CN117846333A - System for building plastering paying-off - Google Patents
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- CN117846333A CN117846333A CN202410212135.8A CN202410212135A CN117846333A CN 117846333 A CN117846333 A CN 117846333A CN 202410212135 A CN202410212135 A CN 202410212135A CN 117846333 A CN117846333 A CN 117846333A
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Abstract
The invention provides a system for building plastering paying-off, which comprises: the data acquisition module is used for acquiring three-dimensional space data; the data processing module obtains an ideal plastering position according to the three-dimensional space data, and determines a paying-off scheme according to the ideal plastering position, wherein the paying-off scheme comprises the ideal plastering position and the distance between the ideal plastering position and a laser line projected on the ground; and the laser line projection device is used for projecting the laser line on the ground at an angle parallel to the ideal plastering surface according to the paying-off scheme. The invention can improve the efficiency and quality of building plastering paying-off and improve the construction safety.
Description
Technical Field
The invention relates to the technical field of buildings, in particular to a system for building plastering and paying off.
Background
In the field of construction, plastering is required for wall surfaces of concrete pouring or brickwork, namely, plastering engineering is adopted, and because heavy concrete is required to be applied to the wall in the work, the physical strength requirements on construction workers are high, and the efficiency is low, plastering robots are used for plastering the construction in the market.
The construction plastering engineering has quality requirements on the plastered room, and the perpendicularity, flatness and square accuracy of the plastering molding surface are all limited by related specifications.
With the development of computer technology and robot technology, the technology of intelligent paying-off mechanisms is also mature. The intelligent paying-off mechanism can rapidly and accurately finish paying-off tasks by the application of technologies such as laser measurement, total station, three-dimensional scanning, microwave radar, laser projection and the like. Meanwhile, by the application of the artificial intelligence technology, the intelligent paying-off mechanism can be more intelligent and adaptive. Based on technologies such as machine learning, deep learning, the intelligent paying-off mechanism can be optimized and adjusted according to actual conditions, so that paying-off task efficiency and precision are improved.
In a word, the development of the intelligent paying-off system has a wide application prospect in the field of building construction, and the development of the building industry towards the intelligent, digital and modern directions is continuously promoted.
The search finds that:
the invention patent in China with the application publication number of CN108364349A discloses a wall surface scanning modeling method, a device, a terminal and a computer readable storage medium, comprising: obtaining a distance value measured by a distance meter, wherein the distance value is measured by scanning sampling points of a wall surface by the distance meter; acquiring an attitude angle of the range finder when measuring the sampling point; calculating the three-dimensional coordinates of the sampling points in a space rectangular coordinate system according to the distance values and the attitude angles; repeating the steps until the three-dimensional coordinates of all the sampling points of the wall surface are obtained, and establishing a space model of the wall surface according to the three-dimensional coordinates. The three-dimensional measurement is carried out by using the two-axis point-adding laser mode, the operation efficiency is lower, the real-time performance and the accuracy requirement on the two-axis motor are higher, and the automatic paying-off is not realized.
The invention discloses a Chinese patent with application publication number of CN116379261A, which discloses a field measurement three-dimensional rotation ranging lofting instrument and a working method, wherein the lofting instrument comprises a tripod, a triaxial holder and a lofting instrument, the lofting instrument is arranged on the triaxial holder, and the triaxial holder is arranged on the tripod; the lofting instrument comprises a base, a laser range finder, an electric rotation adjusting mechanism and a manual fine adjusting mechanism, wherein the electric rotation adjusting mechanism comprises an upper tripod head motor and a lower tripod head motor, the lower tripod head motor controls the overall lofting instrument to vertically and axially rotate, and the upper tripod head motor controls the laser range finder to horizontally and axially rotate; the manual fine adjustment mechanism comprises an upper manual fine adjustment mechanism and a lower manual fine adjustment mechanism, and the upper manual fine adjustment mechanism drives the laser range finder to horizontally and axially rotate by rotating an upper knob; the lower manual fine adjustment mechanism drives the lofting instrument to integrally vertically and axially rotate by rotating the lower knob. The three-dimensional scanning measuring instrument is used in the patent, the cost is high, the size lofting and measuring of the building environment are realized, and the three-dimensional scanning measuring instrument is not suitable for paying off of a plastering reference plane.
