CN210802461U - Intelligent measuring robot system based on BIM - Google Patents
Intelligent measuring robot system based on BIM Download PDFInfo
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- CN210802461U CN210802461U CN201921581826.6U CN201921581826U CN210802461U CN 210802461 U CN210802461 U CN 210802461U CN 201921581826 U CN201921581826 U CN 201921581826U CN 210802461 U CN210802461 U CN 210802461U
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Abstract
The utility model relates to an intelligent measuring robot system based on BIM, which comprises a mobile chassis, a master control device, a leveling device, an intelligent total station, a handheld terminal and a 360-degree prism; the master control device comprises a master control box, a wireless router, a positioning module and an industrial personal computer, wherein the wireless router is connected with the handheld terminal to realize communication and data exchange between the industrial personal computer and the handheld terminal; the positioning module realizes the rough positioning of the measuring robot; all instructions of the handheld terminal need to be distributed through the industrial personal computer, and instruction feedback information of all equipment is collected and processed by the industrial personal computer; the leveling device is arranged on the master control box, and the intelligent total station is arranged at the top end of the leveling device; the 360 prism is set at three control points whose coordinates are known in the field. The utility model discloses utilize the automatic 360 prisms of setting in advance at known position of aiming at of intelligent total powerstation to carry out intelligence and establish the station, then realize the quick collection and the automatic analysis to construction completion face three-dimensional coordinate through automatic lofting and exempting from prism measurement mode.
Description
Technical Field
The utility model relates to a civil engineering technical field, concretely relates to engineering construction such as road, bridge and housing construction accomplishes quick collection and analytic system of three-dimensional absolute coordinate data of face high accuracy.
Background
The acquisition of the three-dimensional absolute coordinate data of the construction finished surface at the present stage mainly depends on manual erection and leveling of a measuring instrument to carry out point-by-point contact type measurement, the measuring method has the advantages of low efficiency, long period and high labor intensity, and the measurement precision and accuracy are low due to human factors, so that the project construction progress and quality are greatly restricted.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem who solves lies in that to traditional construction survey in ubiquitous interior data calculate loaded down with trivial details, field measurement inefficiency, intensity of labour is big, cycle length scheduling problem, an intelligent measurement robot system based on BIM is provided, the device carries on total controlling means and levelling device through removing the chassis, realize measuring equipment's quick leveling and automatic measurement control, and utilize BIM technique to realize interior measured data's automatic extraction and analysis, thereby construction survey's efficiency and quality have greatly been improved.
The utility model discloses a solve the technical scheme that technical problem that the aforesaid provided adopted and be:
an intelligent measuring robot system based on BIM comprises a measuring robot, a handheld terminal and a 360-degree prism;
the measuring robot comprises a movable chassis, a master control device, a leveling device and an intelligent total station;
the master control device comprises a master control box, a wireless router, a positioning module and an industrial personal computer, wherein the master control box is fixedly arranged on the mobile chassis, the wireless router and the positioning module are arranged in the master control box, signal receiving antennas of the wireless router and the positioning module extend out of the master control box, and the industrial personal computer is arranged on a bottom plate of the master control box; the wireless router is connected with the handheld terminal to realize communication and data exchange between the industrial personal computer and the handheld terminal; the positioning module realizes rough positioning of the measuring robot; the industrial personal computer is a control core of the whole system, all instructions of the handheld terminal need to be distributed through the industrial personal computer, and instruction feedback information of all equipment is collected and processed by the industrial personal computer;
the mobile chassis comprises a traveling mechanism and a chassis controller, the chassis controller is connected with the industrial personal computer, the traveling mechanism is connected with the chassis controller, and the traveling state of the traveling mechanism is controlled by the chassis controller;
the leveling device is installed on the master control box, the intelligent total station is installed at the top end of the leveling device, and the intelligent total station is leveled to a horizontal state through the leveling device; the three 360-degree prisms are respectively arranged on three control points with known coordinates on site; the intelligent total station has the functions of automatically searching the prism and ranging without the prism; the leveling device and the intelligent total station are respectively connected with the industrial personal computer, and the leveling device and the intelligent total station transmit measurement signals to the industrial personal computer and receive control instructions of the industrial personal computer.
