CN118031799A

CN118031799A - Projection system for digital wall-mounting

Info

Publication number: CN118031799A
Application number: CN202410212133.9A
Authority: CN
Inventors: 张婉莹; 钟鹏; 刘秀东; 梁衍学
Original assignee: Shanghai Weijian Technology Co ltd
Current assignee: Shanghai Weijian Technology Co ltd
Filing date: 2024-02-27
Publication date: 2024-05-14

Abstract

The invention provides a projection system for digital wall-mounting, comprising: the data acquisition module is used for acquiring three-dimensional space data; the data processing module is used for obtaining the position and the size information of the unqualified point of the wall surface according to the three-dimensional space data; and the projection equipment is used for determining the projection position of the projection equipment according to the position and the size information of the unqualified point of the wall surface and projecting the unqualified point of the wall surface to the corresponding position of the wall surface at the determined projection position. The invention can improve the efficiency and quality of building measurement.

Description

Projection system for digital wall-mounting

Technical Field

The invention relates to the technical field of buildings, in particular to a projection system for digital wall-mounting.

Background

In the field of construction, before plastering, the surface of a building is uneven due to expansion of a mould because of pouring or masonry molding, so that the wall surface needs to be shoveled and chiseled before construction. The current manual common practice is to scan the wall surface by using a laser scanner, and judge and mark the concave-convex degree of the wall surface by manually observing the texture information of the projected scanning surface.

With the continuous development and wide application of computer technology, three-dimensional wall surface scanning equipment appears, and the three-dimensional wall surface scanning equipment is found by searching:

The invention patent of China with the application number 202223233521.0 discloses a flatness detection device for an indoor wall surface of a building, which is only a tool of a laser pen and is used for marking out an indication laser in a room, and the device does not contain space data acquisition and data.

The invention patent of China with the application number 202011457762.6 discloses a high-precision three-dimensional reconstruction system of an indoor plastering robot based on LCOS, which uses a fixed pattern as a basis for recognizing the wall surface distance by a binocular camera, only realizes a space scanning function and a data acquisition function, and does not relate to data processing and back projection wall-mounting parts.

Disclosure of Invention

In view of the shortcomings in the prior art, it is an object of the present invention to provide a projection system for digital wall-mounting.

According to one aspect of the present invention there is provided a projection system for digital wall-mounting comprising:

the data acquisition module is used for acquiring three-dimensional space data;

the data processing module is used for obtaining the position and the size information of the unqualified point of the wall surface according to the three-dimensional space data;

and the projection equipment is used for determining the projection position of the projection equipment according to the position and the size information of the unqualified point of the wall surface and projecting the unqualified point of the wall surface to the corresponding position of the wall surface at the determined projection position.

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 preprocessing and segmentation recognition on the data acquired by the data acquisition module to obtain wall and ground information, obtains the trend condition of the wall surface according to the wall and ground information, and marks the position of the concave value or the convex value on the wall surface, which accords with the preset condition, as an out-of-fit point.

Further, the projection device determines that the projection range of the projection device comprises the projection position where the disqualified point area corresponds according to the disqualified point position and the size information of the wall surface.

Further, the projection device is mounted on the rotating mechanism through a pitching mechanism, and the pitching mechanism and the rotating mechanism drive the projection to be arranged at a projection position.

Further, the projection device determines a projection image at the projection position according to the distance from the projection system body to the wall surface and the posture at the projection position.

Further, the projection device projects the disqualified points of the wall surface on the corresponding positions of the wall surface in a digital or graphic mode.

Compared with the prior art, the invention has at least one of the following beneficial effects:

According to the projection system for digital wall-mounting, the three-dimensional space data are acquired through the data acquisition module, the data processing module processes the space data after three-dimensional scanning of the building to obtain the position and the size information of the unqualified point of the wall surface, the projection equipment projects the position and the size information of the unqualified point of the wall surface to the corresponding position of the wall surface at the projection position, the position and the size information are directly displayed on the surface of the wall surface, on-site workers can conveniently and directly carry out data marking on the corresponding position of the wall surface, the labor cost and the uncertainty introduced by manual measurement can be reduced, and the efficiency and the quality of building measurement 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 projection system for digital wall-mounting according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a projection system for digital wall-mounting according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating a projection performed by a projection system according to an embodiment of the present invention.

