CN114034290B - Lofting method of lofting robot system - Google Patents
Lofting method of lofting robot system Download PDFInfo
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- CN114034290B CN114034290B CN202111321631.XA CN202111321631A CN114034290B CN 114034290 B CN114034290 B CN 114034290B CN 202111321631 A CN202111321631 A CN 202111321631A CN 114034290 B CN114034290 B CN 114034290B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a lofting method of a lofting robot system, which comprises the following steps: the client matches the actual lofting track with the set lofting track; when the matching precision between the actual lofting track and the set lofting track is smaller than a set precision value, controlling the lofting robot to loft according to the current actual lofting track; when the matching precision between the actual lofting track and the set lofting track is greater than the set precision value, the lofting is returned to the step S40 after the actual lofting track is regulated and the lofting is performed again, so that lofting is performed through the lofting robot, and the actual lofting track of the lofting robot is controlled, so that the lofting efficiency and precision can be improved.
Description
Technical Field
The invention relates to the technical field of buildings, in particular to a lofting method of a lofting robot system.
Background
The measuring lofting refers to the measurement work of measuring the plane position and the elevation of an engineering building on a drawing, which are designed originally, to the actual working condition through a certain measuring instrument and a measuring means. The method is an indispensable ring in the engineering measurement field, and relates to the quality and the precision of engineering construction.
The measurement lofting in the current engineering practice is mostly performed based on the original traditional measurement means: and laying marks at corresponding positions by utilizing measuring tools such as a manual cooperation total station, a GNSS receiver and the like, and lofting by manually calibrating measuring points. This way of lofting requires a high level of expertise by the operator himself, and is less efficient and less accurate, not meeting the increasing demands for engineering efficiency.
Disclosure of Invention
The invention mainly aims to provide a lofting method of a lofting robot system, and aims to solve the technical problems of low efficiency and low precision of the existing manual lofting.
In order to achieve the above object, the present invention provides a lofting method of a lofting robot system, the lofting robot system includes a server, a client and a lofting robot, the server is provided with BIM software, the client is in communication connection with the server and performs information interaction with the BIM software through a file in CAD format, the lofting robot is in communication connection with the client, the lofting robot has a calibration total station, the calibration total station is used for positioning a position of the lofting robot, and the lofting method of the lofting robot system includes:
s10, the server transmits a file of a CAD format exported by BIM software to the client;
step S20, a client extracts a lofting three-dimensional curve and lofting points from a file in a CAD format, generates a set lofting track according to the lofting three-dimensional curve and the lofting points, and sends the set lofting track to a lofting robot;
step S30, the lofting robot receives the set lofting track and performs pre-lofting walking according to the set lofting track;
step S40, the calibration total station determines the initial position of the lofting robot and the dynamic position of the lofting robot in the moving process, and sends the initial position and the dynamic position to the client;
s50, the client determines an actual lofting track of the lofting robot according to the received initial position and the received dynamic position;
step S60, the client matches the actual lofting track with the set lofting track;
step S70, when the matching precision between the actual lofting track and the set lofting track is smaller than a set precision value, controlling the lofting robot to loft according to the current actual lofting track;
and S80, when the matching precision between the actual lofting track and the set lofting track is larger than a set precision value, adjusting the actual lofting track, and returning to the step S40 after pre-lofting is performed again.
Optionally, after step S70, the method further includes:
and step S90, the client stores the current actual lofting track and converts the current actual lofting track into a curve in the BIM model.
Optionally, step S40 includes:
when the lofting robot moves and positions, angular velocity information is output by a gyroscope arranged on the lofting robot, and encoder output line velocity information arranged on the lofting robot is synthesized into feedback control information u of the lofting robot t (v t ,w t ) Performing extended Kalman filtering pose estimation according to the above data, wherein P is pose information of the lofting robot, predicted pose information is represented by a superscript pre, g is a transformation matrix for calculating intermediate quantity, the predicted pose information is represented as feedback control information for updating and predicting the real-time pose of the lofting robot, and R t ，Q t Is a noise matrix; a is a system matrix, here denoted as a unit matrix; k is expressed as a Kalman gain coefficient; sigma is the covariance matrix and the symbolism with the upper horizontal line computes the intermediate quantities:
optionally, step S80 includes:
when the matching precision between the actual lofting track and the set lofting track is larger than a set precision value, calculating a difference value between the matching precision and the set precision value;
when the difference value is smaller than a set difference value, obtaining the adjustment amplitude of the actual lofting track according to the difference value;
and when the difference value is larger than a set difference value, calculating a ratio a between the difference value and the matching precision, and obtaining the adjustment amplitude of the actual lofting track according to the ratio a.