In the above scheme, the master control device further includes a third battery pack and a state display, the third battery pack is installed in a dedicated slot inside the master control box, a charging interface of the third battery pack is installed on a shell of the master control box, and the third battery pack is used for supplying power to equipment inside the master control box, the leveling device and the intelligent total station; the state display is installed on the shell of the master control box, and can visually display the running states of all the equipment.
In the scheme, the leveling device comprises a lower table top, an electric cylinder, an electric push rod, an upper table top, a switching upright post, a sensor base and an inclination angle sensor; the lower table board is fixedly arranged on the master control box, the number of the electric cylinders is three, the electric cylinders are distributed on the lower table board in a triangular mode, a servo motor is correspondingly arranged beside each electric cylinder, one electric push rod is arranged on each electric cylinder, and the upper table board is arranged at the upper ends of the three electric push rods; the lower end of the switching upright post is installed on the upper table surface, the upper end of the switching upright post is installed on the sensor base, and the tilt angle sensor is installed on the sensor base.
In the scheme, the lower end of the electric cylinder is connected with the lower table top through a lower hinge, and the upper end of the electric push rod is connected with the upper table top through an upper hinge; the lower hinge and the upper hinge are Hooke hinges which can rotate along the X axis and the Y axis, so that the upper table top can adapt to the change of an inclination angle of +/-25 degrees.
In the scheme, the switching upright post is a hollow circular tube, and a signal line and a power line can penetrate through the switching upright post; the lower end of the switching upright post is connected with the upper table top through a lower flange plate, and the upper end of the switching upright post is connected with the sensor base through an upper flange plate.
In the above scheme, the leveling device further comprises a sensor protection cover, the sensor protection cover is connected with the base through a countersunk head bolt, the tilt sensor is arranged in the sensor protection cover, and the top surface of the sensor protection cover is provided with a stud for connecting with the intelligent total station.
In the above scheme, a motor band-type brake is correspondingly installed at the upper end of each servo motor, and is used for locking the motor under the condition of sudden power failure, so that the push rod is prevented from dropping quickly to damage the measuring equipment.
In the above scheme, the mobile chassis further comprises a chassis housing, a rear driver, a front driver, a first battery pack, a second battery pack, a storage device, an algorithm box, a laser radar and a status indicator light; the chassis shell is arranged on the travelling mechanism and is used as an installation carrier for each device on the movable chassis; the rear driver is used for driving the rear wheels of the chassis, and the front driver is used for driving the front wheels of the chassis; the first battery pack and the second battery pack supply power to the chassis, one of the first battery pack and the second battery pack is used as a standby battery, when one power supply fails, the other power supply can be quickly switched to supply power, and the first battery pack and the second battery pack are divided into two battery packs, so that the weight and the charging time of a single battery can be effectively reduced; the laser radar is arranged at the front end of the movable chassis and can automatically identify and bypass obstacles within 3 m; the storage device is used for storing chassis navigation path data, control instruction data and point cloud data acquired by a laser radar; the algorithm box is used for analyzing and calculating point cloud data acquired by the laser radar and automatically identifying the type, size and motion parameters of the obstacle; the state indicator lamp is used for displaying the residual electric quantity and the working state of the mobile chassis.
In the above scheme, the three 360 ° prisms are arranged according to the following principle: the control points are arranged on the same side or two sides of the measuring area and keep a visual communication with the total station, and any two control points and the total station cannot be on the same straight line.
