CN109557934B - Unmanned aerial vehicle cruise control method and device based on fabricated building platform - Google Patents
Unmanned aerial vehicle cruise control method and device based on fabricated building platform Download PDFInfo
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Abstract
The application discloses an unmanned aerial vehicle cruise control method and device based on an assembly type building platform, a terminal device and a computer readable storage medium, and solves the problem that an existing unmanned aerial vehicle cruise method is low in intelligence level. Wherein the control method comprises the following steps: acquiring personnel information of a construction site; adjusting a cruise cycle of the unmanned aerial vehicle based on the personnel information; transmitting the image data of the construction site acquired by the unmanned aerial vehicle to the fabricated building platform; and completing three-dimensional modeling and displaying on the fabricated building platform based on the image data. Therefore, the problem that the existing unmanned aerial vehicle cruising method is low in intelligentization level is solved.
Description
Technical Field
The application belongs to the technical field of assembly type buildings, and particularly relates to an unmanned aerial vehicle cruise control method and device based on an assembly type building platform and a terminal device.
Background
An assembly type building cloud cooperation platform formed on the basis of the Internet and the BIM breaks various barriers and boundaries among people, information, processes and the like related to a project by means of a BIM model and a cloud computing technology, and efficient cooperation of project management is achieved. Along with the rapid development of the unmanned aerial vehicle technology, the real-scene images of the building site are collected by the unmanned aerial vehicle, and are transmitted to the assembly type building cloud cooperation platform for three-dimensional modeling and displaying, so that the working personnel can clearly know the life cycle stage of the building through the shooting result of the unmanned aerial vehicle, and the current progress of the project is mastered. Compared with manual shooting, the method is more efficient and convenient. However, the existing period for cruising the unmanned aerial vehicle is usually preset by a worker, and if the cruising period of the unmanned aerial vehicle is to be changed, the worker must modify relevant parameters for cruising the unmanned aerial vehicle through the fabricated building cloud coordination platform, so that the existing unmanned aerial vehicle cruising method is low in intelligence level.
Disclosure of Invention
In view of this, the present application provides an unmanned aerial vehicle cruise control method and apparatus based on an assembly type building platform, a terminal device, and a computer-readable storage medium, which solve the problem of low intelligence level of the existing unmanned aerial vehicle cruise method.
The first aspect of the application provides an unmanned aerial vehicle cruise control method based on an assembly type building platform, the unmanned aerial vehicle and the platform are in communication connection, and the control method comprises the following steps:
the unmanned aerial vehicle cruises a construction site according to an automatically planned cruising route and acquires image data of the construction site;
acquiring personnel information of a construction site;
adjusting a cruise cycle of the unmanned aerial vehicle based on the personnel information;
transmitting the image data of the construction site acquired by the unmanned aerial vehicle to the fabricated building platform;
and completing three-dimensional modeling and displaying on the fabricated building platform based on the image data.
The second aspect of this application provides a controlling means that unmanned aerial vehicle cruises based on fabricated building platform, unmanned aerial vehicle with platform communication connection, above-mentioned controlling means includes:
the acquisition unit is used for the unmanned aerial vehicle to cruise a construction site according to an automatically planned cruising route and acquire image data of the construction site;
the personnel information acquisition unit is used for acquiring personnel information of a construction site;
an adjusting unit, configured to adjust a cruise cycle of the unmanned aerial vehicle based on the person information;
the transmission unit is used for transmitting the image data of the construction site acquired by the unmanned aerial vehicle to the fabricated building platform;
and the modeling unit is used for completing three-dimensional modeling and displaying on the fabricated building platform based on the image data.
A third aspect of the present application provides a mobile terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect when executing the computer program.
A fourth aspect of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect as described above.
A fifth aspect of the application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method as described in the first aspect above.