The technical scheme of the invention comprises the following steps: the client matches the actual lofting track with the set lofting track; when the matching precision between the actual lofting track and the set lofting track is smaller than a set precision value, controlling the lofting robot to loft according to the current actual lofting track; when the matching precision between the actual lofting track and the set lofting track is greater than the set precision value, the lofting is returned to the step S40 after the actual lofting track is regulated and the lofting is performed again, so that lofting is performed through the lofting robot, and the actual lofting track of the lofting robot is controlled, so that the lofting efficiency and precision can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an embodiment of a lofting method of a lofting robot system provided by the present invention;
fig. 2 is a schematic diagram of a specific calculation process of step S50 in fig. 1.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a lofting method of a lofting robot system, the lofting robot system comprises a server, a client and a lofting robot, BIM software is arranged on the server, the client is in communication connection with the server and carries out information interaction with the BIM software through a file in a CAD format, the lofting robot is in communication connection with the client, the lofting robot is provided with a calibration total station, the calibration total station is used for positioning the position of the lofting robot, and the lofting method of the lofting robot system comprises the following steps:
s10, the server transmits a file of a CAD format exported by BIM software to the client;
step S20, a client extracts a lofting three-dimensional curve and lofting points from a file in a CAD format, generates a set lofting track according to the lofting three-dimensional curve and the lofting points, and sends the set lofting track to a lofting robot;
step S30, the lofting robot receives the set lofting track and performs pre-lofting walking according to the set lofting track;
step S40, the calibration total station determines the initial position of the lofting robot and the dynamic position of the lofting robot in the moving process, and sends the initial position and the dynamic position to the client;
s50, the client determines an actual lofting track of the lofting robot according to the received initial position and the received dynamic position;
step S60, the client matches the actual lofting track with the set lofting track;
and step S70, when the matching precision between the actual lofting track and the set lofting track is smaller than a set precision value, controlling the lofting robot to loft according to the current actual lofting track, wherein the matching precision between the actual lofting track and the set lofting track is a deviation value or an offset value between the two tracks, when the matching precision is smaller, the two tracks are indicated to be not greatly offset, and when the matching precision is larger, the two tracks are indicated to be greatly offset.
And S80, when the matching precision between the actual lofting track and the set lofting track is larger than a set precision value, adjusting the actual lofting track, and returning to the step S40 after pre-lofting is performed again.
The technical scheme of the invention comprises the following steps: the client matches the actual lofting track with the set lofting track; when the matching precision between the actual lofting track and the set lofting track is smaller than a set precision value, controlling the lofting robot to loft according to the current actual lofting track; when the matching precision between the actual lofting track and the set lofting track is greater than the set precision value, the lofting is returned to the step S40 after the actual lofting track is regulated and the lofting is performed again, so that lofting is performed through the lofting robot, and the actual lofting track of the lofting robot is controlled, so that the lofting efficiency and precision can be improved.
In an embodiment of the present invention, after step S70, further includes:
and step S90, the client stores the current actual lofting track and converts the current actual lofting track into a curve in the BIM model.
In an embodiment of the present invention, step S40 includes:
when the lofting robot moves and positions, angular velocity information is output by a gyroscope arranged on the lofting robot, and encoder output line velocity information arranged on the lofting robot is synthesized into feedback control information u of the lofting robot t (v t ,w t ) Performing extended Kalman filtering pose estimation according to the above data, wherein P is pose information of the lofting robot, predicted pose information is represented by a superscript pre, and an intermediate quantity is calculated,g is a transformation matrix, and is expressed as feedback control information to update and predict the real-time pose of the lofting robot, R t ，Q t Is a noise matrix; a is a system matrix, here denoted as a unit matrix; k is expressed as a Kalman gain coefficient; sigma is the covariance matrix and the symbolism with the upper horizontal line computes the intermediate quantities:
in one embodiment of the present invention, the trajectory control algorithm of the loft robot in step S50 is completed according to the following fig. 2.
As shown in fig. 2, in the kinematic controller, feed-forward control of pose input is adopted to ensure rapid convergence of track tracking; in the dynamics controller, a feedforward decoupling compensator is adopted to convert the design of a moment control law into the design of a new auxiliary quantity control law, an interference observer is added, the robustness of the controller is enhanced, an integral chain structure differentiator is adopted to inhibit the noise influence caused by derivation, and the tracking performance of the mobile robot is ensured in speed.