The utility model discloses intelligent measuring robot system's measuring method based on BIM includes following step:
step 2, extracting design data of a region to be measured by using a BIM model, planning a running track of the measuring robot, and then importing related data into the handheld terminal through WIFI;
step 3, after the construction site is reached, erecting three 360-degree prisms according to the planned positions, and then transmitting data in the handheld terminal to an industrial personal computer of the master control device through a local area network;
step 4, the master control device controls the mobile chassis to travel a small distance along a straight line, the positioning module automatically records the position coordinate of the mobile chassis in the moving process, and the system can judge the approximate position and direction of the intelligent total station according to the GPS position coordinate;
step 5, after the trolley is stopped stably, the main control device sends a leveling instruction to the leveling device through the industrial personal computer, the leveling device completes coarse leveling of the intelligent total station according to the inclination angle data of the inclination angle sensor, and then, according to the inclination angle data in the intelligent total station, fine leveling of the intelligent total station is completed;
step 6, automatically calculating the rotating angle and direction of the prism irradiating the 3 known points according to the current GPS coordinate of the intelligent total station by the system, and then controlling the intelligent total station to respectively irradiate the three known point prisms to complete automatic station setting;
step 7, after the intelligent total station finishes self positioning and orientation, lofting is carried out according to coordinate data of the point to be measured extracted by the BIM model, then a prism-free distance measurement function is started, the three-dimensional coordinate value of the lofted point is measured, and the measured data is transmitted to the handheld terminal through the industrial personal computer;
step 8, software on the handheld terminal can automatically compare the deviation between the actually measured coordinate data and the designed coordinate data, and can also introduce the actually measured data into the BIM model for more precise analysis;
and 9, after the measurement of the current station is completed, automatically planning a driving path by the movable chassis according to the current position and the target position, moving to the next measurement station, and repeating the measurement process.
The beneficial effects of the utility model reside in that:
1. the utility model discloses intelligent measurement robot system utilizes BIM technique to realize that the automation of interior measurement data is drawed and is analyzed, has not only effectively shortened interior operating time, has still greatly reduced the rework that the human error leads to;
2. the utility model discloses intelligent measurement robot system adopts the multisensor to fuse leveling technique and carries out the automatic leveling to measuring equipment, and leveling device accomplishes the coarse leveling of intelligent total powerstation according to the inclination data of inclination sensor, then according to the internal inclination data of intelligent total powerstation, accomplishes the fine leveling of intelligent total powerstation, is showing and has shortened measuring equipment leveling time, has reduced surveying personnel's intensity of labour;
3. the utility model discloses intelligent survey robot system utilizes intelligent total powerstation to shine the prism of three known positions automatically and carries out automatic station setting to utilize the prism of exempting from prism range finding function to realize the quick collection to construction completion face three-dimensional coordinate, greatly improved construction measurement efficiency and quality;
4. the utility model discloses intelligence measurement robot system still can carry out automatic laying out according to BIM model data, and the scene has great potential using value in indoor location application.
Drawings
The invention will be further explained with reference to the drawings and examples, wherein:
FIG. 1 is a schematic diagram of the working principle of the intelligent measuring robot system based on BIM of the present invention;
FIG. 2 is a structural diagram of a measurement robot of the intelligent measurement robot system based on BIM of the present invention;
FIG. 3 is a functional block diagram of a mobile chassis of the measuring robot of FIG. 2;
FIG. 4 is a functional structure diagram of a general control device of the measuring robot shown in FIG. 2;
FIG. 5 is a schematic structural view of a leveling device of the measuring robot shown in FIG. 2;
FIG. 6 is a schematic view of the leveling device shown in FIG. 5 in a leveling manner;
FIG. 7 is a schematic view of the communication and control system of the intelligent measuring robot system based on BIM of the present invention;
FIG. 8 is a block diagram of the working workflow of the intelligent measurement robot system based on BIM of the present invention;
FIG. 9 is a field work flow diagram of the intelligent measuring robot system based on BIM of the utility model;
FIG. 10 is a schematic diagram of a path planning method for a survey robot;
FIG. 11 is a block diagram of the design of an obstacle avoidance algorithm for a mobile chassis of a measuring robot;
fig. 12 is a schematic diagram of an automatic station setting principle of the intelligent total station;
fig. 13 is the utility model discloses intelligent measurement robot system's based on BIM core software development framework.