The invention discloses a floor paying-off device and a laser paying-off method, which are disclosed in Chinese patent application publication number CN111895981A, and comprise the following steps: the device comprises a bracket, a paying-off laser transmitter arranged on the bracket in a rotating mode, a horizontal axis rotating assembly used for driving the paying-off laser transmitter to rotate around a horizontal axis, a range finder capable of measuring the distance between a ranging opening of the range finder and a floor slab, and a controller connected with the range finder and the horizontal axis rotating assembly. According to the patent, cross laser with a cross datum line and a pitching axis is adopted, and a floor slab is paid off according to a control line on a field, so that the floor slab is paid off based on the control line and a drawing, and the method is not suitable for plastering datum paying off.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a system for construction plastering and paying-off.
According to one aspect of the present invention there is provided a system for construction plastering and paying out comprising:
the data acquisition module is used for acquiring three-dimensional space data;
the data processing module obtains an ideal plastering surface position according to the three-dimensional space data, and determines a paying-off scheme according to the ideal plastering surface position, wherein the paying-off scheme comprises the ideal plastering surface position and the distance between the ideal plastering surface position and a laser line projected on the ground;
and the laser line projection device is used for projecting the laser line on the ground at an angle parallel to an ideal plastering surface according to the paying-off scheme.
Further, the data acquisition module includes:
the sensor comprises a two-dimensional laser radar, wherein the two-dimensional laser radar is used for measuring the distance between each point in the space compared with the data acquisition module;
the sensor is arranged on the rotating mechanism, and the rotating mechanism drives the sensor to rotate in space so as to acquire three-dimensional space data.
Further, the sensor further comprises an inclination sensor, wherein the inclination sensor is used for measuring deflection angles of the data acquisition module in all axial directions of the space shaft respectively so as to realize the alignment of three-dimensional space data with the gravity direction in space.
Further, the data processing module performs noise reduction, downsampling and clustering on the collected data in sequence, initially segments the data belonging to different building surfaces, performs plane fitting on the segmented data to obtain surface information of a building, and classifies various surfaces according to normals to obtain a vertical building component and a horizontal building component.
Further, the data processing module takes the vertical building component with the area larger than the preset value as a vertical wall surface, and projects the data of the plane on the corresponding fitting plane to obtain the thermal picture of the overall trend of the wall surface.
Further, the data processing module takes the wall surface meeting preset conditions as a reference wall surface according to the thermal picture of the overall trend of the wall surface, and determines the ideal plastering surface position according to the reference wall surface and the construction cost optimization principle; and according to the ideal plastering position, obtaining the full-room paying-off scheme under the condition of ensuring the room squareness requirement.
Further, the construction robot presents the pay-off scheme in a visual graphical manner.
Further, the method for visualizing comprises: the pay-off scheme is presented in a personal terminal or projected directly to a wall surface.
Further, the laser line projection device is connected to the rotating mechanism through a fixing piece, and the rotating mechanism is used for turning to the rotating direction corresponding to the wall surface to be paid off and projecting the laser line to the ground.
Further, the laser line projection device adopts a cross laser level meter.
