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Article

Exploration of Indoor Barrier-Free Plane Intelligent Lofting System Combining BIM and Multi-Sensors

1
College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China
2
Institute of Geotechnical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
3
Shanghai Foundation Engineering Group Co., Ltd., Shanghai 200433, China
*
Author to whom correspondence should be addressed.
Remote Sens. 2020, 12(20), 3306; https://0-doi-org.brum.beds.ac.uk/10.3390/rs12203306
Received: 20 August 2020 / Revised: 28 September 2020 / Accepted: 10 October 2020 / Published: 12 October 2020
Lofting is an essential part of construction projects and the high quality of lofting is the basis of efficient construction. However, the most common method of lofting currently which uses the total station in a multi-person cooperative way consumes much manpower and time. With the rapid development of remote sensing and robot technology, using robots instead of manpower can effectively solve this problem, but few scholars study this. How to effectively combine remote sensing and robots with lofting is a challenging problem. In this paper, we propose an intelligent lofting system for indoor barrier-free plane environment, and design a high-flexibility, low-cost autonomous mobile robot platform based on single chip microcomputer, Micro Electro Mechanical Systems-Inertial Measurement Unit (MEMS-IMU), wheel encoder, and magnetometer. The robot also combines Building Information Modeling (BIM) laser lofting instrument and WIFI communication technology to get its own position. To ensure the accuracy of localization, the kinematics model of Mecanum wheel robot is built, and Extended Kalman Filter (EKF) is also used to fuse multi-sensor data. It can be seen from the final experimental results that this system can significantly improve lofting efficiency and reduce manpower. View Full-Text
Keywords: intelligent lofting system; indoor lofting; autonomous mobile robot; state estimation; fusion localization intelligent lofting system; indoor lofting; autonomous mobile robot; state estimation; fusion localization
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MDPI and ACS Style

Zhang, Z.; Cheng, X.; Yang, B.; Yang, D. Exploration of Indoor Barrier-Free Plane Intelligent Lofting System Combining BIM and Multi-Sensors. Remote Sens. 2020, 12, 3306. https://0-doi-org.brum.beds.ac.uk/10.3390/rs12203306

AMA Style

Zhang Z, Cheng X, Yang B, Yang D. Exploration of Indoor Barrier-Free Plane Intelligent Lofting System Combining BIM and Multi-Sensors. Remote Sensing. 2020; 12(20):3306. https://0-doi-org.brum.beds.ac.uk/10.3390/rs12203306

Chicago/Turabian Style

Zhang, Zijian, Xiaojun Cheng, Bilian Yang, and Dong Yang. 2020. "Exploration of Indoor Barrier-Free Plane Intelligent Lofting System Combining BIM and Multi-Sensors" Remote Sensing 12, no. 20: 3306. https://0-doi-org.brum.beds.ac.uk/10.3390/rs12203306

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