In the figure: 10. moving the chassis; 11. a traveling mechanism; 12. a chassis housing; 131. a rear driver; 132. a front actuator; 14. a chassis controller; 151. a first battery pack; 152. a second battery pack; 16. a storage device; 17. an algorithm box; 18. a laser radar; 19. a status indicator light; 20. a master control device; 21. a master control box; 22. a wireless router; 23. a positioning module; 24. an industrial personal computer; 25. a third battery pack; 26. a status display; 30. a leveling device; 301. a lower table top; 302. a lower hinge; 303. an electric cylinder; 304. a servo motor; 305. a motor brake; 306. an electric push rod; 307. an upper hinge; 308. an upper table top; 309. a lower flange plate; 310. transferring the upright column; 311. an upper flange plate; 312. a sensor base; 313. a tilt sensor; 314. a protective cover; 315. a stud; 40. an intelligent total station; 50. a handheld terminal; 61. a first 360 ° prism; 62. a second 360 ° prism; 63. a third 360 prism.
Detailed Description
In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, an intelligent measuring robot system based on BIM includes a measuring robot, a handheld terminal 50, and a 360 ° prism.
As shown in fig. 2, the surveying robot includes a mobile chassis 10, a general control device 20, a leveling device 30, and an intelligent total station 40. The general control device 20 is installed on the mobile chassis 10, the leveling device 30 is installed on the general control device 20, and the intelligent total station 40 is installed at the top end of the leveling device 30. And leveling the intelligent total station 40 to a horizontal state through the leveling device 30. The three 360-degree prisms are respectively a first 360-degree prism 61, a second 360-degree prism 62 and a third 360-degree prism 63, are respectively arranged on three control points with known coordinates on site, and have included angles of 45-135 degrees with the intelligent total station 40. Principle of arrangement of three prisms (control points): the three control points are arranged on the same side or two sides of the measuring area and keep a visual communication with the total station, and any two control points and the total station cannot be on the same straight line. The intelligent total station 40 has the functions of automatically searching the prism and ranging without the prism, and the intelligent total station 40 can be automatically controlled through secondary development. On a construction completion surface within the radius of 20m, the prism-free measurement precision of the intelligent total station 40 can reach within 1 mm.
As shown in fig. 4, the general control device 20 includes a general control box 21, a wireless router 22, a positioning module 23, an industrial personal computer 24, a third battery pack 25 and a status display 26. The master control box 21 is fixedly installed on the mobile chassis 10 through quick-release bolts, the wireless router 22 and the positioning module 23 are installed in the master control box 21, a signal receiving antenna of the wireless router extends out of the master control box 21, and the industrial personal computer 24 is installed on a bottom plate of the master control box 21. The positioning module 23 is connected with the wireless router 22 through a network cable, the wireless router 22 is connected with the industrial personal computer 24 through the network cable, and the wireless router 22 is connected with the handheld terminal 50 through WIFI (wireless fidelity), so that communication and data exchange between the industrial personal computer 24 and the handheld terminal 50 are realized. The positioning module 23 receives GPS/beidou positioning satellite signals or thousand-seek position signals to realize rough positioning of the measurement robot, and the absolute positioning accuracy of the positioning module can reach a sub-meter level. The industrial personal computer 24 is a control core of the whole system, all instructions of the handheld terminal 50 need to be distributed through the industrial personal computer 24, and instruction feedback information of all devices is collected and processed by the industrial personal computer 24. The industrial personal computer 24 and the handheld terminal 50 are provided with various device control software (see fig. 13), so that automatic control of the mobile chassis 10, the leveling device 30 and the intelligent total station 40 can be realized. The third battery pack 25 is installed in a special slot inside the master control box 21, a charging interface of the third battery pack is installed on an outer shell of the master control box 21, and the third battery pack 25 is used for supplying power to devices inside the master control box 21, the leveling device 30 and the intelligent total station 40. The state display 26 is arranged on the shell of the master control box 21 and can visually display the running states of all the equipment.