Compared with the prior art, the invention has at least one of the following beneficial effects:
according to the system for plastering and paying off of the building, the data acquisition module is used for carrying out three-dimensional scanning on a room before plastering engineering, the data processing module is used for carrying out three-dimensional scanning data processing calculation, determining a paying off scheme, according to the paying off scheme, the laser line projection device is used as a reference to project to the ground, alignment is carried out on the paying off direction of the wall surface, and the paying off direction is used for providing a reference for paying off measurement for workers, so that a reference of the plastering machine reference meeting building specifications is provided, and plastering and paying off efficiency and precision are improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a system for construction plastering and paying-off according to an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating paying-off according to an embodiment of the present invention;
FIG. 3 is a schematic drawing of a payoff line drawn in accordance with one embodiment of the present invention;
the reference numerals in the figures correspond to: the device comprises a 1-base, a 2-rotating shaft, a 3-laser line projection device, a 4-sensor, a 5-data processing module and a 6-power supply.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Referring to fig. 1, a system for building plastering and paying off according to an embodiment of the present invention includes a data acquisition module, a data processing module 5 and a laser line projection device 3, where the data acquisition module is used to acquire three-dimensional space data, the data processing module 5 obtains an ideal plastering position according to the three-dimensional space data, and determines a paying off scheme according to the ideal plastering position, and the paying off scheme includes the ideal plastering position and a distance between the ideal plastering position and a laser line projected on the ground; the laser line projection means 3 projects the laser line on the ground at an angle parallel to the ideal plastering surface according to the line-laying scheme. According to the embodiment of the invention, the data acquisition module is used for carrying out three-dimensional scanning on a room before plastering engineering, the data processing module 5 is used for carrying out processing calculation on three-dimensional scanning data, determining a paying-off scheme, according to the paying-off scheme, the laser line projection device 3 is used as a reference to project to the ground, alignment is carried out on the paying-off direction of a wall surface, and the paying-off direction is used for providing a reference for paying-off measurement for workers, so that a reference of the plastering machine reference meeting building specifications is provided, and the plastering paying-off efficiency and precision are improved.
In order to acquire plastering and paying-off data, the data acquisition module comprises a sensor 4 and a rotating mechanism, wherein the sensor 4 is used for acquiring space data, the sensor 4 adopts a laser radar, the laser radar is used for measuring the distance between each point in the space compared with the data acquisition module, the laser ranging sensor is a two-dimensional laser radar, and the scanning data is single-line data of 360 degrees; the sensor is arranged on the rotating mechanism, in particular, the rotating mechanism comprises a rotating platform capable of rotating around an orientation angle and a pitch angle, the motor is connected with the rotating platform through a transmission mechanism so as to realize the rotation of the rotating platform, and the motor adopts a servo motor in an exemplary manner; the rotating platform is connected with the sensor 4; the rotating mechanism drives the sensor 4 to rotate in space so as to acquire three-dimensional space data; the laser line projector 3 is mounted on a rotation mechanism, and the rotation movement of the laser line projector 3 is realized by the rotation mechanism.
According to the embodiment of the invention, the two-dimensional laser sensor is combined with the single-axis rotation to realize three-dimensional measurement, compared with a mode of directly using a three-dimensional scanning measuring instrument, the measurement with the same-level precision can be realized with low cost, and the cost performance of equipment is improved extremely.
In some embodiments, the sensor 4 includes an inclination sensor, where the inclination sensor is used to measure the deflection angle of the data acquisition module in each axial direction of the spatial axis (X-axis, Y-axis, Z-axis), and the attitude information of the device in the space is acquired by the inclination sensor, and the direction of the three-dimensional point cloud data is rotated by using the attitude information, and in the subsequent data processing process, the directions of the vertical building surface and the horizontal building surface compared with the vertical gravity line are obtained, so as to realize the alignment of the three-dimensional spatial data in the space and the gravity direction.
