CN118034498A - Interactive robot for space measurement - Google Patents
Interactive robot for space measurement Download PDFInfo
- Publication number
- CN118034498A CN118034498A CN202410212132.4A CN202410212132A CN118034498A CN 118034498 A CN118034498 A CN 118034498A CN 202410212132 A CN202410212132 A CN 202410212132A CN 118034498 A CN118034498 A CN 118034498A
- Authority
- CN
- China
- Prior art keywords
- data
- control processing
- processing module
- space
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 41
- 230000002452 interceptive effect Effects 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 76
- 230000003993 interaction Effects 0.000 claims abstract description 36
- 238000010276 construction Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 61
- 238000000034 method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 17
- 238000001914 filtration Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000012800 visualization Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000013480 data collection Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 8
- 238000004381 surface treatment Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009435 building construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013439 planning Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013523 data management Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000009419 refurbishment Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a space measurement interactive robot which comprises a data acquisition module, a control processing module and an interactive module, wherein the data acquisition module is used for acquiring three-dimensional space data; the control processing module performs three-dimensional reconstruction of space according to the three-dimensional space data; and the interaction module performs man-machine interaction or machine-to-machine interaction on the result of the three-dimensional space information reconstructed by the control processing module. The invention can realize high-efficiency and high-precision measurement in the field of construction, and can also improve the efficiency and accuracy of building calibration and actual measurement operation.
Description
Technical Field
The invention relates to the technical field of building robots, in particular to a space measurement interactive robot.
Background
In the building process of a house, it is often necessary to measure the verticality, flatness and room size of the wall to determine whether the wall is acceptable or not, and the real size of the room. Under the conventional condition, the contact type selective measurement is carried out on the wall surface by using the guiding rule, the measurement can only be carried out on the wall surface for spot check, and the detection result cannot truly represent the whole quality of the wall surface. Different people, or the same constructor may have differences in each measurement result, and when the constructor refunds the unqualified position, multiple times of refurbishment can exist.
In the plastering process (leveling link of a wall body), the plastering thickness needs to be determined manually, the thickness can be determined only by using a laser level meter at present (about 5mm beyond the most protruding place of the wall surface), the plastering thickness of the place where the wall surface is recessed can be too thick due to the mode, and the plastering efficiency is greatly reduced while the cost is increased. Experienced people can selectively drill protruding places and fill recessed places at the same time, so that plastering quantity is reduced, and plastering efficiency is improved. However, since all the data of the whole wall cannot be obtained, it is not possible to calculate where, how much area is protruding and how much area is recessed manually, and finally it is not possible to balance the most economical plastering thickness.
In recent years, some measuring robots are also on the market, which can acquire the whole data of the wall surface, and can also simulate a manual mode to measure the verticality and the flatness, but the robots are all used for measuring from the supervision angle, only determine whether the quality of the wall surface is qualified or not, and cannot accurately tell constructors where to get the information of problem, a total of a plurality of positions having problems, and the like.
In particular, when plastering is concerned, how much plastering thickness is the most economical, where to drill and where to fill, which cannot be accurately informed, and the existing measuring robots still cannot solve the problems of efficiency and cost of the plasterer.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a spatially-surveying interactive robot.
According to one aspect of the present invention, there is provided a spatially-surveying interactive robot comprising:
the data acquisition module is used for acquiring three-dimensional space data;
The control processing module is used for carrying out three-dimensional reconstruction of space according to the three-dimensional space data;
And the interaction module is used for carrying out man-machine interaction or machine-to-machine interaction on the result of the three-dimensional space information reconstructed by the control processing module.
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 processes the data acquired by the data acquisition module by adopting at least one of data combination, spatial rotation, data filtering, plane fitting and curved surface fitting, so as to realize three-dimensional reconstruction of the house.
Further, the control processing module calculates flatness and perpendicularity according to the reconstructed three-dimensional space information to obtain wall surface trend information.
Further, the control processing module further comprises an input module of the wall face convex part chiseling price and the concave part filling price, and the control processing module determines the position of the plastering completion face based on construction economy according to the wall face trend information, the chiseling price and the filling price of the input module.
Further, the interaction module comprises a projection device and a pitching mechanism, the projection device is installed on the pitching mechanism, the pitching mechanism is installed on the rotating mechanism, the processing result of the control processing module comprises concave-convex conditions of a wall surface and corresponding wall surface positions, and the control processing module controls the rotating mechanism and the pitching mechanism according to the wall surface positions, and projects the concave-convex conditions of the wall surface to the corresponding positions of the wall surface through the projection device.