As shown in fig. 3, the mobile chassis 10 includes a traveling mechanism 11, a chassis housing 12, a rear drive 131, a front drive 132, a chassis controller 14, a first battery pack 151, a second battery pack 152, a storage device 16, an algorithm box 17, a laser radar 18, and a status indicator lamp 19. The moving chassis 10 is an automatic driving vehicle (such as an AGV trolley) or a manual driving vehicle (such as an automobile, a battery car, a handcart and the like), and the walking mode of the walking mechanism 11 can be a wheel type, a crawler type, a rail type, a leg type or a wheel-leg combined type. The automatic driving vehicle can be provided with an obstacle detection module according to needs, and the automatic driving function of a complex scene is realized. The traveling mechanism 11 is connected to the chassis controller 14 via a data line and controlled by the chassis controller 14. The chassis housing 12 is mounted on the traveling mechanism 11 and serves as a mounting carrier for moving each device on the chassis 10. The rear drive 131 is used to drive the rear wheels and the front drive 132 is used to drive the front wheels. The first battery pack 151 and the second battery pack 152 supply power to the mobile chassis 10, wherein one of the first battery pack and the second battery pack serves as a standby battery, when one power supply fails, the power supply can be rapidly switched to the other power supply, and the power supply is divided into two battery packs, so that the weight and the charging time of a single battery can be effectively reduced. The laser radar 18 is arranged at the front end of the movable chassis 10, can automatically identify and bypass obstacles within 3m, is connected with the algorithm box 17 through a data line, and transmits an identification signal to the algorithm box 17. The algorithm box 17 is used for analyzing and calculating the point cloud data collected by the laser radar 18, automatically identifying the type, size and motion parameters of the obstacle, and the obstacle avoidance algorithm is shown in fig. 11. The storage device 16 is used for storing chassis navigation path data, control instruction data, point cloud data collected by the laser radar 18, and the like. The chassis controller 14 is connected to an industrial personal computer 24 of the master control device 20 through a CAN bus, and is controlled by the industrial personal computer 24. The algorithm box 17 is connected to the chassis controller 14 via a network cable. The status indicator lamp 19 is used to display the remaining power and the operating status of the mobile chassis 10.
As shown in fig. 5, the leveling device 30 includes a lower table 301, a lower hinge 302, an electric cylinder 303, a servo motor 304, a motor band-type brake 305, an electric push rod 306, an upper hinge 307, an upper table 308, a lower flange 309, an adapter column 310, an upper flange 311, a sensor base 312, an inclination sensor 313, a protective cover 314, and a stud 315. The lower table board 301 is fixedly arranged on the master control box 21, and three electric cylinders 303 are arranged and distributed on the lower table board 301 in a triangular shape. A servo motor 304 is correspondingly arranged beside each electric cylinder 303, an electric push rod 306 is arranged on each electric cylinder 303, and an upper table surface 308 is arranged at the upper ends of the three electric push rods 306. The lower end of the electric cylinder 303 is connected with the lower table board 301 through a lower hinge 302, and the upper end of the electric push rod 306 is connected with the upper table board 308 through an upper hinge 307. The lower hinge 302 and the upper hinge 307 are Hooke hinges, and can rotate along the X-axis and the Y-axis (two vertical directions in the plane of the table top), so that the upper table top 308 can adapt to the inclination angle change of +/-25 degrees. The upper end of each servo motor 304 is correspondingly provided with a motor brake 305 for locking the servo motor 304 under the condition of sudden power failure, so that the electric push rod 306 is prevented from dropping quickly to damage the measuring equipment. Switching stand 310 is hollow metal circular tube, and signal line and power cord can be worn to inside. The lower end of the switching upright 310 is connected with the upper table 308 through a lower flange 309, the upper end of the switching upright 310 is connected with a sensor base 312 through an upper flange 311, and an inclination angle sensor 313 is installed on the sensor base 312. The sensor protection cover 314 is connected with the base through a countersunk bolt, the tilt sensor 313 is arranged in the sensor protection cover 314, and a stud 315 is arranged on the top surface of the sensor protection cover 314 and used for being connected with the intelligent total station 40. When a leveling instruction is received, the system judges the highest supporting leg and keeps the highest supporting leg still according to the current inclination state of the table top, the other two supporting legs are lifted upwards until the inclination angle of the table top is within 0.01 degrees, and the system finishes leveling and locks the supporting legs, as shown in fig. 6.