From the above, in the scheme of the application. The cruise cycle of the unmanned aerial vehicle is adjusted based on the number of people on the construction site, so that the assembly type building platform can dynamically adjust the cruise cycle/frequency of the unmanned aerial vehicle according to the number of people on the construction site, workers who do not need the assembly type building platform manually modify the cruise cycle parameters of the unmanned aerial vehicle, and the intelligent level of the unmanned aerial vehicle cruise method is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a prefabricated building platform system according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an implementation of a control method for unmanned aerial vehicle cruise based on a fabricated building platform according to a second embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating an implementation of another control method according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating an implementation of another control method according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of a control device for unmanned aerial vehicle cruising based on a fabricated building platform according to a third embodiment of the present invention;
fig. 6 is a schematic diagram of a terminal device according to a fourth embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Example one
Fig. 1 is a schematic structural diagram of a fabricated building platform according to an embodiment of the present invention
The assembly type building platform integrates design, production and construction around the assembly type building; the integrated building method has the advantages that the integrated building, structure, mechanical and electrical integration, built-in integration and technology, management and industrial integration (three integration for short) are needed, the technologies of BIM, internet of things, assembly type building and the like are integrated systematically, and the building + internet platform is innovated and researched. Assembled building platform includes digital design module, cloud build online shopping module, intelligent factory module, wisdom building site module and happiness space module.
The digital design module comprises a project library, a component and part library, wherein the project library is used for carrying out classification management on all projects managed by the platform, and each project catalog further comprises sub-catalogs such as a panorama, a tower, a standard layer, a project component library, a project part library and the like. The component and part library is used for carrying out classification management on components and part components used by all projects managed by the platform, wherein the components are displayed in a two-dimensional code form, a user can click the two-dimensional code through the platform terminal to display component real object images, or the two-dimensional code is scanned through a mobile terminal and then displayed on the mobile terminal. The part component is displayed through the three-dimensional real-scene model image, and a user can rotate the three-dimensional real-scene model image of the part component through a mouse on the platform terminal, so that the three-dimensional real-scene model image can be displayed at different angles.
The cloud construction online shopping module comprises a BIM construction cost management submodule and a cloud construction network submodule, wherein the BIM construction cost management submodule is used for carrying out construction cost management on all projects managed by the platform, and the construction cost comprises civil engineering, a steel structure, weak current intellectualization and metal roof construction cost. The cloud networking submodule provides interfaces for bidding, worker recruitment and component part purchase related to projects in an online shopping mall mode. The user can directly realize online bidding, worker recruitment and component and part purchase through the assembly type building platform.
The intelligent factory module comprises a PC (prestressed concrete) factory management system, a remote video monitoring system, a production plan design system and a prefabricated part production information system. The PC factory management system is used for providing login interfaces of office systems of all factories. The remote video monitoring system is used for calling interfaces of monitoring cameras of different factories, and a user can select a corresponding factory in the remote video monitoring system of the platform, so that the monitoring cameras in the factory can be called, and production and personnel conditions of the factory are monitored. The production plan design system is used for providing a production plan table for a project which is currently performed for a user, and the user can perform plan design through the production plan design system and send the design scheme to a corresponding responsible party. The prefabricated part production information system is used for gathering the information of all the members produced by the factory, and the user can check the related information of the members in the prefabricated part production information system of the platform, such as the concrete amount, the weight of the members, the volume of reinforcing steel bars, the weight of the reinforcing steel bars, the steel content, the number of sleeves, the number of lifting appliances, the number of hanging rods, the number of screws, the number of wall through holes, the number of electric boxes and the like.
The intelligent construction site module comprises a remote monitoring unit, an engineering quality unit, a construction site safety unit, a contract planning unit, a cost measuring and calculating unit, a component tracing unit, a personnel management unit and a point cloud scanning unit.