In some embodiments, the system is located on a base 1, and the base part is used as a supporting component of the whole system, so that the system mainly plays a supporting role, can ensure the stability of the robot in the operation process, and can avoid shaking, thereby ensuring the paying-off precision. The base 1 may be a standard tripod or a self-designed base 1, such as the standard tripod shown in fig. 1. The rotating mechanism comprises a rotating shaft 2, the lower end of the rotating shaft 2 is connected with the base 1, the upper end of the rotating shaft is connected with the machine body, the sensor 4 is arranged on the machine body, and the whole set of system can be driven to rotate, so that the sensor 4 can complete scanning of the whole room. The rotating platform is arranged between the rotating shaft 2 and the machine body, two sides of the rotating platform are respectively connected with the rotating shaft 2 and the machine body, the motor drives the rotating platform to rotate, the rotating platform can rotate around an orientation angle and a pitch angle, and the data acquisition module is matched with the rotating mechanism to acquire three-dimensional space information within a 360-degree range in space. The data processing module 5 is arranged on the machine body and is responsible for the operation of the whole system and the analysis and processing of the data acquired by the sensor 4, and the data processing module 5 obtains the distance between a datum line (the datum line has the same meaning as a laser line datum line, a plastering datum plane and a datum wall surface) and an ideal working line (the datum line has the same meaning as a plastering working line and an ideal plastering surface) according to the three-dimensional space data. As shown in fig. 2, the distance value is measured by a square tube ruler, and scribing is performed, so that paying-off can be completed.
According to the embodiment of the invention, the sensor 4 is used for acquiring three-dimensional space data comprising wall surface position information, direction information and the like, the laser line projection device 3 emits laser to form the plastering paying-off datum line, the data processing module 5 is used for obtaining the plastering datum plane and the distance between the datum line and an ideal working line based on the three-dimensional space data, so that the paying-off task can be automatically completed, the speed is faster, the precision is higher, a large amount of manpower and time cost can be saved, and the construction efficiency is improved. By using a digital measurement technology, high-precision measurement and control can be realized, errors and deviations are reduced, and construction quality is improved. The system in the embodiment of the invention can replace manual high-altitude operation and dangerous operation, and avoid safety accidents caused by personnel errors, thereby improving construction safety.
The data processing module 5 is configured to process and analyze data and information transmitted from the sensor 4, including radar sensor data, tilt sensor data, electronic compass information, etc., and determine a paying-off scheme in combination with information such as battery power, an angle position of a rotating mechanism, etc., and calculate a distance between a laser line datum line and an ideal working line, and in some embodiments, the data processing module 5 automatically calculates the paying-off scheme according to the ground information of each wall surface and the accuracy requirement of a paying-off square on a construction site, so as to obtain the distance between the datum line and the ideal working line. The data processing module 5 also controls the operation of the whole system. The data processing module 5 may employ a standard micro industrial personal computer.
In some embodiments, the data processing module 5 sequentially performs noise reduction, downsampling and clustering on the collected data, the downsampling can reduce the required data amount, the data belonging to different building surfaces is initially segmented, and plane fitting is performed on the segmented data to obtain surface information of the building, such as four parameters of a building fitting plane equation; from the surface information of the building, the general condition of the room can be obtained, and the various surfaces are classified according to the normal line, to obtain the vertical building member and the horizontal building member. The data processing module takes the vertical building component with the area larger than the preset value as a vertical wall surface, and projects the data of the plane on the corresponding fitting plane to obtain the thermal picture of the overall trend of the wall surface. The data processing module takes a wall surface meeting preset conditions as a reference wall surface according to a thermal picture of the overall trend of the wall surface, the preset conditions can be, for example, that the wall surface area is large and complete, an ideal plastering surface is determined according to the reference wall surface and according to a construction cost optimal principle, specifically, the data processing module moves back and forth along the normal line of the reference wall surface, in the moving process, construction cost composed of materials and labor cost is continuously calculated, and the ideal plastering surface position with optimal construction cost is determined according to the construction cost; according to the ideal plastering position, the whole-room paying-off scheme under the condition of guaranteeing the room squareness (the direct included angle of the wall surface) is obtained, and the wall surface copying and chiseling scheme can be further obtained.