Preferably, in this embodiment, the third battery pack 25 is a pluggable lithium ion battery, and has an output voltage of 24V dc and a capacity of 30 AH.
Further optimize, in this embodiment, electronic jar 303 is high accuracy electric jar, and its repeated positioning accuracy is 0.02mm, and effective stroke 100mm adopts ball screw mode transmission. The servo motor 304 is rated at 150W and has a DC24V supply voltage. The tilt sensor 313 employs a high-precision biaxial tilt sensor 313, and its repeated positioning precision is 0.005 °, and the resolution is 0.001 °.
Further, in this embodiment, the general control device 20 can be mounted on different mobile chassis 10 to meet the measurement application requirements of different construction scenes.
Further, in this embodiment, the wireless router 22 is an industrial wireless router 22, which can ensure a wireless communication distance with a radius of more than 100m in a field construction scene.
Further preferably, in this embodiment, the handheld terminal 50 is a portable mobile device such as an IPAD, a smart phone, and a notebook computer.
The measuring method of the intelligent measuring robot system based on the BIM comprises the following steps:
And 2, utilizing the BIM model to carry out station measurement and path planning, as shown in fig. 8, extracting design data of a region to be measured, planning a running track of the measuring robot, and then importing related data into the handheld terminal 50 through WIFI.
And 3, after the construction site is reached, erecting three 360-degree prisms according to the planned positions, and then transmitting the data in the handheld terminal 50 to the industrial personal computer 24 of the master control device 20 through the local area network.
And 4, controlling the mobile chassis 10 to travel a short distance along a straight line by the master control device 20, automatically recording the position coordinate of the mobile chassis 10 in the moving process by the positioning module 23, and judging the approximate position and direction of the intelligent total station 40 by the system according to the GPS position coordinate.
And 5, after the trolley is stopped stably, the master control device 20 sends a leveling instruction to the leveling device 30 through the industrial personal computer 24, the leveling device 30 completes coarse leveling of the intelligent total station 40 according to the inclination angle data of the inclination angle sensor 313, and then completes fine leveling of the intelligent total station 40 according to the inclination angle data inside the intelligent total station 40.
And 6, automatically calculating the rotating angle and direction of the prism irradiating the 3 known points by the system according to the current GPS coordinate of the intelligent total station 40, and then controlling the intelligent total station 40 to respectively irradiate the three known point prisms to complete automatic station setting. The specific principle is as follows: as shown in fig. 12, three 360 ° prisms are respectively disposed at a (x)A，yA)、B(xB，yB)、C(xC，yC) At three control points, the total station is set up at an unknown point P (x)P，yP) In the method, the total station respectively aims at A, B, C three points through automatic search and aiming functions to observe three side lengths DPA、DPB、DPCThen, there are:
D2 PA＝(xA-xp)2+(yA-yP)2(1)
D2 PB＝(xB-xp)2+(yB-yP)2(2)
D2 PC＝(xC-xp)2+(yC-yP)2(3)
and respectively unfolding the three formulas and simplifying to obtain:
(-2xA+2xB)xp+(-2yA+2yB)yp＝-xA 2+xB 2-yA 2+yB 2+DPA 2-DPB 2(4)
(-2xA+2xC)xp+(-2yA+2yC)yp＝-xA 2+xC 2-yA 2+yC 2+DPA 2-DPC 2(5)
(-2xB+2xC)xp+(-2yB+2yC)yp＝-xB 2+xC 2-yB 2+yC 2+DPB 2-DPC 2(6)
obviously, P (xP, yP) can be obtained from any two of the above three formulae, and P (x) can be obtained without performing calculation by formulae (4) and (5)P1，yP1) The coordinates of (a):
similarly, by performing the calculations using the expressions (5) and (6) and the expressions (4) and (6), P (x) can be obtained separatelyP2，yP2) And P (x)P3，yP3) Because of the error in the side length measurement, P (x) can be usedP1，yP1)、P(xP2，yP2)、P(xP3，yP3) Performing adjustment calculation to calculate more accurate P (x)P，yP) And coordinate values.