Further, the interaction module comprises a visualization device, and the processing result of the control processing module is displayed in the visualization device in a visualized form.
Further, the interaction module comprises a laser line projection device, the laser line projection device is installed on the rotating mechanism, the control processing module moves the rotating mechanism to an angle parallel to the finishing surface of the wall surface, the control processing module controls the laser line projection device to project a laser line on the ground, and the distance from the finishing surface of plastering to the projected laser line is marked on the interaction module.
Compared with the prior art, the invention has at least one of the following beneficial effects:
the robot provided by the invention can stand at the angle of a constructor, acquire three-dimensional space data of a house, perform man-machine interaction or machine-to-machine interaction on the result of the three-dimensional space information, give out construction suggestions in the most direct mode, and perform plastering operation; on the basis, the position information of the final plastering completion surface can be given, so that the dependence on manual experience is greatly reduced, the plastering efficiency can be improved, and the cost can be reduced.
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 front view of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic left-view diagram of a robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a wall surface treatment by a robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a robot for paying out according to an 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-sensor, a 4-control processing module, a 5-laser line projection device, a 6-pitching mechanism, 7-projection equipment and an 8-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 and fig. 2, the space measurement interactive robot provided by an embodiment of the present invention includes a data acquisition module, a control processing module 4, and an interaction module, where the data acquisition module is configured to acquire three-dimensional space data; the control processing module performs three-dimensional reconstruction of space according to the three-dimensional space data; and the interaction module performs man-machine interaction or machine-to-machine interaction on the result of the three-dimensional space information reconstructed by the control processing module. The robot provided by the embodiment of the invention can stand at the angle of a constructor, acquire three-dimensional space data of a house, perform man-machine interaction or machine-to-machine interaction on the result of the three-dimensional space information, give out construction suggestions in the most direct mode, realize high-efficiency and high-precision measurement in the building field, improve the efficiency and accuracy of building calibration and actual measurement actual quantity operation, reduce the dependence on manual experience and improve plastering efficiency.
In order to acquire three-dimensional point cloud data, the data acquisition module comprises a sensor 3 and a rotating mechanism, wherein the sensor 3 is used for acquiring space data, the sensor 3 adopts a two-dimensional laser radar for detection, and the two-dimensional laser radar is used for measuring the distance between each point in the space compared with the data acquisition module 4; the sensor 3 is arranged on the rotating mechanism, in particular, the rotating mechanism comprises a motor, a transmission mechanism and a rotating platform, the motor is connected with the rotating platform through the 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 3, the rotating platform is in the course angle direction, can rotate around the rotating center at a stable speed of 360 degrees, and the rotating mechanism drives the sensor 3 to rotate in space so as to acquire three-dimensional space data. In the embodiment of the invention, three-dimensional space data acquisition is performed by combining the two-dimensional sensor and the rotating mechanism, three-dimensional point cloud data is obtained, the cost is controlled by the data acquisition module on the premise of ensuring the precision, a space measurement scheme with high cost performance is provided, the control processing module 4 can calculate the three-dimensional space information such as the shape and the size of the space data and the data value of the concave-convex surface, and the like, and the three-dimensional space information is provided for on-site workers through the interaction module, so that the operation efficiency is improved, and meanwhile, the automation and the intelligent development of the building industry are promoted.
In some embodiments, the rotating mechanism rotates at a constant speed in space or walks along a preset path, the rotating mechanism includes a rotary encoder, and the rotating mechanism sends encoder data to the control processing module 4. Specifically, the rotating mechanism further comprises a base 1, a rotating shaft 2 and a machine body, wherein the base 1 provides support; the base 1 mainly plays a supporting role and can be designed by adopting a standard tripod or a self-propelled design. The lower end of the rotating shaft 2 is connected with the base 1, the upper end drives the whole mechanism to rotate through a rotating platform, and the rotating platform is realized by combining a motor with the hollow turntable. One end of the rotating shaft 2 is arranged on the base 1, the rotating shaft 2 can rotate 360 degrees, and the rotating platform can rotate around a pitch angle at the same time, so that three-dimensional space data can be obtained; the machine body is arranged at the other end of the rotating shaft 2, and the rotating shaft 2 plays a supporting role at the same time; the sensor 3 is arranged on the machine body.