The remote monitoring unit is used for carrying out video monitoring on different areas of a construction site. The engineering quality unit is used for displaying quality related information, such as the number of hidden dangers, the number of overdue untrimmed changes, the number of changes to be corrected, the number of receptions to be checked and the number of closed states, and classifying the hidden dangers according to severity, wherein the hidden dangers are classified into major hidden dangers, major hidden dangers and general hidden dangers. In the platform, the hidden danger intensity of different subcontractors is displayed in a histogram mode. The worksite safety is used to show safety problems in a worksite to a user in the form of a chart, for example, to classify safety problems existing in a worksite into an aerial work, a management action, a formwork support, a hoisting machine, a triple-treasure four-port, a construction machine, construction electricity, an external scaffold, and a civilized construction, and to show the same in the form of a pie chart. The contract planning unit is used for pre-controlling the contract acquisition plan, realizing self-enabling monitoring and task supervision of the acquisition plan, ensuring correct execution of the contract, realizing structural storage, quick query, task supervision and process approval of the acquisition plan, and realizing high-efficiency and practical data. The cost measuring and calculating unit is used for being associated with project image progress, realizing multi-stage fine control of sub-packages, materials, machinery, manpower and expenses, pre-warning and correcting, assisting business personnel in carrying out overall process monitoring on cost control, finding risks, taking corresponding measures, saving cost and realizing profits. The component tracing module realizes the full life cycle tracing of the components from design, production, acceptance and hoisting through the component two-dimension code generated by the BIM model. And a single component is used as a basic unit body, so that the information summary of the whole life cycle of the component is realized. With butt joint BIM lightweight model, realize the real-time control to the on-the-spot progress of building site. Through the virtual construction based on the lightweight BIM model, the real-time hanging connection of the component progress and the model can be realized, the progress simulation can be carried out in a segmented and partitioned mode according to the color partition, the simulation information can be associated with PROJECT, the planned progress and the actual progress can be compared through the association of the chart and the model, and the construction progress deviation comparison can be completed. Meanwhile, a key node payment plan in the butt-joint business module can be expanded, one-to-one correspondence between an engineering construction plan and a business payment plan in engineering key nodes is realized, real-time comparison between plan payment and actual payment amount is realized, accurate control of cost generated by each node of an engineering is realized, and auxiliary decision information maximization is provided for a project manager.
The personnel management unit can realize the three-dimensional management of the field labor personnel by organically combining data of three functions of a personnel real-name system, personnel positioning information and video monitoring information on a platform. The account number authority setting and the key data summarization are combined, so that a manager can conveniently master the conditions of on-site labor personnel in real time through visual data. And the system is combined with a front-end biological recognition gate system to remotely monitor the number of workers and personnel information in the field in real time. Meanwhile, the digital systematic management of project labor workers is completed through analysis and cross comparison personnel information data.
The point cloud scanning unit can realize centimeter-level quality scanning and live-action modeling of the finished indoor engineering through infrared point cloud scanning. And meanwhile, the scanning result is compared with the BIM lightweight model and uploaded to a platform database for filing, and a construction deviation report is generated by combining design information, so that a data basis is provided for a construction quality report. The point cloud scanning result is recorded into a database for record, and three-dimensional data can be provided for house digital use specifications of owners by combining delivery information.
The happiness space module provides services such as new residence delivery, panoramic building operation instruction, panoramic property management navigation, panoramic building physical examination based on VR, panoramic virtual reality technology. Support VR and the panorama experience of removing the end and experience the impression, supplementary acceptance and delivery room. The system supports the identification of key information such as the position of a property place, the surrounding environment, the house number and the like through the mobile terminal code scanning, and can make a house selection decision based on high-quality visualization, and the house selection result can realize data statistics on a platform. The related building drawings and the household part library can be selected on line in the living process, and the information of the related maintenance facilities can be visually inquired on line.
Example two
Fig. 2 is a schematic flow chart of an implementation of the unmanned aerial vehicle cruise control method based on the fabricated building platform according to the second embodiment of the present invention, and this embodiment is a method of specific application of the system according to the first embodiment. The method comprises the following steps:
s201, the unmanned aerial vehicle cruises a construction site according to an automatically planned cruising route and collects image data of the construction site.
In this embodiment, plan the cruising route of unmanned aerial vehicle at fabricated construction platform in advance, formulate the region of survey and drawing, when the survey and drawing scope is great, can divide into a plurality of subregions with the region of survey and drawing, the subregion divide can divide according to the engineering division of labor condition. The planned cruising route is sent to the unmanned aerial vehicle, optionally, shooting angle information is correlated to the cruising route, so that the unmanned aerial vehicle is indicated to acquire image data at a specified position in the cruising route according to a preset angle.
And S202, acquiring personnel information of a construction site.
In this embodiment, the construction site refers to a site where construction activities such as house construction, civil engineering, equipment installation, and pipeline laying are performed for industrial and civil projects, and the construction site and the site where human beings are approved to perform safety production, civilized work, and construction, including all areas where construction work can be performed on land, sea, and in the air. Wherein the personnel information includes the number of workers in the construction site, such as the number of management personnel and the number of construction workers in the construction site. Or the staff information may also include grouping information of staff members.
Wherein, acquire job site's personnel information, include:
step S2021, the number of people who enter the construction site is acquired.
Step S2022, the number of persons who leave the construction site is acquired.
And step S2023, acquiring personnel information of the construction site by calculating the difference value between the number of people entering the construction site and the number of people leaving the construction site.