In the above embodiment, the three-dimensional space data is processed by the data processing module 5 to generate information about the size and trend of the wall surface of the building, and the ideal plastering position is determined according to the building specification and the material cost. The ideal plastering surface position has the highest cost performance of materials and labor cost, the plastering reference position which is the most material-saving and accords with building standards is calculated through wall surface data, the paying-off elevation (plastering molding surface position) can be controlled in real time in the construction process, the material waste is reduced, and the construction cost is reduced.
In order to facilitate the quick acquisition of relevant information by the constructor, in some embodiments, the construction robot presents the pay-off scheme in a visual graphical manner, providing a benchmark for workers to pay-off measurements.
In some embodiments, a method of visualizing includes: and the paying-off scheme is displayed in personal terminals such as notebook computers, tablet computers and mobile phones, or is directly projected to the wall surface.
In the above embodiment, the rotating mechanism participates in the acquisition process of the data acquisition module and also participates in the laser paying-off process of the laser line projection device 3, the laser line projection device 3 is connected to the rotating mechanism through the fixing piece, the rotating mechanism is used for turning to the rotating direction corresponding to the wall surface to be paying-off, and projects the laser line to the ground, and a worker performs line snapping operation according to a paying-off schematic diagram corresponding to the paying-off scheme. The laser line projection device 3 adopts a cross laser level, the cross laser level is arranged on the machine body, the cross laser level emits cross laser, the cross laser level and the sensor 4 are both arranged on the equipment body as references for paying off, and the cross laser level and the sensor 4 can be integrally driven by a rotating mechanism to do circular rotation. And the worker uses the square tube ruler to measure the distance value between the datum line and the ideal working line, and the line is drawn, so that the line laying operation is completed. Specifically, the cross laser level is fixed on the machine body through a cross laser level mounting piece, the cross laser level emits cross laser as a datum line for paying off, the data processing module 5 controls the rotating mechanism to rotate to a preset angle according to a paying-off scheme, so that the cross laser level emits the cross laser at a preset position, and the distance between the datum line and an ideal working line is determined according to the datum line.
In some embodiments, the robot further comprises a data storage/display mechanism connected to the sensor 4 and the data processing module 5, respectively, the data storage/display mechanism storing and/or displaying wall position and orientation information. The data storage/display mechanism can record the data measured each time, can monitor and track the quality of the construction process in real time, is convenient for adjust and improve the construction process at any time, and realizes the traceability of construction paying-off.
In some embodiments, a power supply 6 is arranged on the machine body, the power supply 6 is respectively connected with the sensor 4, the laser line projection device 3 and the data processing module 5, and the power supply 6 supplies power to the electric and electronic elements of the whole robot system.
In some embodiments, the robot is in communication connection with the cloud end, and can upload measurement data to the cloud end for digital processing and management, so that subsequent engineering management and maintenance are facilitated.
In the traditional building construction process, the paying-off task needs to be measured and marked manually, and the problems of complex operation, large error, low efficiency and the like exist. The embodiment of the invention solves the problem of manual paying-off in the building construction process, can improve the efficiency and quality of building construction and reduces the labor cost and error.
With continued reference to fig. 1 and 2, in one embodiment, the process of building plastering and paying out using the system described above includes:
s1, a rotating mechanism drives a sensor 4 to scan a 360-degree range of a space to obtain point cloud data of a wall surface;
s2, a data processing module 5 processes the point cloud data, and a plastering operation line is obtained according to the processed point cloud data;
s3, determining a paying-off scheme according to the accuracy requirements of the plastering line and the paying-off square of the construction site;
s4, generating a paying-off schematic diagram according to a paying-off scheme, wherein a worker bounces a line on a plastering line according to the paying-off schematic diagram and a cross laser line, as shown in FIG. 3, wallx0 is a wall surface name in FIG. 3, the deviation of the plastering line compared with the wall surface is 9.0mm,1590.9mm is the distance between the plastering line and a reference cross laser, and 440.9mm is a reference line on which other building robots depend.
