CN-119991419-B - Scheduling method and device for robots on construction site of building engineering

CN119991419BCN 119991419 BCN119991419 BCN 119991419BCN-119991419-B

Abstract

The application discloses a scheduling method and device of a robot on a construction site of a building engineering, wherein three-dimensional point cloud data of a construction site environment are acquired, the three-dimensional point cloud data are divided into first point cloud data and second point cloud data, the first point cloud data belong to a ground type, a first plane is generated based on the first point cloud data, the second point cloud data are projected on the first plane to obtain a two-dimensional grid map, and the robot is scheduled based on the two-dimensional grid map. The application can improve the accuracy of robot scheduling in the construction site of the building engineering.

Inventors

WANG KAIQIANG
SUN QING
LIU WEI
YE ZHEN
CUI ZHIPENG
YANG PENG
CAO JIANXUN
LIU YIXUAN

Assignees

中建三局集团有限公司

Dates

Publication Date: 20260508
Application Date: 20250114

Claims (9)

1. The scheduling method of the robot on the construction site of the building engineering is characterized by comprising the following steps of: acquiring three-dimensional point cloud data of a construction site environment; dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to the ground type; Generating a first plane based on first point cloud data, filtering the first point cloud data to obtain third point cloud data, performing plane fitting on the third point cloud data by using a RANSAC algorithm to obtain a second plane, rotating the second plane around the first straight line for a preset number of times, and rotating the second plane for a preset angle each time to obtain a third plane for a preset number of times; the first straight line and the second straight line are positioned on the second plane, the first straight line is vertical to the second straight line, the second plane, the third plane with the preset times and the fourth plane with the preset times are determined to be a plurality of fifth planes, first point cloud data are projected to different fifth planes to obtain different projection areas, projection areas of the plurality of fifth planes are obtained, and the fifth plane with the largest area of the projection area is determined to be the first plane; Projecting second point cloud data on the first plane to obtain a two-dimensional grid map; and scheduling the robot based on the two-dimensional grid map.
2. The method for dispatching a construction site robot for construction engineering according to claim 1, wherein the acquiring three-dimensional point cloud data of a construction site environment comprises: and controlling the mobile laser radar to scan a construction site environment to obtain the three-dimensional point cloud data of the construction site environment.
3. The method for scheduling robots in a construction site for a building engineering according to claim 1, wherein the scheduling robots based on the two-dimensional grid map comprises: Acquiring a task type input by a user; And controlling the robot based on the task type.
4. A scheduling method for a construction site robot for construction engineering according to claim 3, wherein said controlling the robot based on the task type comprises: When the task type is a material handling task, a first scheduling popup window is popped up on the two-dimensional grid map; detecting a first click image coordinate and a second click image coordinate clicked by a user on the two-dimensional grid map; converting the first click image coordinate and the second click image coordinate into a world coordinate system to obtain a material taking position corresponding to the first click image coordinate and a material discharging position corresponding to the second click image coordinate; Inputting a material taking position and a material discharging position into a first dispatching popup window; And when the fact that the user clicks a confirmation button on the first dispatching popup window is detected, controlling the robot to take materials from the material taking position and move to the material discharging position to discharge materials.
5. A method of scheduling a construction site robot for a construction project according to claim 3, comprising: when the task type is a robot calling task, a second scheduling popup window is popped up on the two-dimensional grid map; detecting a third click image coordinate clicked by a user on the two-dimensional grid map; converting the third click image coordinate into a world coordinate system to obtain a target position; inputting the target position into a second scheduling popup; and when the fact that the user clicks the confirmation button on the second scheduling popup window is detected, controlling the robot to move to the target position.
6. A method of scheduling a construction site robot for a construction project according to claim 3, comprising: When the task type is a collection task, a third scheduling popup window is popped up on the two-dimensional grid map; detecting fourth click image coordinates clicked by a user on the two-dimensional grid map; Converting the fourth click image coordinate into a world coordinate system to obtain a world abscissa and a world ordinate of the collection point corresponding to the fourth click image coordinate; Inputting the world abscissa and the world ordinate of the collection point into a third scheduling popup window; And when the user is detected to click a confirmation button on the third scheduling popup window, storing the collection point.
7. A scheduling device for a construction site robot for a construction project, comprising: The acquisition module is used for acquiring three-dimensional point cloud data of a construction site environment; the dividing module is used for dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to the ground type; The generating module is used for generating a first plane based on the first point cloud data, filtering the first point cloud data to obtain third point cloud data, performing plane fitting on the third point cloud data by using a RANSAC algorithm to obtain a second plane, rotating the second plane around the first straight line for preset times, and rotating the second plane around the second straight line for preset times each time for preset angles to obtain a third plane with preset times; the projection module is used for projecting the second point cloud data on the first plane to obtain a two-dimensional grid map; and the scheduling module is used for scheduling the robot based on the two-dimensional grid map.
8. An electronic device comprising a memory storing a computer program and a processor for running the computer program in the memory to perform the steps of the scheduling method of the construction site robot of any one of claims 1 to 6.
9. A computer readable storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor for performing the steps in the scheduling method of the construction site robot of any one of claims 1 to 6.