In an embodiment of the present invention, step S80 includes:
when the matching precision between the actual lofting track and the set lofting track is larger than a set precision value, calculating a difference value between the matching precision and the set precision value;
when the difference value is smaller than a set difference value, obtaining the adjustment amplitude of the actual lofting track according to the difference value, wherein the corresponding adjustment amplitude is specifically set for the difference value;
when the difference value is larger than the set difference value, calculating a ratio a between the difference value and the matching precision, and obtaining the adjustment amplitude of the actual lofting track according to the ratio a, wherein the ratio a corresponding to different area ranges has different adjustment amplitudes.
Therefore, in the embodiment of the invention, the matching precision between the actual lofting track and the set lofting track is larger than the set precision value, but when the difference between the two is smaller, the corresponding adjustment amplitude is smaller, and then the adjustment amplitude of the actual lofting track can be obtained directly according to the difference, and when the difference is larger, the adjustment amplitude of the actual lofting track is obtained according to the ratio a through large adjustment, namely coarse adjustment, and then the adjustment amplitude of the actual lofting track is obtained to a certain extent, namely the difference is smaller than the set difference, and then the adjustment amplitude of the actual lofting track is obtained according to the difference. Thus, the actual lofting track can be quickly and accurately adjusted.
The lofting method of the lofting robot system provided by the embodiment of the invention has the following advantages:
1) And extracting a three-dimensional curve to be lofted from the CAD/universal BIM model, providing basic information for lofting of the lofting robot line, fusing and butting with main control software in a module form, reducing the steps of manual conversion, and enhancing convenience.
2) The lofting robot is used for replacing manual operation, so that the cost is reduced, the working efficiency and lofting precision are improved, and the requirements of the modern building industry are met.
3) The recordable performance of the actual motion trail of the mobile robot is utilized, the drawing work of the actual lofting curve is more conveniently carried out, and the accuracy analysis and conversion to BIM software are facilitated.
4) The whole process utilizes software to carry out autonomous analysis decision, thereby realizing high intellectualization of the lofting process and greatly replacing manual operation.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (3)
1. The lofting method of the lofting robot system is characterized in that the lofting robot system comprises a server, a client and a lofting robot, BIM software is arranged on the server, the client is in communication connection with the server and in information interaction with the BIM software through a CAD format file, the lofting robot is in communication connection with the client, the lofting robot is provided with a calibration total station, the calibration total station is used for positioning the position of the lofting robot, and the lofting method of the lofting robot system comprises the following steps:
s10, the server transmits a file of a CAD format exported by BIM software to the client;
step S20, a client extracts a lofting three-dimensional curve and lofting points from a file in a CAD format, generates a set lofting track according to the lofting three-dimensional curve and the lofting points, and sends the set lofting track to a lofting robot;
step S30, the lofting robot receives the set lofting track and performs pre-lofting walking according to the set lofting track;
step S40, the calibration total station determines the initial position of the lofting robot and the dynamic position of the lofting robot in the moving process, and sends the initial position and the dynamic position to the client;
s50, the client determines an actual lofting track of the lofting robot according to the received initial position and the received dynamic position;
step S60, the client matches the actual lofting track with the set lofting track;
step S70, when the matching precision between the actual lofting track and the set lofting track is smaller than a set precision value, controlling the lofting robot to loft according to the current actual lofting track;
step S80, when the matching precision between the actual lofting track and the set lofting track is larger than a set precision value, adjusting the actual lofting track, and returning to the step S40 after pre-lofting is performed again;
step S40 includes:
when the lofting robot moves and positions, angular velocity information is output by a gyroscope arranged on the lofting robot, output line velocity information of an encoder arranged on the lofting robot is comprehensively used as feedback control information ut (vt, wt) of the lofting robot, extended Kalman filtering pose estimation is carried out according to the above data, P is pose information of the lofting robot, predicted pose information with a superscript pre is indicated, calculated intermediate quantity is calculated, g is a transformation matrix, updated prediction is carried out on real-time pose of the lofting robot by using the feedback control information, and Rt and Qt are noise matrixes; a is a system matrix, here denoted as a unit matrix; k is expressed as a Kalman gain coefficient; sigma is the covariance matrix and the symbolism with the upper horizontal line computes the intermediate quantities:
2. the loft method of a loft robot system according to claim 1, further comprising, after step S70:
and step S90, the client stores the current actual lofting track and converts the current actual lofting track into a curve in the BIM model.
3. The loft method of the loft robot system according to claim 1, wherein step S80 includes:
when the matching precision between the actual lofting track and the set lofting track is larger than a set precision value, calculating a difference value between the matching precision and the set precision value;
when the difference value is smaller than a set difference value, obtaining the adjustment amplitude of the actual lofting track according to the difference value;
and when the difference value is larger than a set difference value, calculating a ratio a between the difference value and the matching precision, and obtaining the adjustment amplitude of the actual lofting track according to the ratio a.
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