In the above embodiment, the laser radar has the advantages of high resolution and high sensitivity, the accuracy range of the two-dimensional laser radar is +/-30 mm, three-dimensional point cloud data can be obtained by matching with the rotating mechanism, and the shape and structure information of a target object, the position and direction information of a wall surface and the like can be rapidly captured and transmitted to the control processing module 4. The sensor 3 in the embodiment of the invention can be designed based on laser, optics or other suitable technical principles, so that the sensor has the characteristics of quick response, low noise and the like. Compared with the mode of acquiring data by a camera, the data acquisition mode in the embodiment of the invention is not easy to be influenced by ambient light and has wider measurement range. In addition, the two-dimensional scanning mode in the embodiment of the invention only needs to ensure that the rotating mechanism 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 robot provided by the embodiment of the invention, the plurality of sensors are carried, and the plurality of sensors are driven to rotate through the rotating mechanism to acquire data, so that the data such as the size, the shape, the position, the verticality and the flatness of a building can be accurately acquired, and the improvement of the accuracy and the consistency of the data is facilitated. Compared with manual measurement, the measurement result of the robot 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.
In the embodiment of the invention, the control processing module 4 processes the data acquired by the data acquisition module by adopting at least one of data combination, spatial rotation, data filtering, plane fitting and curved surface fitting to obtain the data of different building components in space, wherein the data comprises measurement results of verticality, flatness, levelness and the like of the building components, and the three-dimensional reconstruction of a house is realized. Specifically, the control processing module 4 combines the two-dimensional radar data, the rotary mechanism encoder data and the various sensor data to obtain three-dimensional space data; and further processing the three-dimensional space data to obtain information and space position, measured actual quantity measurement indexes such as verticality, flatness and levelness of the building component, and data results such as concave-convex value data of the wall surface, optimal plastering paying-off positions and the like. The embodiment of the invention successfully improves the three-dimensional point position precision to millimeter level through the prepositive processing such as data real-time acquisition, high-precision calibration, uniform filtering and the like.
In some embodiments, the control processing module 4 performs calculation of flatness and perpendicularity according to the reconstructed three-dimensional space information, so as to obtain wall surface trend information. The control processing module 4 further comprises an input module for the chiseling price of the raised part of the wall surface and the filling price of the recessed part, and the position of the plastering completion surface is determined based on the chiseling price and the filling price of the input module and the wall surface trend information and the construction economy. Therefore, the robot can provide a paying-off scheme which accords with building standards and has the lowest material cost and labor cost, and further achieves the purposes of quality and cost conservation.
In the above embodiment, the control processing module 4 may be a small-sized industrial personal computer. The control processing module 4 receives and processes the data acquired from the data acquisition module, and processes and analyzes a large amount of data in real time to obtain high-precision three-dimensional data. In addition, the control processing module 4 can also realize the import and export of data through the interface connection with other software systems.
In the above embodiment, the control processing module 4 is the brain of the whole mechanism, controls all the sensor data transceiver to operate, and the control processing module 4 can automatically adjust the position, the scanning range and the scanning speed of the sensor 3 according to the set parameters, so as to realize a full-automatic measurement process, and analyze and process the data collected by the sensor 3 to obtain the position and the numerical value of the concave-convex wall surface.
In the embodiment of the invention, the interaction realized by the interaction module comprises man-machine interaction and machine interaction, wherein the man-machine interaction comprises, but is not limited to, transmitting a data processing result to a worker in a visual mode by means of mediums such as projection, a tablet personal computer, a mobile phone and the like, so as to guide the worker to process the field environment; the interaction between the machines comprises, but is not limited to, uploading a data processing result to a cloud or directly transmitting the data processing result in the machine through a network protocol, importing construction operation information into equipment of a next procedure, and guiding other equipment to conduct automatic operation planning, automatic positioning navigation and obstacle avoidance as environment priori information.
In some embodiments, the interactive module comprises a projection device 7, the projection device 7 projecting the processing results on the wall surface with the processing results of the control processing module 4 as data input.
In order to facilitate the copying and chiseling treatment of the wall surface, the reconstructed three-dimensional space information projected on the wall surface comprises unqualified point information, and the control processing module 4 obtains wall surface information according to the data acquired by the data acquisition module; 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.
The projection device 7 determines the projection range of the projection device 7 to include the projection position where the disqualified point area corresponds according to the disqualified point position and the size information of the wall surface.