Description

Scheduling method and device for robots on construction site of building engineering Technical Field The application relates to the technical field of point cloud processing, in particular to a scheduling method and device of a robot on a construction site of a building engineering. Background The construction sites of the building engineering are messy, the map cannot display the real construction site environment, for example, objects (roadblocks, building block piles, storage yard wide doors and temporary warning zones) temporarily stored in the site cannot be expressed, and error instructions are easily sent out, so that the robot collides with the obstacle, namely, the dispatching accuracy of the robot in the construction site of the building engineering is low. Disclosure of Invention The embodiment of the application provides a dispatching method and a dispatching device for robots on construction sites of building engineering, which can improve the dispatching accuracy of the robots on the construction sites of the building engineering. In a first aspect, the scheduling method of the robot in the construction site of the building engineering provided by the application comprises the following steps: acquiring three-dimensional point cloud data of a construction site environment; dividing the three-dimensional point cloud data into first point cloud data and second point cloud data, wherein the first point cloud data belongs to the ground type; generating a first plane based on the first point cloud data; Projecting second point cloud data on the first plane to obtain a two-dimensional grid map; and scheduling the robot based on the two-dimensional grid map. Optionally, the acquiring three-dimensional point cloud data of the construction site environment includes: and controlling the mobile laser radar to scan a construction site environment to obtain the three-dimensional point cloud data of the construction site environment. Optionally, the generating the first plane based on the first point cloud data includes: Filtering the first point cloud data to obtain third point cloud data; The first plane is generated based on the third point cloud data. Optionally, the robot is scheduled based on the two-dimensional grid map, including: Acquiring a task type input by a user; And controlling the robot based on the task type. Optionally, the controlling the robot based on the task type includes: When the task type is a material handling task, a first scheduling popup window is popped up on the two-dimensional grid map; detecting a first click image coordinate and a second click image coordinate clicked by a user on the two-dimensional grid map; converting the first click image coordinate and the second click image coordinate into a world coordinate system to obtain a material taking position corresponding to the first click image coordinate and a material discharging position corresponding to the second click image coordinate; Inputting a material taking position and a material discharging position into a first dispatching popup window; And when the fact that the user clicks a confirmation button on the first dispatching popup window is detected, controlling the robot to take materials from the material taking position and move to the material discharging position to discharge materials. Optionally, the scheduling method of the robot on the construction site of the building engineering comprises the following steps: when the task type is a robot calling task, a second scheduling popup window is popped up on the two-dimensional grid map; detecting a third click image coordinate clicked by a user on the two-dimensional grid map; converting the third click image coordinate into a world coordinate system to obtain a target position; inputting the target position into a second scheduling popup; and when the fact that the user clicks the confirmation button on the second scheduling popup window is detected, controlling the robot to move to the target position. Optionally, the scheduling method of the robot on the construction site of the building engineering comprises the following steps: When the task type is a collection task, a third scheduling popup window is popped up on the two-dimensional grid map; detecting fourth click image coordinates clicked by a user on the two-dimensional grid map; Converting the fourth click image coordinate into a world coordinate system to obtain a world abscissa and a world ordinate of the collection point corresponding to the fourth click image coordinate; Inputting the world abscissa and the world ordinate of the collection point into a third scheduling popup window; And when the user is detected to click a confirmation button on the third scheduling popup window, storing the collection point. In a second aspect, the present application provides a dispatching device for a robot on a construction site of a building engineering, including: The acquisition module is used for acqu