And 7, after the intelligent total station 40 finishes self positioning and orientation, lofting according to coordinate data of a point to be measured (see P01-P15 in the figure 1) extracted by the BIM model, starting a prism-free distance measurement function, measuring a three-dimensional coordinate value of the lofting point, and transmitting the measured data to the handheld terminal 50 through the industrial personal computer 24.
And 8, software on the handheld terminal 50 can automatically compare the deviation between the actually measured coordinate data and the designed coordinate data, and can also introduce the actually measured data into the BIM model for more precise analysis.
And 9, after the measurement of the current station is completed, automatically planning a driving path by the movable chassis 10 according to the current position and the target position, moving to the next measurement station, and repeating the measurement process.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
While the embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many modifications may be made by one skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (9)
1. An intelligent measuring robot system based on BIM is characterized by comprising a measuring robot, a handheld terminal and a 360-degree prism;
the measuring robot comprises a movable chassis, a master control device, a leveling device and an intelligent total station;
the master control device comprises a master control box, a wireless router, a positioning module and an industrial personal computer, wherein the master control box is fixedly arranged on the mobile chassis, the wireless router and the positioning module are arranged in the master control box, signal receiving antennas of the wireless router and the positioning module extend out of the master control box, and the industrial personal computer is arranged on a bottom plate of the master control box; the wireless router is connected with the handheld terminal to realize communication and data exchange between the industrial personal computer and the handheld terminal; the positioning module realizes rough positioning of the measuring robot; the industrial personal computer is a control core of the whole system, all instructions of the handheld terminal need to be distributed through the industrial personal computer, and instruction feedback information of all equipment is collected and processed by the industrial personal computer;
the mobile chassis comprises a traveling mechanism and a chassis controller, the chassis controller is connected with the industrial personal computer, the traveling mechanism is connected with the chassis controller, and the traveling state of the traveling mechanism is controlled by the chassis controller;
the leveling device is installed on the master control box, the intelligent total station is installed at the top end of the leveling device, and the intelligent total station is leveled to a horizontal state through the leveling device; the three 360-degree prisms are respectively arranged on three control points with known coordinates on site; the intelligent total station has the functions of automatically searching the prism and ranging without the prism; the leveling device and the intelligent total station are respectively connected with the industrial personal computer, and the leveling device and the intelligent total station transmit measurement signals to the industrial personal computer and receive control instructions of the industrial personal computer.
2. The BIM-based intelligent measuring robot system of claim 1, wherein the master control device further comprises a third battery pack and a status display, the third battery pack is installed in a special slot inside the master control box, a charging interface of the third battery pack is installed on a shell of the master control box, and the third battery pack is used for supplying power to equipment inside the master control box, the leveling device and the intelligent total station; the state display is installed on the shell of the master control box, and can visually display the running states of all the equipment.