In the figure: 1-base, 2-rotary mechanism, 3-sensor, 4-data processing module, 5-every single move mechanism, 6-projection equipment, 7-power.

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.

In the prior art, the judgment and marking of the degree of the concave-convex of the wall surface are generally carried out manually, and the error cannot be accurately determined. While some existing three-dimensional wall surface scanning devices have single functions, can not well accurately judge the rugged condition of the wall surface, and can not well meet the requirements of wall surface shoveling and chiseling treatment.

Beating and copying: the cement mortar and the like are used for filling the recessed places of the wall surface, so that the flatness of the wall surface meets the construction requirement.

Drilling: the electric tool or the manual tool is used for cutting and flattening the protruding part of the wall surface, so that the flatness of the wall surface meets the construction requirement.

Aiming at the situation, the embodiment of the invention provides a projection system for digital wall-mounting, which can well accurately judge the uneven condition of the wall surface and meet the requirements of wall surface copying and chiseling treatment.

Referring to fig. 1 and 2, a projection system for digital wall-mounting according to an embodiment of the present invention includes a data acquisition module, a data processing module 4, and a projection device 6, where the data acquisition module is configured to acquire three-dimensional spatial data; the data processing module 4 obtains the position and the size information of the unqualified point of the wall surface according to the three-dimensional space data; the projection device 6 determines its own projection position according to the position and size information of the unqualified points of the wall surface, and projects the unqualified points of the wall surface to the corresponding positions of the wall surface at the determined projection positions.

According to the embodiment of the invention, the three-dimensional space data is acquired through the data acquisition module, the data processing module 4 processes the space data after the three-dimensional scanning of the building to obtain the position and the size information of the non-fit points of the wall surface, the projection equipment 6 projects the position and the size information of the non-fit points of the wall surface to the corresponding positions of the wall surface at the projection positions, and the position and the size information are directly displayed on the surface of the wall surface, so that on-site workers can conveniently and directly label the data at the corresponding positions of the wall surface, the labor cost and the uncertainty introduced by manual measurement can be reduced, and the efficiency and the quality of the building measurement are improved.

In order to acquire three-dimensional space data, the data acquisition module comprises a sensor 3, a rotating mechanism 2 and a control module, wherein the sensor 3 comprises a two-dimensional laser radar, and the two-dimensional laser radar is used for measuring the distance between each point in space of the data acquisition module; the sensor 3 is arranged on the rotating mechanism, in particular, the rotating mechanism 2 comprises a rotating platform capable of rotating around an orientation angle and a pitch angle, and 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; the rotating platform is connected with the sensor 3; the rotating mechanism 2 drives the sensor 3 to rotate in space so as to acquire three-dimensional space data; the projection device 6 is mounted on the rotating mechanism 2 through the pitching mechanism 5, and the projection device 6 is driven to the projection position through the rotating mechanism 2 and the pitching mechanism 5.

The two-dimensional laser radar used in the embodiment of the invention has the advantages of high resolution and high sensitivity, can acquire three-dimensional point cloud data by matching with the rotating mechanism 2, can rapidly capture the shape and structure information of a target object, the position and direction of a wall surface and other information, and transmits the information to the data processing module 4. In addition, the two-dimensional scanning mode in the embodiment of the invention only needs to ensure that the rotating mechanism 2 has higher precision, and the shaft motor does not need to have excessively high running speed, so that the motor type selection requirement and the price can be reduced, the hardware cost is greatly saved, and the running efficiency is improved. In other embodiments, the sensor 3 may also comprise other types of sensors, such as visual sensors.

According to the building robot provided by the embodiment of the invention, the plurality of sensors are carried, and the plurality of sensors are driven to rotate and collect data through the rotating mechanism 2, so that the three-dimensional space data of a building can be accurately obtained, and the improvement of the accuracy and consistency of the data is facilitated. Compared with manual measurement, the method has the advantages that the measurement result is more accurate and consistent, and the reliability of building design, planning and construction is improved.

