can be simultaneously acquired, the image of the fabricated building can be observed when the posture is adjusted, and therefore the fabricated member can be better positioned in a construction mode. The method can quickly position the position of the assembled component, greatly improve the working efficiency and reduce the operation risk.
Drawings
Fig. 1 is a block diagram illustrating a positioning system for a prefabricated building according to an embodiment of the present invention;
FIG. 2 is a block diagram of a console according to an embodiment of the present invention;
fig. 3 is a structural block diagram of the hoisting field measuring and calculating device provided by the embodiment of the invention;
FIG. 4 is a positioning method for a prefabricated building provided in example 2;
fig. 5 is a positioning method for a prefabricated building provided in example 3.
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.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1, a positioning system for an assembly type building provided for one embodiment of the present invention includes a hoisting site measuring and calculating device and a console, where the hoisting site measuring and calculating device includes an attitude control module, an information collection module and an information processing module;
the console is used for sending a first control instruction;
the attitude control module is used for receiving a first control instruction so as to adjust the attitude of the hoisting field measuring and calculating device and sending a second control instruction to the information collection module;
the information collection module is used for receiving a second control instruction, carrying out laser scanning on the fabricated building, measuring the inclination angle of the hoisting field measuring and calculating device, and sending scanning data and inclination angle data to the attitude control module and the information processing module; the attitude control module receives the scanning data and the inclination angle data to perform attitude calibration;
the information processing module is used for receiving the scanning data and the inclination angle data, acquiring a monocular image and a binocular image of the fabricated building, summarizing the received scanning data, the inclination angle data and the binocular image into the monocular image by adopting a three-dimensional reconstruction technology, and sending summarized data to the console; the console receives the summarized data and displays it.
In the embodiment of the invention, the hoisting site measuring and calculating device is firstly installed on a construction site, and an operator (such as a crane driver) can remotely control the hoisting site measuring and calculating device through a control console to position the construction of the fabricated building. The specific operation process is as follows: an operator firstly sends a first control instruction through a console, the attitude control module starts to adjust the attitude of the hoisting field measuring and calculating device after receiving the first control instruction, and the attitude control module sends a second control instruction after the attitude adjustment is finished; the information collection module receives a second control instruction, then laser scanning is carried out on the fabricated building, the inclination angle of the hoisting field measuring and calculating device is measured, and scanning data and inclination angle data are sent to the attitude control module and the information processing module; the attitude control module can calibrate the attitude of the hoisting field measuring and calculating device according to the scanning data and the inclination angle data; the information processing module collects a monocular image and a binocular image of the assembled building after receiving the scanning data and the inclination angle data, summarizes the received scanning data, the inclination angle data and the binocular image into the monocular image by adopting a three-dimensional reconstruction technology, and sends the summarized data to the console; the console receives the summarized data and displays the summarized data; the operator can remotely position the construction of the fabricated building according to the displayed data.
Compared with the prior art, the invention has the following advantages:
the invention can remotely and clearly identify the position needing hoisting operation and the distance between a hoisting component and an installation position (for example, the operator is a crane driver, the invention can provide various calibration information of an assembly site for the crane driver, is convenient for the crane driver to find the position of a hoisting site, can collect and analyze various data of the hoisting module and a calibration point, such as azimuth, angle, distance and the like, to prompt the crane driver about the steering angle, direction and height of the crane, and can also provide a multi-angle video image of the hoisting site for the crane driver, so that the crane driver can directly see the condition of the assembly site, obtain the most effective information at the first time), and greatly improve the working efficiency by applying the electronic information technology such as a control console, an attitude control module, an information collection module and an information processing module to the assembly site, the method has the advantages of reducing operation risks, ensuring construction quality, reducing manpower and construction operation cost, improving the current situation of construction disorder, improving construction safety, providing scientific basis for assembly type construction, and having wide popularization and application prospects.
As shown in fig. 2, as a preferred embodiment of the present invention, the console includes:
a first wireless data transmission module;
the control module is used for sending a first control instruction; the sent first control instruction is sent to the attitude control module through the first wireless data transmission module;
the image receiving module is used for receiving summarized data;
and the display module is used for displaying the summarized data.
Specifically, in this embodiment, the control module sends out a first control instruction, and the first control instruction sent out by the control module is sent to the attitude control module through the first wireless data transmission module. The image receiving module is used for receiving the summarized data sent by the information processing module, and the display module is used for displaying the received summarized data.
In this embodiment, the control module may adopt any one of control chips such as a CPU, a single chip microcomputer, and an MCU. The first wireless data transmission module may adopt any one of wireless transmission modules such as LoRa, NB-IOT, GPRS, and the like. In view of the fact that LoRa has: the method belongs to independent enterprise networking and does not need to pay fees to operators; the user has greater autonomy; under the same power consumption condition, the distance of propagation is longer than that of other wireless modes, a series of advantages of low power consumption, long-distance unification and the like are achieved, and the LoRa module is preferably used as the first wireless data transmission module in the embodiment.
As shown in fig. 3, as a preferred embodiment of the present invention, the attitude control module includes:
a second wireless data transmission module;
a microprocessor A; the microprocessor A receives a first control instruction through the second wireless data transmission module and sends an attitude adjustment instruction according to the first control instruction; and is used for sending out a second control instruction; and for receiving the scan data and the tilt angle data to issue attitude calibration instructions;
a transverse steering engine; the transverse steering engine adjusts the transverse attitude of the hoisting field measuring and calculating device according to the attitude adjusting instruction, and calibrates the transverse attitude of the hoisting field measuring and calculating device according to the attitude calibrating instruction;
a longitudinal steering engine; and the longitudinal steering engine adjusts the longitudinal attitude of the hoisting field measuring and calculating device according to the attitude adjusting instruction, and calibrates the longitudinal attitude of the hoisting field measuring and calculating device according to the attitude calibrating instruction.
Specifically, in this embodiment, the microprocessor a receives the first control instruction through the second wireless data transmission module. The microprocessor A sends an attitude adjusting instruction according to the received first control instruction, and the transverse steering engine and the longitudinal steering engine adjust the transverse attitude and the longitudinal attitude of the hoisting field measuring and calculating device according to the attitude adjusting instruction, so that the information collecting module and the information processing module present a better angle to carry out laser scanning on the fabricated building and measure the inclination angle of the hoisting field measuring and calculating device, and a monocular image and a binocular image of the fabricated building are collected. In addition, after receiving the scanning data and the inclination angle data, the microprocessor A can also send out an attitude calibration instruction, and the transverse steering engine and the longitudinal steering engine correct the transverse attitude and the longitudinal attitude of the hoisting field measuring and calculating device according to the attitude calibration instruction, so that the optimal acquisition angle is achieved.
In this embodiment, the microprocessor a may also select any one of control chips such as a CPU, a single chip microcomputer, and an MCU. The second wireless data transmission module may adopt any one of wireless transmission modules such as LoRa, NB-IOT, and GPRS, and in view of that the first wireless data transmission module adopts the LoRa module, for normal communication therewith, the second wireless data transmission module in this embodiment is also preferably the LoRa module.
As shown in fig. 3, as a preferred embodiment of the present invention, the information collecting module includes:
the microprocessor B is used for receiving a second control instruction and sending a driving instruction; the scanning data and the inclination angle data are sent to the attitude control module and the information processing module;
the precise steering engine is used for receiving a driving instruction so as to drive the laser radar to displace;
the laser radar is used for carrying out laser scanning on the fabricated building so as to obtain scanning data;
and the gyroscope is used for measuring the inclination angle of the hoisting field measuring and calculating device so as to obtain inclination angle data.
Specifically, in this embodiment, the microprocessor B receives the second control instruction and then issues a driving instruction. The precise steering engine drives the laser radar to displace after receiving the driving instruction, so that the laser radar carries out omnibearing laser scanning on the fabricated building and obtains scanning data (mainly, the vertical distance from a hoisting field measuring and calculating device to the fabricated building is used as a reference longitudinal distance and is also a basis for an information processing module to acquire images). The gyroscope measures the inclination angle of the hoisting field measuring and calculating device at the moment, and obtains inclination angle data. Subsequently, the microprocessor B sends the scan data and the tilt angle data to the attitude control module and the information processing module.
In this embodiment, the microprocessor B may also select any one of control chips such as a CPU, a single chip microcomputer, and an MCU.
As shown in fig. 3, as a preferred embodiment of the present invention, the information collecting module further includes:
the positioning module is used for acquiring positioning information of the hoisting field measuring and calculating device; the positioning information includes at least latitude and longitude, altitude, module angle, and time.
Specifically, in order to obtain the location of the hoisting field measuring and calculating device, in this embodiment, a positioning module is additionally arranged in the information collection module, and positioning information of the hoisting field measuring and calculating device is obtained through the positioning module and is output to the microprocessor B.
In this embodiment, positioning module can select for use GPS positioning unit or big dipper positioning unit. The ATGM332D GPS/Beidou dual-mode module is preferably adopted in the embodiment, compared with the traditional single GPS positioning, the ATGM332D-5N-31 module scheme of the Chinese microelectronics company is adopted, GPS and Beidou positioning information including longitude and latitude, altitude, module angle and time can be output through a serial port, the position management of the device is convenient for a constructor to manage, and more information is provided for a crane driver.
As shown in fig. 3, as a preferred embodiment of the present invention, the console is further configured to display the positioning information obtained by the positioning module.
Specifically, the display module can display positioning information in addition to the summarized data. The operator can judge the construction site according to the displayed positioning information (GPS positioning map), which is convenient for the construction material transportation.
As shown in fig. 3, as a preferred embodiment of the present invention, the information processing module includes:
the microprocessor C is used for receiving the scanning data and the inclination angle data; the system is used for summarizing the received scanning data, the received inclination angle data and the binocular image into a monocular image by adopting a three-dimensional reconstruction technology;
the binocular camera is used for acquiring binocular images;
the monocular camera is used for acquiring monocular images;
and the image transmission module is used for sending the summarized data to the console.
Specifically, in this embodiment, the scanning data and the inclination angle data are received through the microprocessor C, the binocular image is collected by the binocular camera, the monocular image is collected by the monocular camera, then the received scanning data, the inclination angle data and the binocular image are collected into the monocular image through the microprocessor C by adopting a three-dimensional reconstruction technology, the collected data are obtained, and then the collected data are sent to the console by the image transmission module to be displayed.
In this embodiment, the microprocessor C may also select any one of control chips such as a CPU, a single chip, and an MCU. In the embodiment, a NanoPC T4 embedded Linux development board can be selected and loaded with an RK3399 microprocessor, the processor adopts big and small big core architecture of big and small big, including 64-bit dual-core Cortex-A72+ four-core Cortex-A53, the computing capability is sufficient, meanwhile, a Mail-T860 image processor suitable for image computing is mounted, and the speed of reconstructing the three-dimensional relative position of the binocular camera is improved. And meanwhile, the attitude control and the inclination angle data collection are realized by matching with an STM32F103C8T6 microcontroller. The binocular camera can be a binocular camera with the model of 3D-1MP02-V92, and is used for acquiring left and right images (binocular images) in the same scene, the acquired image content is processed by OpenCV to acquire three-dimensional proportion information of the image content, equal-density sampling is carried out according to the same distance interval, a table file of relative distance is generated according to the result, and the table file contains information such as proportion and position and is displayed in the display module through processing. The monocular camera can adopt a KS-8MR01 camera, the pixels of the monocular camera reach 800 ten thousand, and the monocular camera is used for collecting a single image (monocular image) of an assembly site, drawing guide lines and distance information in an image signal according to a data collecting result, and taking the video as an overlapping basis to be used as a basic display picture of a display module. The image transmission module can adopt a 5.8GHz image transmission unit and a 4G (5G) dual-mode transmission unit, can send the summarized data to the image receiving module in real time, and is displayed on the display module.
Example 2
Another object of an embodiment of the present invention is to provide a positioning method for a prefabricated building, wherein the positioning method is implemented by using the positioning system of any one of embodiment 1, and the positioning method includes the following steps:
adjusting the posture of the measuring and calculating device on the hoisting site;
carrying out laser scanning on the fabricated building and measuring the inclination angle of the hoisting field measuring and calculating device;
carrying out attitude calibration on the hoisting field measuring and calculating device according to the scanning data and the inclination angle data;
acquiring a monocular image and a binocular image of the fabricated building, and summarizing scanning data, inclination angle data and the binocular image into the monocular image by adopting a three-dimensional reconstruction technology;
the summarized data is displayed.
In the practical application of the method, the steps are not strictly carried out in sequence, for example, the posture of the hoisting field measuring and calculating device can be adjusted, the monocular image and the binocular image of the fabricated building can be simultaneously acquired, the image of the fabricated building can be observed when the posture is adjusted, and therefore the fabricated member can be better positioned in a construction mode. The method can quickly position the position of the assembled component, greatly improve the working efficiency and reduce the operation risk.
As a preferred embodiment of the present invention, the three-dimensional reconstruction technique relies on a stereo matching algorithm, which is a process of acquiring real three-dimensional information to a computer by a computer vision technique, and the three-dimensional reconstruction technique includes the following steps;
image acquisition: acquiring a two-dimensional graph of a three-dimensional object by using a camera;
calibrating the camera: solving the internal and external parameters of the camera, obtaining the three-dimensional point coordinates in the space by combining the matching result of the images, carrying out three-dimensional reconstruction, and using a checkerboard and utilizing a Zhang calibration method for calibration;
feature extraction: taking the feature points as matching elements, and extracting features by adopting a BM algorithm in a matching algorithm;
stereo matching: establishing a corresponding relation between image pairs according to the extracted features, and carrying out one-to-one correspondence on imaging points of the same physical space point in two different images:
three-dimensional reconstruction: and recovering the three-dimensional scene information according to the obtained information.
Example 3
The embodiment of the invention applies the method in the embodiment 2 to the construction process of hoisting the assembled component by a crane driver, and comprises the following specific steps:
s201, performing rapid three-dimensional reconstruction through a binocular camera to find a middle distance wall surface area close to the center of a picture;
s202, driving a transverse and longitudinal steering engine to drive a hoisting field measuring and calculating device to rotate transversely and longitudinally to change the integral posture of the hoisting field measuring and calculating device, enabling the scanning ranges of a laser radar rotating along with a precise steering engine, a binocular camera rotating along with the transverse and longitudinal steering engine and a monocular camera to fall into a wall surface, then driving the precise steering engine to enable the laser radar to perform transverse scanning, determining the posture of the hoisting field measuring and calculating device according to a triangular algorithm and gyroscope data, adjusting the machine to a position vertical to the wall surface to be hoisted by driving the transverse and longitudinal steering engine, and entering a data measurement mode;
s203, respectively collecting data results of the gyroscope, the laser radar and the binocular camera, but collecting the data results of the camera, summarizing the data by adopting a three-dimensional reconstruction technology, carrying out three-dimensional reconstruction of dynamic sampling density based on distance by using double-image information returned by the binocular camera to obtain the relative proportion relation of each distance range of a visual field, obtaining an actual distance table in a final visual field according to the data of the gyroscope and the laser radar, overlapping the information on an obtained high-definition picture of the monocular camera after processing, and sending a final image to an image receiving module;
s204, after the image receiving module receives the video and data information transmitted by each communication module, the control module starts to process each item of data, real-time images of a hoisting site are displayed on the display module, information of a calibration line and accessories of the hoisting site is extracted through image recognition processing, a coordinate system is established, drawing is carried out in a detection view, and information of relative position distance between the accessories and an assembly calibration line is marked and displayed.
The method can quickly position the distance between the hoisting part and the installation position, greatly improve the working efficiency and reduce the operation risk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The utility model provides a positioning system for prefabricated building, includes hoist and mount on-the-spot measuring and calculating device and control cabinet, its characterized in that: the hoisting field measuring and calculating device comprises an attitude control module, an information collection module and an information processing module;
the console is used for sending a first control instruction;
the attitude control module is used for receiving a first control instruction so as to adjust the attitude of the hoisting field measuring and calculating device and sending a second control instruction to the information collection module;
the information collection module is used for receiving a second control instruction, carrying out laser scanning on the fabricated building, measuring the inclination angle of the hoisting field measuring and calculating device, and sending scanning data and inclination angle data to the attitude control module and the information processing module; the attitude control module receives the scanning data and the inclination angle data to perform attitude calibration;
the information processing module is used for receiving the scanning data and the inclination angle data, acquiring a monocular image and a binocular image of the fabricated building, summarizing the received scanning data, the inclination angle data and the binocular image into the monocular image by adopting a three-dimensional reconstruction technology, and sending summarized data to the console; the console receives the summarized data and displays it.
2. A positioning system for a fabricated building according to claim 1, wherein the console comprises:
a first wireless data transmission module;
the control module is used for sending a first control instruction; the sent first control instruction is sent to the attitude control module through the first wireless data transmission module;
the image receiving module is used for receiving summarized data;
and the display module is used for displaying the summarized data.
3. The positioning system for a fabricated building according to claim 1, wherein the attitude control module comprises:
a second wireless data transmission module;
a microprocessor A; the microprocessor A receives a first control instruction through the second wireless data transmission module and sends an attitude adjustment instruction according to the first control instruction; and is used for sending out a second control instruction; and for receiving the scan data and the tilt angle data to issue attitude calibration instructions;
a transverse steering engine; the transverse steering engine adjusts the transverse attitude of the hoisting field measuring and calculating device according to the attitude adjusting instruction, and calibrates the transverse attitude of the hoisting field measuring and calculating device according to the attitude calibrating instruction;
a longitudinal steering engine; and the longitudinal steering engine adjusts the longitudinal attitude of the hoisting field measuring and calculating device according to the attitude adjusting instruction, and calibrates the longitudinal attitude of the hoisting field measuring and calculating device according to the attitude calibrating instruction.
4. The system of claim 1, wherein the information gathering module comprises:
the microprocessor B is used for receiving a second control instruction and sending a driving instruction; the scanning data and the inclination angle data are sent to the attitude control module and the information processing module;
the precise steering engine is used for receiving a driving instruction so as to drive the laser radar to displace;
the laser radar is used for carrying out laser scanning on the fabricated building so as to obtain scanning data;
and the gyroscope is used for measuring the inclination angle of the hoisting field measuring and calculating device so as to obtain inclination angle data.
5. The system of claim 4, wherein the information gathering module further comprises:
the positioning module is used for acquiring positioning information of the hoisting field measuring and calculating device; the positioning information includes at least latitude and longitude, altitude, module angle, and time.
6. The positioning system for prefabricated buildings according to claim 5, wherein the console is further used for displaying the positioning information obtained by the positioning module.
7. The positioning system for assembly type buildings according to claim 1, wherein the information processing module comprises:
the microprocessor C is used for receiving the scanning data and the inclination angle data; the system is used for summarizing the received scanning data, the received inclination angle data and the binocular image into a monocular image by adopting a three-dimensional reconstruction technology;
the binocular camera is used for acquiring binocular images;
the monocular camera is used for acquiring monocular images;
and the image transmission module is used for sending the summarized data to the console.
8. A positioning method for a fabricated building, characterized in that the positioning method is implemented by using the positioning system of any one of claims 1 to 7, comprising the steps of:
adjusting the posture of the measuring and calculating device on the hoisting site;
carrying out laser scanning on the fabricated building and measuring the inclination angle of the hoisting field measuring and calculating device;
carrying out attitude calibration on the hoisting field measuring and calculating device according to the scanning data and the inclination angle data;
acquiring a monocular image and a binocular image of the fabricated building, and summarizing scanning data, inclination angle data and the binocular image into the monocular image by adopting a three-dimensional reconstruction technology;
the summarized data is displayed.
9. The positioning method for the fabricated building according to claim 8, wherein the three-dimensional reconstruction technique relies on a stereo matching algorithm and is a process of acquiring real three-dimensional information to a computer through a computer vision technique, and the three-dimensional reconstruction technique comprises the following steps;
image acquisition: acquiring a two-dimensional graph of a three-dimensional object by using a camera;
calibrating the camera: solving the internal and external parameters of the camera, obtaining the three-dimensional point coordinates in the space by combining the matching result of the images, carrying out three-dimensional reconstruction, and using a checkerboard and utilizing a Zhang calibration method for calibration;
feature extraction: taking the feature points as matching elements, and extracting features by adopting a BM algorithm in a matching algorithm;
stereo matching: establishing a corresponding relation between image pairs according to the extracted features, and carrying out one-to-one correspondence on imaging points of the same physical space point in two different images:
three-dimensional reconstruction: and recovering the three-dimensional scene information according to the obtained information.
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