Actual measurement task point search and task distribution method and system
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A task point and task technology, applied in the field of task point search, can solve problems such as irregular data, few surface features of measurement task points, and limited field of view of visual sensors, etc., to reduce interference and improve computing efficiency and accuracy
Pending Publication Date: 2020-04-17
GUANGDONG BOZHILIN ROBOT CO LTD
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Problems solved by technology
[0005] (1) The robot cannot automatically obtain the coordinates of the task points to be measured and the corresponding task points existing in a house type;
[0006] (2) The field of vision of the visual sensor is limited, and the surface features of the measurement task point are few. The data obtained from the visual sensor alone cannot automatically identify the actual measurement task type and corresponding measurement algorithm included in the data;
[0007] (3) The robot cannot automatically determine the AGV measurement site with a better view, the pose and the horizontal and vertical rotation angles of the visual sensor;
[0008] (4) The data collected by the sensor is not standardized and may contain a lot of interference information, resulting in the failure of the actual measurement algorithm
[0009] These problems lead to the inability of actual measurement robots to realize automation
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Embodiment 1
[0071] Embodiment 1, a method for searching and dispatching actual measured task points described in the embodiment of the present invention, such as figure 1 shown, including:
[0072] S1, use BIM information to draw a modular floor plan that fills different physical structures with different colors.
[0073] The finished house plan is as follows figure 2 As shown, for example, the wall is white, the cast-in-place structural wall is black, the bay window is blue-green, the window opening is dark blue, the wall panel is green, and the door opening is yellow (the color is not shown in the view).
[0074] S2. Calculate the thickness of all the wall pixels in the floor plan, draw matching templates according to the wall pixel thickness and measurement requirements, and obtain the task center point of each matching template, wherein the matching templates include male corner templates, female corner templates, and section templates and wall templates.
[0075] Since some task...
Embodiment 2
[0118] Embodiment 2, a system for searching and task dispatching of actual measured task points, such as Figure 7 As shown, it includes: a floor plan module, a matching module drawing module, a task point identification module, a measurement site calculation module and a task dispatching module.
[0119] The floor plan module is configured to use BIM information to draw a modular floor plan that fills different physical structures with different colors. For the specific implementation method of the floor plan module, refer to the description in S1 in Embodiment 1.
[0120] Matching module The drawing module is configured to calculate the thickness of all wall pixels in the floor plan, draw matching templates according to the wall pixel thickness and measurement requirements, and obtain the task center point of each matching template, wherein the matching template includes male corner templates, female corner templates formwork, section formwork and wall formwork. For the sp...
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Abstract
The invention provides an actual measurement task point search and task distribution method and a system. The method comprises the following steps: drawing a modular house type graph filled with different entity structures in different colors by utilizing BIM information; calculating the thicknesses of all wall pixels in the house type image, drawing matching templates, and obtaining a task centerpoint of each matching template; combining different entity structures in the house type image, generating a matching source image, matching the matching source image with the matching template, identifying different task points and obtaining task point information; according to the outline of each room, calculating to obtain all measurement stations in the house type; distributing tasks to the measurement robot, collecting three-dimensional point cloud data of all measurement sites, obtaining point cloud data of a complete house type, segmenting the point cloud data of the task points by utilizing ROI information of the task points, referring to design value information of the task points, and calculating to obtain a result of actual measurement. According to the method and the system, automatic identification and positioning of actual measurement task points in the house type are realized, and the measurement robot automatically realizes actual measurement according to the task points.
Description
technical field [0001] The present invention relates to a task point search method and system, in particular to a measured task point search and task dispatch method and system. Background technique [0002] Actual measurement refers to a method that can truly reflect product quality data obtained through on-site testing and measurement of construction site entities by using measurement tools in accordance with national or industry-related quality acceptance specifications. At present, the actual measurement and measurement use the relatively old data collection method, and the use of visual sensors for measurement is an effective measurement method that is intelligent, automated, and can greatly improve efficiency. [0003] At present, there are two main ways to use visual sensors for data collection: manual selection of measurement sites to collect data and use of SLAM (synchronous positioning and mapping) for autonomous positioning and navigation (the sensor needs to be m...
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