The projection device 7 is arranged on the body of the rotating mechanism, the control processing module 4 is respectively connected with the sensor 3 and the projection device 7 to control the sensor 3 and the projection device 7 to work, and the control processing module 4 obtains reconstructed three-dimensional space information such as wall surface concave-convex value data and the like according to the space data; and the rotating mechanism and the projection equipment 7 are controlled to cooperatively act to complete the projection of the whole wall surface, and the rotating shaft 2 and the projection equipment 7 project the reconstructed three-dimensional space information such as wall surface concave-convex value data and the like to the corresponding position of the wall surface at the preset position so as to instruct an operator to perform wall surface processing operation.
Specifically, the interaction module includes a pitching mechanism 6, the projection device 7 is installed on the pitching mechanism 6, the pitching mechanism 6 is installed on the rotating mechanism, the processing result of the control processing module 4 includes the concave-convex condition of the wall surface and the corresponding wall surface position, and the control module controls the rotating mechanism and the pitching mechanism 6 according to the wall surface position, and projects the concave-convex condition of the wall surface to the corresponding position of the wall surface through the projection device 7. Illustratively, the pitching mechanism 6 adopts a pitching axis, the projection device 7 can be connected to the machine body of the rotating mechanism 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 acquired space data, the position of the rotating shaft 2, the position of the pitching axis, which drives the projection rotating mechanism 7 to project, and the corresponding projection image (concave-convex value data of the wall surface 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 determination, the worker marks, and the wall surface treatment is carried out according to the mark, so that the method can be used for wall quality measurement and projection of the wall surface at each stage of building construction.
In the above embodiment, the projection device 7 is driven by the pitching axis to complete the pitching motion, so 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 7 employs a projector, for example, a micro projector may be employed. The projector projects the data (such as the concave-convex value of the wall surface) output by the control processing module 4 to the corresponding position of the wall surface.
In the embodiment of the invention, the robot is provided with the projection equipment, the reconstructed three-dimensional space information such as wall surface trend information and the like is directly mapped on the wall surface in a projection mode, and the places where the wall surface is over-concave and over-convex are marked, so that the quality inspection unqualified areas can be conveniently processed manually. The wall surface trend patterns consistent with the real wall surface can be obtained under different projection distances by controlling the processing module and the interaction module.
In some embodiments, the interaction module includes a visualization device in which the processing results of the control processing module are presented in a visual form.
In some embodiments, the interactive module comprises a laser line projection device 5, the laser line projection device 5 is mounted on the rotating mechanism, the rotating mechanism is moved to an angle parallel to the wall surface finishing surface by the control module, the control module controls the laser line projection device 5 to project the laser line on the ground, and the distance from the plastering finishing surface to the projected laser line is marked on the interactive module. Illustratively, the laser line projection device 5 is a single-axis line paying-off mechanism, and comprises a cross laser level and a cross laser level mounting piece, wherein the cross laser level is fixed on the machine body through the cross laser level mounting piece, and the cross laser level emits cross laser as a reference line for paying-off. Specifically, the cross laser level may employ a mini level.
In some embodiments, the working reference line of another robot is taken as an ideal working line, and an ideal plastering engineering molding surface can be deduced from the working reference line. The control processing module 4 controls the rotation shaft 2 to rotate to a preset angle according to the wall surface concave-convex value data, so that the cross laser level emits 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. Based on the distance value, the operator measures the distance value output by the control processing module by using the square tube ruler by taking the cross line projected by the cross laser on the ground as a reference, and scribing is finished, so that the paying-off operation can be finished.
In some embodiments, the robot further includes a power source 8, where the power source 8 is illustratively disposed on the body of the rotating mechanism, and the power source 8 is respectively connected to the sensor 3, the control processing module 4, and the interaction modules such as the laser line projection device 5 and the projection device 7, so as to supply power to the electrical and electronic components of the whole set of mechanism. Preferably, the power source 8 is a lithium battery.
Compared with manual measurement, high paying-off and wall surface treatment which all require large investment in time, manpower and resources, the robot provided by the embodiment of the invention can automatically finish measurement, realize high-precision three-dimensional environment scanning and high-precision actual measurement, realize automatic paying-off and wall and ground defect detection and marking, assist in finishing paying-off and wall surface treatment operation, can be used in site inspection, site construction progress and quality detection, greatly improve construction efficiency, reduce manpower investment and reduce cost.
