基于建筑信息模型的机器人定位精度优化策略  

Positioning Accuracy Optimization Strategy of BIM-Based for Construction Robots

作　　者：李铁军[1,2] 汪昕 刘今越 贾晓辉[1] 高超[1] Li Tiejun;Wang Xin;Liu Jinyue;Jia Xiaohui;Gao Chao(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang 050018,Hebei,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]河北科技大学机械工程学院,河北石家庄050018

出　　处：《应用激光》2024年第7期137-145,共9页Applied Laser

基　　金：国家自然科学基金(U20A20283);河北省重点研发计划项目(22311801D)。

摘　　要：提出一种以建筑信息模型(building information modeling,BIM)数据校正激光雷达误差的方法,用于解决建筑机器人室内精定位问题。首先,对雷达的采样数据进行概率建模,然后采用方差分析法研究影响机器人定位精度的不确定性变量显著性水平,确定敏感变量后引入BIM信息结合极大似然估计方法对雷达的数据进行修正。最后,对激光雷达扫描到的目标物位置精度进行评价,结果表明,不同种类别的材质误差差异在毫米级,所提出的方法具有较好的补偿效果。In this paper,a method using building information modeling(BIM)data to correct LiDAR erroLrs is proposed to solve the indoor precise positioning problem of building robots.Firstly,probabilistic modeling was carried out for the sampled radar data,and then the significance level of uncertainty variables affecting the positioning accuracy of the robot was studied by using the analysis of variance.After the sensitive variables were determined,BIM information was introduced and combined with the maximum likelihood estimation method to correct the radar data.Finally,the position accuracy of the object scanned by LiDAR is evaluated.The results show that the material error variance across different types is on the millimeter scale,and the proposed correction method effectively mitigates these errors.

关 键 词：建筑机器人 方差分析 建筑信息模型 极大似然估计 

分 类 号：TH744[机械工程—光学工程]