In this embodiment, the job site includes at least one entry and at least one export, all sets up access control system at every entry and export of job site, access control system can discern the staff of business turn over job site through modes such as IC-card, fingerprint identification, face identification. And the access control system can count the staff who pass in and out the scene. When N workers enter a construction site through the entrance access control system, the counting of a counting unit of the entrance access control system is increased by N; when N workers leave a construction site through the exit access control system, the counting of the counting unit of the exit access control system is increased by N, wherein N is an integer larger than one. When the counting of the calculating unit of the entrance access control system or the exit access control system is changed, the changed counting value is sent to the fabricated building platform, and the fabricated building platform calculates the difference value between the number of people entering the construction site and the number of people leaving the construction site, so that the number of people on the construction site is obtained.
And S203, adjusting the cruise cycle of the unmanned aerial vehicle based on the personnel information.
And S204, transmitting the image data of the construction site acquired by the unmanned aerial vehicle to the fabricated building platform.
In the embodiment, the assembly type building platform is butted with an unmanned aerial vehicle, the unmanned aerial vehicle is controlled to shoot a construction site according to a preset cruising route and a cruising period, the unmanned aerial vehicle is a power aerial vehicle without carrying an operator, the required lift force is provided for the aerial vehicle by adopting aerodynamic force, and the unmanned aerial vehicle can fly automatically or be guided remotely; can be used for one time and can be recycled. The assembly type building platform controls the unmanned aerial vehicle to shoot image data of a building on a construction site, wherein the image data are image data and/or video data, and the obtained image data are analyzed and monitored, so that the overall monitoring of the building is realized, and the assembly type building platform is suitable for monitoring the outer vertical surface of the building and building sites with structures changed continuously. Unmanned aerial vehicle includes video acquisition module, and this video acquisition module can set up the optional position at unmanned aerial vehicle, and preferred setting is in unmanned aerial vehicle's bottom, video acquisition module can integrate in unmanned aerial vehicle's hardware system, perhaps, video acquisition module also can be independent module, promptly, video acquisition module and unmanned aerial vehicle use different processing system respectively, and unmanned aerial vehicle can carry out data transmission and instruction transmission through wired or wireless mode and video acquisition module. The video acquisition module can also directly receive the control command directly sent by the assembly type building platform.
The prefabricated building platform controls the cruise cycle of the unmanned aerial vehicle based on the number of persons at the construction site acquired in step S2023. The method specifically comprises the following steps:
step S2031, establishing a corresponding relation between the number of people in a construction site and the cruising period of the unmanned aerial vehicle on the fabricated building platform in advance;
step S2032, searching the corresponding cruising period of the unmanned aerial vehicle based on the number of the acquired construction sites,
and S2033, controlling the unmanned aerial vehicle to cruise according to the searched cruise cycle and acquiring image data by the fabricated building platform.
In the embodiment, a database is established in the server of the fabricated building platform, and the database is used for storing the number of construction persons at a construction site and the cruising period/frequency of the unmanned aerial vehicle. Because the cruising period/frequency of unmanned aerial vehicle among the prior art all is preset, if the current construction number of people is less, that is to say, current engineering progress is slow, and the update speed of building is slower, if shoot according to preset period/frequency probably lead to that the data that unmanned aerial vehicle shot produces a large amount of redundancies, the wearout of unmanned aerial vehicle that also increases moreover. On the other hand, if the number of people currently under construction is large, that is to say, the current project progress is fast, and the update speed of the building is fast, if shooting according to the preset cycle/frequency, the data volume shot by the unmanned aerial vehicle is possibly insufficient, so that the complete image data of the whole life cycle of the fabricated building cannot be obtained. Therefore, the method and the device have the advantages that the corresponding relation between the number of construction persons of a construction site and the cruise cycle of the unmanned aerial vehicle is established in advance on the fabricated building platform, the number of construction persons of the construction site is inversely related to the cruise cycle of the unmanned aerial vehicle, namely, if the number of construction persons of the construction site is larger, the cruise cycle of the unmanned aerial vehicle is shorter, and the cruise frequency is higher; if the number of construction persons on the construction site is smaller, the cruising period of the unmanned aerial vehicle is longer, and the cruising frequency is slower. Therefore, the cruise cycle/frequency of the unmanned aerial vehicle can be dynamically adjusted according to the number of construction persons on the construction site, the cruise cycle parameters of the unmanned aerial vehicle can be manually modified by workers without the assembly type building platform, and the intelligent level of the unmanned aerial vehicle cruise method is improved.
Preferably, the number of the construction sites is specifically the number of constructors, and the number of the constructors is large because of the large number of the constructors entering and exiting the construction sites, wherein the constructors, the managers and the maintainers are included. Wherein the construction worker directly participates in civil engineering work, and consequently construction worker quantity is closely correlated with the update speed of building, consequently, in this embodiment, only acquires the construction worker number when acquireing the number of job site, does not consider managers, maintainer to make and adjust unmanned aerial vehicle cruise cycle's correspondence more accurate based on the number of job site.
And step 205, completing three-dimensional modeling on the fabricated building platform based on the image data and displaying.
In this embodiment, after the assembly type building platform receives the image data collected by the unmanned aerial vehicle, three-dimensional modeling is performed to generate a three-dimensional model, and a user can visually know the life cycle of the building in the current construction site according to the three-dimensional model, so that the user can better know the project progress, and the work arrangement is optimized.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Further, referring to fig. 3, transmitting the image data of the construction site collected by the unmanned aerial vehicle to the prefabricated building platform includes:
step S301, detecting the intensity value of a communication signal between the unmanned aerial vehicle and the fabricated building platform;
step S302, if the strength value is larger than a preset value, transmitting the image data through a communication link between the unmanned aerial vehicle and the fabricated building platform;
step S303, if the intensity value is smaller than the preset value, transmitting the image data to the construction site local terminal through a WiFi protocol, and transmitting the image data to the fabricated building platform through the construction site local terminal.
In this embodiment, when unmanned aerial vehicle gathered image data, at first detected the intensity of the communication signal between unmanned aerial vehicle and the platform, because signal strength produces really easily when lower, lead to the data of gathering incomplete, thereby influence the later stage and carry out three-dimensional reconstruction to image data, consequently, this embodiment sets for a predetermined signal intensity value, when detecting the intensity of the communication signal between unmanned aerial vehicle and the platform and be greater than this predetermined signal intensity value, the image data that will gather carries out direct transmission through the unmanned aerial vehicle with the communication link between the assembly type building platform. When the intensity of detecting the communication signal between unmanned aerial vehicle and the platform is less than this predetermined signal intensity value, start unmanned aerial vehicle's wiFi interface, this unmanned aerial vehicle passes through wiFi interface automatic connection job site local terminal to can carry out data transmission with job site local terminal, after job site local terminal received the image data of unmanned aerial vehicle transmission, can be with image data storage on job site local terminal, perhaps directly transmit assembled building platform.
Further, referring to fig. 4, after the three-dimensional modeling is completed and displayed on the fabricated building platform based on the image data, the method further includes:
step S401, obtaining a pre-established BIM lightweight model,
step S402, comparing the model which completes three-dimensional modeling on the fabricated building platform based on the image data with the BIM lightweight model;
step S403, generating a deviation report based on the comparison result.
In this embodiment, before the field construction, a BIM lightweight three-dimensional model of the building is designed and introduced into the prefabricated building platform, and under normal conditions, a model of three-dimensional reconstruction of image data acquired by the unmanned aerial vehicle after the construction project is completed should be consistent with the BIM lightweight three-dimensional model. In order to ensure the engineering quality, the construction site needs to be subjected to image data acquisition by an unmanned aerial vehicle regularly or irregularly in the construction process, a three-dimensional model is established on an assembly type building platform based on the acquired image data, then the three-dimensional model is compared with a BIM (building information modeling) lightweight three-dimensional model designed before site construction, and a deviation report is generated based on the comparison result. The deviation report may report a project completion and a component deviation rate. For example, by comparing a three-dimensional model established according to image data acquired by the unmanned aerial vehicle with the BIM lightweight three-dimensional model, whether the position of a member in the current building is at a preset position of the BIM lightweight three-dimensional model can be clearly known, and if the member is not at the preset position, the member is considered to have a position deviation. And calculating the number of the components with position deviation, acquiring the total number of the currently used components, and calculating the component deviation rate. Therefore, the quality of the current construction project can be objectively evaluated.
Further, the three-dimensional modeling and displaying on the fabricated building platform based on the image data includes:
obtaining a model for completing three-dimensional modeling on the fabricated building platform all the time;
and generating a project growth trend dynamic graph based on the generated model and the time corresponding to the model.
In this embodiment, the unmanned aerial vehicle acquires image data each time and transmits the image data to the assembly type building platform, three-dimensional modeling is completed, the assembly type building platform stores three-dimensional models generated all the time, the assembly type building platform can also provide options for generating a project growth trend graph, and when platform staff select the option for generating the project growth trend graph, the platform generates a project growth trend dynamic graph based on the generated models and time corresponding to the models. Therefore, the working personnel can visually know the current completion status of the platform at different time nodes. The staff can conveniently grasp the growth trend of the project so as to carry out the next work arrangement.
EXAMPLE III
Referring to fig. 5, a schematic diagram of a control device for unmanned aerial vehicle cruise based on a fabricated building platform according to a third embodiment of the present invention is shown, and for convenience of description, only the parts related to the embodiment of the present invention are shown.
The acquisition unit 51 is used for the unmanned aerial vehicle to cruise a construction site according to an automatically planned cruising route and acquire image data of the construction site;
a personnel information acquisition unit 52 for acquiring personnel information of a construction site;
an adjusting unit 53, configured to adjust a cruise cycle of the unmanned aerial vehicle based on the person information;
the transmission unit 54 is used for transmitting the image data of the construction site acquired by the unmanned aerial vehicle to the fabricated building platform;
and the modeling unit 55 is used for completing three-dimensional modeling on the fabricated building platform based on the image data and displaying the three-dimensional modeling.
Preferably, the image data is image data and/or video data.
Further, the person information acquiring unit 52 includes:
the entrance people number information acquisition unit is used for acquiring the number of people entering a construction site;
the off-site people number information acquisition unit is used for acquiring the number of people leaving the construction site;
and the number-of-people information calculation unit is used for acquiring the number of people at the construction site by calculating the difference value between the number of people entering the construction site and the number of people leaving the construction site.
Further, the transmission unit includes:
the strength value detection unit is used for detecting the strength value of a communication signal between the unmanned aerial vehicle and the fabricated building platform;
the data transmission unit is used for transmitting the influence data through a communication link between the unmanned aerial vehicle and the fabricated building platform if the strength value is larger than a preset value;
and if the intensity value is smaller than the preset value, transmitting the image data to the construction site local terminal through a WiFi protocol, and transmitting the image data to the fabricated building platform through the construction site local terminal.
Further, the apparatus further comprises:
a deviation report generation unit for obtaining a pre-established BIM lightweight model,
comparing the model which completes three-dimensional modeling on the fabricated building platform based on the image data with the BIM lightweight model;
generating a deviation report based on the results of the alignment.
Further, the modeling unit includes:
the historical data acquisition unit is used for acquiring a model for completing three-dimensional modeling on the fabricated building platform all the time;
and the trend dynamic graph generating unit is used for generating a project growth trend dynamic graph based on the generated model and the time corresponding to the model.
According to the embodiment, the corresponding relation between the number of construction persons in a construction site and the cruise cycle of the unmanned aerial vehicle is established in advance on the fabricated building platform, wherein the number of construction persons in the construction site is inversely related to the cruise cycle of the unmanned aerial vehicle, namely, if the number of construction persons in the construction site is more, the cruise cycle of the unmanned aerial vehicle is shorter, and the cruise frequency is faster; if the number of construction persons on the construction site is smaller, the cruising period of the unmanned aerial vehicle is longer, and the cruising frequency is slower. Therefore, the cruise cycle/frequency of the unmanned aerial vehicle can be dynamically adjusted according to the number of construction persons on the construction site, the cruise cycle parameters of the unmanned aerial vehicle can be manually modified by workers without the assembly type building platform, and the intelligent level of the unmanned aerial vehicle cruise method is improved.
Example four
Fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 6, the terminal device 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the above-described respective assembly building component processing method embodiments, such as the steps 201 to 204 shown in fig. 2. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 51 to 54 shown in fig. 5.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the terminal device 6.
The terminal device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of a terminal device 6 and does not constitute a limitation of terminal device 6 and may include more or less components than those shown, or some components in combination, or different components, for example, the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used for storing the computer program and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. An unmanned aerial vehicle cruise control method based on an assembly type building platform is characterized in that the unmanned aerial vehicle is in communication connection with the platform:
the unmanned aerial vehicle cruises a construction site according to an automatically planned cruising route and acquires image data of the construction site;
acquiring personnel information of a construction site;
adjusting a cruise cycle of the unmanned aerial vehicle based on the personnel information;
transmitting the image data of the construction site acquired by the unmanned aerial vehicle to the fabricated building platform;
completing three-dimensional modeling on the fabricated building platform based on the image data to generate a three-dimensional model, and displaying the three-dimensional model;
the personnel information of the construction site is obtained, and the method comprises the following steps:
acquiring the number of people entering a construction site;
acquiring the number of people leaving the construction site;
acquiring the number of people at the construction site by calculating the difference between the number of people entering the construction site and the number of people leaving the construction site;
the cruise cycle based on the personnel information adjustment of the unmanned aerial vehicle is specifically as follows:
establishing a corresponding relation between the number of people in a construction site and the cruising period of the unmanned aerial vehicle on an assembly type building platform in advance;
searching the corresponding cruising period of the unmanned aerial vehicle based on the number of the acquired construction sites,
and the assembly type building platform controls the unmanned aerial vehicle to cruise according to the searched cruise period and acquires image data.
2. The control method of claim 1, wherein transmitting the image data of the construction site collected by the unmanned aerial vehicle to the assembly building platform comprises:
detecting a strength value of a communication signal between the unmanned aerial vehicle and the prefabricated building platform;
if the intensity value is larger than a preset value, transmitting the image data through a communication link between the unmanned aerial vehicle and the fabricated building platform;
and if the intensity value is smaller than the preset value, transmitting the image data to the construction site local terminal through a WiFi protocol, and transmitting the image data to the fabricated building platform through the construction site local terminal.
3. The control method according to claim 1, further comprising, after the generating a three-dimensional stereo model based on the image data by performing three-dimensional modeling on the fabricated construction platform and displaying the three-dimensional stereo model:
obtaining a pre-established BIM lightweight model,
comparing the model which completes three-dimensional modeling on the fabricated building platform based on the image data with the BIM lightweight model;
generating a deviation report based on the results of the alignment.
4. The control method according to claim 1, wherein the performing three-dimensional modeling based on the image data at the fabricated building platform to generate a three-dimensional model and displaying the three-dimensional model comprises:
obtaining a model for completing three-dimensional modeling on the fabricated building platform all the time;
and generating a project growth trend dynamic graph based on the generated model and the time corresponding to the model.
5. The control method according to claim 1,
the image data is image data and/or video data.
6. The utility model provides a controlling means that unmanned aerial vehicle cruises based on fabricated building platform, unmanned aerial vehicle with platform communication connection, its characterized in that:
the acquisition unit is used for the unmanned aerial vehicle to cruise a construction site according to an automatically planned cruising route and acquire image data of the construction site;
the personnel information acquisition unit is used for acquiring personnel information of a construction site;
an adjusting unit, configured to adjust a cruise cycle of the unmanned aerial vehicle based on the person information;
the transmission unit is used for transmitting the image data of the construction site acquired by the unmanned aerial vehicle to the fabricated building platform;
the modeling unit is used for completing three-dimensional modeling on the fabricated building platform based on the image data to generate a three-dimensional model and displaying the three-dimensional model;
the person information acquiring unit includes:
the entrance people number information acquisition unit is used for acquiring the number of people entering a construction site;
the off-site people number information acquisition unit is used for acquiring the number of people leaving the construction site;
the number-of-people information calculation unit is used for acquiring the number of people at the construction site by calculating the difference value between the number of people entering the construction site and the number of people leaving the construction site;
the adjusting unit is specifically configured to:
establishing a corresponding relation between the number of people in a construction site and the cruising period of the unmanned aerial vehicle on an assembly type building platform in advance;
searching the corresponding cruising period of the unmanned aerial vehicle based on the number of the acquired construction sites,
and the assembly type building platform controls the unmanned aerial vehicle to cruise according to the searched cruise period and acquires image data.
7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN110880096B (en) * | 2019-11-20 | 2023-10-31 | 广西越知网络股份有限公司 | Multi-party collaborative office system for building engineering |
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| CN111813145B (en) * | 2020-06-30 | 2024-06-11 | 深圳市万翼数字技术有限公司 | Unmanned aerial vehicle cruising control method and related system |
| CN112362068B (en) * | 2020-12-04 | 2022-09-23 | 浙江煤炭测绘院有限公司 | Unmanned aerial vehicle surveying and mapping method, device and system |
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