With continued reference to fig. 1 and 2, in a specific embodiment, the process of implementing high-precision three-dimensional environment scanning using the robot described above is as follows:
The base 1 is used as a supporting part of the whole mechanism, stability of the mechanism in the operation process is guaranteed, shaking is avoided, measurement accuracy is guaranteed, the rotating shaft 2 is installed on the base 1, the machine body can be driven to rotate by 360 degrees, the rotating angle is controllable, the sensor 3 is installed on the machine body, the sensor 3 is used for detecting information such as the position and the direction of a wall surface and the like, the information is transmitted to the control processing module 4, the control processing module 4 analyzes and processes data acquired by the sensor 3, and a model such as a Stl plane model is calculated and generated, so that measurement work is completed.
The process of using the robot to realize auxiliary wall surface treatment is as follows:
As shown in fig. 3, after the robot finishes the measurement operation, the robot enters a projection mode, the control processing module 4 controls the rotation shaft 2 and the pitching mechanism 6 to link according to the processed data, the projection device 7 projects the data (such as the concave-convex value of the wall surface) output by the control processing module 4 to the wall surface, wherein a positive value indicates that the corresponding position of the wall surface is convex, a negative value indicates that the corresponding position of the wall surface is concave, a worker marks, and after the marking is finished, the wall surface is processed according to the mark.
The process of using the robot to realize auxiliary paying-off is as follows:
As shown in fig. 4, after the robot finishes the measurement operation, the robot enters a paying-off mode, the control processing module 4 controls the rotation shaft 2 to rotate to a certain angle according to the processed data, the cross laser level meter emits cross laser, the control processing module 4 calculates the distance between a cross laser line datum line and an ideal working line (plastering working line in fig. 4), the square tube ruler is used for measuring the distance value output by the control processing module, and the paying-off operation is completed.
In some embodiments, the robot further includes a data display and analysis mechanism connected to the sensor 3 and the control processing module 4, respectively, and the data display and analysis mechanism displays measurement results, such as wall surface roughness data, etc. The data display and analysis mechanism can adopt a computer, a tablet or a mobile phone to display and analyze data and is used for displaying the measurement result to a user in an intuitive way. The user can operate and analyze the data through the graphic interface, including three-dimensional model display, wall and ground defect detection and other functions.
In some embodiments, the robot is in communication connection with the cloud, so that data and project information can be uploaded to the cloud for unified data management and project management, and finally, a multi-region and multi-project comprehensive project management result is formed and a project construction quality detection report and a project board are generated.
The robot provided by the embodiment of the invention can ensure that the high-precision positioning and rigidity of the centers of all mechanisms meet the requirements through the interaction among the data acquisition module, the control processing module, the interaction module and the like to form a complete wall and ground construction system, can realize high-speed and high-precision three-dimensional environment scanning and high-precision actual measurement, improve the efficiency of space measurement and building alignment, and reduce human intervention in the measurement process; based on the high-precision three-dimensional scanning data, the efficiency and the accuracy of building construction operations such as space projection, paying-off and building calibration of wall and ground defect detection, marking and the like in the building field can be improved. The robot in the embodiment of the invention can stand at the angle of a constructor, acquire three-dimensional space data of a house, perform man-machine interaction or machine-to-machine interaction on the result of the three-dimensional space information, give out construction suggestions in a most direct mode, including the degree of concavity and convexity and corresponding positions, perform pretreatment on the wall surface according to the economic principle, and then perform plastering operation, and give out the position information of the final finished surface on the basis, so that various engineering application functions such as building paying-off, quality detection and labeling can be realized, the functions are comprehensive, the efficiency and accuracy of operations such as measurement, paying-off and wall surface treatment can be improved, the dependence on manual experience can be greatly reduced, the plastering efficiency can be improved, and the cost can be 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 (9)
1. A spatially-surveying interactive robot, comprising:
the data acquisition module is used for acquiring three-dimensional space data;
The control processing module is used for carrying out three-dimensional reconstruction of space according to the three-dimensional space data;
And the interaction module is used for carrying out man-machine interaction or machine-to-machine interaction on the result of the three-dimensional space information reconstructed by the control processing module.
2. The spatial measurement interactive robot of 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. The space measurement interactive robot of claim 2, wherein the sensor further comprises an inclination sensor for measuring an offset angle of the data acquisition module in each axial direction of the space axis, respectively, to achieve alignment of three-dimensional space data with a gravitational direction in space.