In some embodiments, the sensor 3 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.

The projection system is positioned on a base 1, and the base part is used as a supporting part of the whole set of projection system and mainly plays a supporting role, so that the stability of the robot in the operation process can be ensured, the shaking is avoided, and the paying-off precision is ensured. 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 2 includes a rotating shaft, the lower end of which is connected with the base 1, and the upper end of which is connected with the machine body, and the sensor 3 is arranged on the machine body, so that the whole set of projection system can be driven to rotate, and the sensor 3 can complete the scanning of the whole room. The rotating platform is arranged between the rotating shaft and the machine body, two sides of the rotating platform are respectively connected with the rotating shaft 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 acquires three-dimensional space information within a 360-degree range in space by being matched with the rotating mechanism 2.

The data processing module 4 receives and processes data acquired from the sensor 3, including radar sensor data, tilt sensor data, electronic compass information, etc., and processes and analyzes a large amount of data in real time to obtain high-precision three-dimensional space data. In addition, the data processing module 4 can also realize the import and export of data through the interface connection with other software systems. Illustratively, the data processing module 4 may employ a miniature industrial personal computer.

In some embodiments, the data processing module 4 performs preprocessing and segmentation recognition on the data acquired by the data acquisition module to obtain wall and ground information; illustratively, the preprocessing can adopt noise reduction, downsampling and the like to obtain space data with higher precision and smaller data volume; according to the wall surface information, the trend condition of the wall surface is obtained, and according to the trend condition of the wall surface, the position of the concave value or the convex value on the wall surface, which accords with the preset condition, is marked as an unqualified point, and the unqualified point is the position requiring manual intervention, so that the wall surface needing to be shoveled or chiseled and the corresponding position are determined.

And the projection equipment determines the projection position where the projection range of the projection equipment comprises the disqualified point area according to the disqualified point position and the size information of the wall surface. Specifically, the position to which the rotation mechanism 2 and the pitch mechanism 5 need to be moved when projecting the shoveling or chiseling surface is determined, and the projection range of the projection apparatus at this position includes the above-described reject point region.

The projection device 6 is used to effect output of wall surface measurements, and in some embodiments, the projection device determines a projected image at the projection location based on the distance of the projection system body from the wall surface and the pose at the projection location. The projection equipment 6 projects the unqualified points of the wall surface on the corresponding positions of the wall surface in a digital or graphic mode, presents the wall surface trend and the unqualified point information on the wall surface to workers in an intuitive mode, facilitates the quick acquisition of related information, and improves the communication and coordination efficiency.

Illustratively, the projection device 6 is arranged on the body of the rotating mechanism 2, the data processing module 4 is respectively connected with the sensor 3 and the projection device 6 to control the sensor 3 and the projection device 6 to work, and the data processing module 4 obtains disqualification point information comprising wall surface concave-convex value data according to the space data; and the rotating mechanism 2 and the projection equipment 6 are controlled to cooperatively act to finish projection of the whole wall surface, and the rotating shaft and the projection equipment 6 project unqualified point information to the corresponding position of the wall surface at the preset position so as to instruct an operator to perform wall surface treatment operation.

Specifically, the projection device 6 is mounted on the pitching mechanism 5, the pitching mechanism 5 is mounted on the rotating mechanism 2, the processing result of the data processing module 4 includes the concave-convex condition of the wall surface and the corresponding information of unqualified points such as the position of the wall surface, and the control module controls the rotating mechanism 2 and the pitching mechanism 5 according to the position of the wall surface, and projects the concave-convex condition of the wall surface to the corresponding position of the wall surface through the projection device 6. Illustratively, the pitching mechanism 5 adopts a pitching axis, the projection device 6 can be connected to the machine body of the rotating mechanism 2 through the pitching axis, the concave-convex value of the wall surface and the position thereof in a space coordinate system are calculated according to the collected space data, the position of the projection rotating mechanism 2 driven by the pitching axis to be projected and the corresponding projection image (concave-convex value data) are determined according to the position of the coordinate system, the convex position of the wall surface is represented by a positive value, the concave position of the wall surface is represented by a negative value, a specific numerical value represents the difference value between the convex or concave position of the wall surface and a working datum line, the working datum line is determined according to the specific wall surface construction requirement, based on the working datum line, a worker marks, and carries out wall surface treatment according to the mark, and the wall surface quality measurement and projection can be used for each stage of building construction.

In the above embodiment, the projection device 6 is driven by the pitching axis to complete the pitching motion, so as to ensure that the projection area can cover the whole wall surface, and the pitching axis can adopt a micro motor with a speed reducer. The projection device 6 employs a projector, for example, a micro projector may be employed. The projector projects the data output by the data processing module 4 to the corresponding position of the wall surface.

In some embodiments, the projection system further comprises a data storage/display mechanism coupled to the sensor 3 and the data processing module 4, 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 adjusting and improving the construction process at any time, and realizes the traceability of the construction process.

In some embodiments, a power supply 7 is arranged on the machine body, the power supply 7 is respectively connected with the sensor 3, the projection device 6, the data processing module 4 and the like, and the power supply 7 supplies power to the electric and electronic elements of the whole set of projection system.

In some embodiments, the projection system 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.

With continued reference to fig. 1 and 2, the process of performing a single scan operation using the projection system described above is:

1. The sensor 3 and the rotating mechanism 2 operate, and single-site original point cloud data are collected;

2. the data processing module 4 processes the original point cloud data to obtain wall and ground information, and the wall surface trend condition is obtained according to the wall and ground information.

3. And marking the position of the concave value or the convex value on the wall surface, which accords with the preset condition, as an unqualified point according to the trend condition of the wall surface, thereby determining the wall surface to be shoveled or chiseled and the corresponding position.

4. The projection device determines the position to which the rotation mechanism 2 and the pitching mechanism 5 need to move and the image to be projected when the projection is used for shotting the chiseled surface according to the position and the size information of the unqualified point of the wall surface.

5. The projection wall-mounting function is realized through the projection equipment 6, and workers perform the operations of shoveling and chiseling or marking to the next working procedure according to the wall projection.

According to the embodiment of the invention, based on the three-dimensional wall surface scanning data, the position and the size information of the unqualified points of the building wall surface are obtained, and the unqualified points are directly projected on the wall surface, so that the concave-convex information of the wall surface can be more concise, efficient and visually displayed in front of operators with fine granularity. The projection system uses a digital measurement technology, can realize high-precision measurement and control, reduces errors and deviation, and improves construction quality. The projection system can record data measured each time, can monitor and track the quality of the construction process in real time, is convenient for adjusting and improving the construction process at any time, and has traceability.

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

1. A projection system for digitally mounting a wall, comprising:

the data acquisition module is used for acquiring three-dimensional space data;

2. The projection system for digital wall-up of claim 1, wherein the data acquisition module comprises:

3. The projection system for digital wall-mounting of 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 projection system for digital wall-mounting according to claim 1, wherein the data processing module performs preprocessing and segmentation recognition on the data collected by the data collecting module to obtain wall-ground information, obtains the trend of the wall surface according to the wall-ground information, and marks the position of the concave value or the convex value on the wall surface, which meets the preset condition, as an unqualified point.

5. The projection system for digital wall-mounting according to claim 2, wherein the projection device determines, according to the position and size information of the unqualified point of the wall surface, a projection range of the projection device including a projection position where the unqualified point region corresponds.

6. The projection system for digital wall-mounting according to claim 5, wherein the projection device is mounted on the rotation mechanism by a pitching mechanism, the pitching mechanism and the rotation mechanism bringing the projection to a projection position.

7. The projection system for digital wall-mounting according to claim 5, wherein the projection device determines the projected image at the projection position based on the distance of the projection system body from the wall surface and the posture at the projection position.

8. The projection system for digital wall-mounting according to claim 1, wherein the projection device projects the disqualified points of the wall surface in a digital or pictorial manner at the corresponding positions of the wall surface.