3. The BIM-based smart measurement robot system of claim 1, wherein the leveling device comprises a lower table, an electric cylinder, an electric push rod, an upper table, a transfer column, a sensor base, an inclination sensor; the lower table board is fixedly arranged on the master control box, the number of the electric cylinders is three, the electric cylinders are distributed on the lower table board in a triangular mode, a servo motor is correspondingly arranged beside each electric cylinder, one electric push rod is arranged on each electric cylinder, and the upper table board is arranged at the upper ends of the three electric push rods; the lower end of the switching upright post is installed on the upper table surface, the upper end of the switching upright post is installed on the sensor base, and the tilt angle sensor is installed on the sensor base.
4. The BIM-based intelligent measuring robot system of claim 3, wherein the lower end of the electric cylinder is connected with the lower table top through a lower hinge, and the upper end of the electric push rod is connected with the upper table top through an upper hinge; the lower hinge and the upper hinge are Hooke hinges which can rotate along the X axis and the Y axis, so that the upper table top can adapt to the change of an inclination angle of +/-25 degrees.
5. The BIM-based smart measurement robot system of claim 3, wherein the switching upright is a hollow circular tube, and a signal line and a power line can be penetrated inside; the lower end of the switching upright post is connected with the upper table top through a lower flange plate, and the upper end of the switching upright post is connected with the sensor base through an upper flange plate.
6. The BIM-based smart metering robot system of claim 3, wherein the leveling device further comprises a sensor protection cover connected with the base by a countersunk bolt, the tilt sensor is disposed in the sensor protection cover, and a stud is disposed on a top surface of the sensor protection cover for connecting with the smart total station.
7. The BIM-based intelligent measuring robot system of claim 3, wherein a motor brake is correspondingly installed at the upper end of each servo motor, and is used for locking the motor under the condition of sudden power failure, so that the push rod is prevented from falling down rapidly to damage measuring equipment.
8. The BIM-based smart measurement robot system of claim 1, wherein the mobile chassis further comprises a chassis housing, a rear drive, a front drive, a first battery pack, a second battery pack, a storage device, an algorithm box, a lidar, a status indicator light; the chassis shell is arranged on the travelling mechanism and is used as an installation carrier for each device on the movable chassis; the rear driver is used for driving the rear wheels of the chassis, and the front driver is used for driving the front wheels of the chassis; the first battery pack and the second battery pack supply power to the chassis, one of the first battery pack and the second battery pack is used as a standby battery, when one power supply fails, the other power supply can be quickly switched to supply power, and the first battery pack and the second battery pack are divided into two battery packs, so that the weight and the charging time of a single battery can be effectively reduced; the laser radar is arranged at the front end of the movable chassis and can automatically identify and bypass obstacles within 3 m; the storage device is used for storing chassis navigation path data, control instruction data and point cloud data acquired by a laser radar; the algorithm box is used for analyzing and calculating point cloud data acquired by the laser radar and automatically identifying the type, size and motion parameters of the obstacle; the state indicator lamp is used for displaying the residual electric quantity and the working state of the mobile chassis.
9. The BIM-based smart measurement robot system of claim 1, wherein the three 360 ° prisms are arranged in a principle: the control points are arranged on the same side or two sides of the measuring area and keep a visual communication with the total station, and any two control points and the total station cannot be on the same straight line.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470283A (en) * | 2019-09-23 | 2019-11-19 | 中建三局集团有限公司 | Intelligent measure robot system and measurement method based on BIM |
| CN114459442A (en) * | 2022-02-14 | 2022-05-10 | 何丽 | Intelligent measuring device is used in hydraulic engineering construction management |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470283A (en) * | 2019-09-23 | 2019-11-19 | 中建三局集团有限公司 | Intelligent measure robot system and measurement method based on BIM |
| CN114459442A (en) * | 2022-02-14 | 2022-05-10 | 何丽 | Intelligent measuring device is used in hydraulic engineering construction management |
| CN114459442B (en) * | 2022-02-14 | 2024-03-12 | 何丽 | Intelligent measuring device for hydraulic engineering construction management |
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