4. The space measurement interactive robot of claim 1, wherein the data processing module processes the data collected by the data collection module to achieve three-dimensional reconstruction of the house using at least one of data combination, spatial rotation, data filtering, plane fitting, and surface fitting.
5. The space measurement interactive robot according to claim 1, wherein the control processing module performs calculation of flatness and perpendicularity according to the reconstructed three-dimensional space information to obtain wall surface trend information.
6. The space measurement interactive robot according to claim 5, wherein the control processing module further comprises an input module for wall face raised part chiseling price and recessed part filling price, and the control processing module determines the position of the plastering completion face based on construction economy according to the wall face trend information and the chiseling price and filling price of the input module.
7. The space measurement interactive robot according to claim 2, wherein the interactive module comprises a projection device and a pitching mechanism, the projection device is mounted on the pitching mechanism, the pitching mechanism is mounted on the rotating mechanism, the processing result of the control processing module comprises the concave-convex condition of the wall surface and the corresponding wall surface position, and the control processing module controls the rotating mechanism and the pitching mechanism according to the wall surface position, and the concave-convex condition of the wall surface is projected to the corresponding position of the wall surface through the projection device.
8. The space measurement interactive robot of claim 1, wherein the interactive module comprises a visualization device in which the processing results of the control processing module are presented in a visual form.
9. The space measurement interactive robot of claim 6, wherein the interactive module comprises a laser line projection device mounted on the rotating mechanism, the control processing module moves the rotating mechanism to an angle parallel to the wall finish surface, the control processing module controls the laser line projection device to project a laser line on the ground, and identifies a distance of the plastering finish surface from the projected laser line on the interactive module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410212132.4A CN118034498A (en) | 2024-02-27 | 2024-02-27 | Interactive robot for space measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410212132.4A CN118034498A (en) | 2024-02-27 | 2024-02-27 | Interactive robot for space measurement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118034498A true CN118034498A (en) | 2024-05-14 |
Family
ID=90989001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410212132.4A Pending CN118034498A (en) | 2024-02-27 | 2024-02-27 | Interactive robot for space measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118034498A (en) |
-
2024
- 2024-02-27 CN CN202410212132.4A patent/CN118034498A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10571273B2 (en) | Construction site referencing | |
| US9228816B2 (en) | Method of determining a common coordinate system for an articulated arm coordinate measurement machine and a scanner | |
| US9858712B2 (en) | System and method capable of navigating and/or mapping any multi-dimensional space | |
| US8060344B2 (en) | Method and system for automatically performing a study of a multidimensional space | |
| CN104563459B (en) | A kind of plastering machine and its leveling method | |
| CN107014321A (en) | A kind of flatness rapid field measurement apparatus and measuring method | |
| CN204373601U (en) | A kind of form and position tolerance pick-up unit for deadlight | |
| CN106903687A (en) | Industrial robot calibration system and method based on laser ranging | |
| CN101261118A (en) | Rapid automatized three-dimensional appearance on-line measurement method and system based on robot | |
| CN103217100A (en) | Online binocular vision measurement device for carriage of large bus | |
| CN107421520B (en) | Decoration paying-off device and method based on BIM technology | |
| CN206339207U (en) | A kind of path accuracy repetition measurement instrument | |
| CN114964213B (en) | Building engineering construction positioning system and method based on attitude sensing and visual scanning | |
| CN202109888U (en) | Multi-laser sensing measuring apparatus | |
| CN114459345B (en) | Aircraft fuselage position and posture detection system and method based on visual space positioning | |
| CN205373710U (en) | Multipurpose parallel lines laser scale | |
| CN111102918B (en) | Automatic measuring system of cubic mirror coordinate system | |
| CN118034498A (en) | Interactive robot for space measurement | |
| CN218865001U (en) | Pre-buried channel intellectual detection system | |
| CN215217491U (en) | High-precision three-coordinate measuring equipment capable of remotely tracking target | |
| CN108168427A (en) | A kind of combined type measuring method of big radius-thickness ratio product morpheme size | |
| CN117846333A (en) | System for building plastering paying-off | |
| CN118031799A (en) | Projection system for digital wall-mounting | |
| CN206132070U (en) | Ally oneself with with three -dimensional gesture system of formula | |
| KR100258405B1 (en) | Measuring method of blast position for tunneling work and apparatus thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |