Building robot remote operation method in virtual-real coupling environment

Abstract

The invention relates to a building robot remote operation method in a virtual-real coupling space, which comprises the following steps: S1, establishing a building virtual model, and extracting position shape information of a building entity from the building virtual model; s2, obtaining construction scene point clouds, carrying out downsampling and filtering processing to obtain filtered point clouds, segmenting the filtered point clouds to obtain point clouds of all rooms of the construction scene and obstacle point clouds, wherein the point clouds of all the rooms of the construction scene and the obstacle point clouds jointly form environment point clouds; s3, registering the building virtual model and the environment point cloud to obtain a virtual-real coupling model; and S4, establishing remote communication between the virtual building robot and the real building robot through a Socket communication protocol, and achieving remote operation. According to the method, the virtual building robot is operated to work, the real building robot in the construction scene works synchronously, the constructors do not need to monitor on site, and the safety of the constructors is guaranteed.

Description

technical field [0001] The invention relates to the field of modern construction technology, in particular to a remote operation method for a construction robot in a virtual-real coupling environment. Background technique [0002] Intelligent construction technology integrates the modern construction industry and the new generation of information technology. With the industrialization of the construction industry, intelligent construction technology will subvert the traditional construction mode and give birth to a series of new technologies and new formats. The construction scene is considered to be an unstructured and complex scene, which changes greatly in shape and form all the time, and has great uncertainty. How to realize the remote operation of construction robots is a key issue facing the industrialization of the construction industry. [0003] At present, the remote operation of construction robots mostly relies on the data obtained on-site to carry out operations....

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Problems solved by technology

[0003] At present, most of the remote operations of construction robots rely on the data obtained on site. When facing complex construction scenes, due to the limitation of sensor information, only relying on the real-time on-site data obtained by construction robots is not enough to ensure the safe operation of construction robots.

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