According to the embodiment of the invention, the non-contact sensor is used for automatically acquiring the overall size of the room and the trend information of the wall surface, so that the repeated measurement of manpower is replaced, errors and delays caused by human factors can be reduced, the efficiency of building construction is improved, the quality risk of the building construction is reduced, the quality of the building construction is improved, and the engineering quality is improved. In addition, for plastering engineering, traditional manual work needs to repeatedly test and judge the wall surface trend to place the lime cake reference, but in the embodiment of the invention, the laser line is a plastering paying-off reference line, and plastering reference paying-off is performed based on wall surface scanning data. Meanwhile, the application of the intelligent paying-off robot can reduce labor cost, and avoid a large amount of labor investment in the paying-off process, so that the cost of building construction is reduced.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention. The above-described preferred features may be used in any combination without collision.
Claims (10)
1. A system for construction plastering and paying out comprising:
the data acquisition module is used for acquiring three-dimensional space data;
the data processing module obtains an ideal plastering surface position according to the three-dimensional space data, and determines a paying-off scheme according to the ideal plastering surface position, wherein the paying-off scheme comprises the ideal plastering surface position and the distance between the ideal plastering surface position and a laser line projected on the ground;
and the laser line projection device is used for projecting the laser line on the ground at an angle parallel to an ideal plastering surface according to the paying-off scheme.
2. The system for construction plastering and paying-off according to claim 1, wherein the data acquisition module comprises:
the sensor comprises a two-dimensional laser radar, wherein the two-dimensional laser radar is used for measuring the distance between each point in the space compared with the data acquisition module;
the sensor is arranged on the rotating mechanism, and the rotating mechanism drives the sensor to rotate in space so as to acquire three-dimensional space data.
3. A system for construction plastering and paying-off according to claim 2, wherein the sensor further comprises an inclination sensor for measuring the deflection angle of the data acquisition module in each axial direction of the spatial axis, respectively, to achieve spatial alignment of three-dimensional spatial data with the direction of gravity.
4. The system for plastering and paying off a building according to claim 1, wherein the data processing module performs noise reduction, downsampling and clustering on the collected data in sequence, initially segments the data belonging to different building surfaces, performs plane fitting on the segmented data to obtain surface information of the building, and classifies various surfaces according to normal lines to obtain a vertical building member and a horizontal building member.
5. The system for building plastering and paying off according to claim 4, wherein the data processing module takes a vertical building member with an area larger than a preset value as a vertical wall surface, and projects the data of the plane on a corresponding fitting plane to obtain a thermal picture of the overall trend of the wall surface.
6. The system for building plastering and paying off according to claim 5, wherein the data processing module uses a wall surface meeting preset conditions as a reference wall surface according to a thermal picture of the overall trend of the wall surface, and determines an ideal plastering surface position according to the reference wall surface and a construction cost optimization principle; and according to the ideal plastering position, obtaining the full-room paying-off scheme under the condition of ensuring the room squareness requirement.
7. The system for construction plastering paying-off according to claim 1, wherein the construction robot presents the paying-off scheme in a visual graphic method.
8. The system for construction plastering paying-off according to claim 7, wherein the method of visualization comprises: the pay-off scheme is presented in a personal terminal or projected directly to a wall surface.
9. The system for building plastering and paying out according to claim 2, wherein the laser line projection device is connected to the rotating mechanism through a fixing piece, and is turned to a rotating direction corresponding to a wall surface to be paying out through the rotating mechanism, and projects laser lines to the ground.
10. The system for construction plastering and paying out according to claim 1, wherein the laser line projection device adopts a cross laser level meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202410212135.8A CN117846333A (en) | 2024-02-27 | 2024-02-27 | System for building plastering paying-off |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410212135.8A CN117846333A (en) | 2024-02-27 | 2024-02-27 | System for building plastering paying-off |
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| CN117846333A true CN117846333A (en) | 2024-04-09 |
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| CN202410212135.8A Pending CN117846333A (en) | 2024-02-27 | 2024-02-27 | System for building plastering paying-off |
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