CN109840600A - The feeder channel unmanned plane of BIM auxiliary cooperates with cruising inspection system online - Google Patents
The feeder channel unmanned plane of BIM auxiliary cooperates with cruising inspection system online Download PDFInfo
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Abstract
The present invention relates to water supply project safety patrol inspection fields, a kind of suitable for the maintenance of feeder channel day-to-day operation to be directed to, and can enhance the online cruising inspection system of unmanned plane of the BIM auxiliary of front and back Collaboration in inspection operation process.Thus, the technical solution adopted by the present invention is that, the feeder channel unmanned plane of BIM auxiliary cooperates with cruising inspection system online, including intelligent patrol detection device, central server, WEB client side and alert receipt end, specifically: intelligent patrol detection device flies control three parts of module and data transmission module by unmanned aerial vehicle platform, intelligence and constitutes；Unmanned aerial vehicle platform using can low latitude hovering more rotary wind type unmanned planes, to meet the needs of feeder channel thin portion structure closely detects, unmanned aerial vehicle platform configures high-definition tripod camera, for acquiring real-time inspection image information；It includes remote controler and intelligent mobile terminal that intelligence, which flies control module,.Present invention is mainly applied to water supply project safety patrol inspection occasions.
Description
Technical field
The present invention relates to water supply project safety patrol inspection fields, more particularly, to one kind by Building Information Model (Building
Information Modeling, BIM) auxiliary, it is able to achieve the feeder channel unmanned plane cruising inspection system that front and back cooperate with online.
Background technique
The operational safety of feeder channel is for giving full play to project benefit, ensureing that water delivery quality is most important.Periodically carry out
Safety patrol inspection is conducive to find security risk in time and strangles disaster in budding state, is maintenance feeder channel operational safety
Important means.However, traditional artificial line walking mode has the following deficiencies: 1. manual inspection low efficiencys, there are check frequencies, difficult
To cover all fronts of long range water supply project；2. inspection process lacks the information communication and collaboration of front and back, front patrol officer
It is often difficult to targetedly determine inspection route, administrative decision personnel in rear are then difficult to understand front inspection situation in real time；3.
Inspection process lacks necessary information support, it is difficult to fast and safely be diagnosed in conjunction with safety monitoring data, design information etc..
The application of unmanned plane (Unmanned Aerial Vehicle, UAV) is expected to solve manually to patrol in Traditional project management
The problem of inspection and security control inefficiency.Wang Miao etc. [1] is for the traditional artificial tour of transmission line of electricity in safety, management, efficiency
The deficiency of aspect carries out auxiliary tour to transmission line of electricity using rotary wind type unmanned plane and with image recognition technology, realizes insulation
The Auto-Sensing of sub- defect, reduces manual intervention.Wang Jinglong [2] is proposed by the analysis to existing unmanned plane patrolling method
A kind of new power grid unmanned plane patrolling method and device, improve automation and intelligent level.Melo etc. [3] is based on engineering
Example has evaluated the feasibility that unmanned plane carries out safety inspection at the construction field (site), and Ellenberge etc. [4], which then has studied, utilizes nothing
The method of man-machine image automatic identification Bridge Structural Damage.The existing fresh UAV that is related to less of research is in terms of water supply project safety patrol inspection
Application, how the practical process of unmanned plane and channel safety patrol inspection to be intimately associated, with improve inspection work efficiency, covering
Property and concertedness are problems to be solved.
With the popularization and application of BIM technology, Building Information Model has become current project life cycle message tube
The effective means of reason.Han etc. [5] proposes the underground pipe network facility construction project time management method based on BIM, and has carried out engineering
Application study.Irizarry etc. [6] is by BIM and GIS-Geographic Information System (Geographic Information System, GIS)
It is integrated into a system, improves the efficiency of management of construction material supply chain.Wang etc. [7], which is proposed in engineering project, to be connected
The BIM frame in Electromechanical Design stage and construction stage.BIM model is in terms of the organization and administration of architectural engineering information are with visual presentation
With powerful advantage, channel BIM model and safety monitoring data are coupled using advantage dynamic, and then routine safety is assisted to patrol
Inspection, will provide powerful information support for engineering safety quick diagnosis.
In conclusion it is low for current feeder channel manual security routing inspection efficiency, lack concertedness, and be difficult to carry out reality
When the problem of fast and safely diagnosing, it is necessary to integrated application unmanned air vehicle technique, BIM technology and modern communications technology research and develop one kind
It is safeguarded suitable for channel day-to-day operation, the unmanned plane of the BIM auxiliary of front and back Collaboration in inspection operation process can be enhanced
Online cruising inspection system.
Bibliography
[1] Wang Miao, Du Yi, Zhang Zhongrui unmanned plane auxiliary are maked an inspection tour and the research of defects of insulator image recognition [J] electronic, horological
Amount and instrument journal, 2015 (12): 1862-1869.
[2] a kind of unmanned plane method for inspecting of Wang Jinglong, device and unmanned plane [P] China, patent of invention,
CN201610454755.8,2017.
[3]Melo R R S D,Costa D B, S,et al.Applicability of unmanned
aerial system(UAS)for safety inspection on construction sites[J].Safety
Science,2017,98:174-185.
[4]Ellenberg A,Kontsos A,Moon F,et al.Bridge related damage
quantification using unmanned aerial vehicle imagery[J].Structural Control&
Health Monitoring,2016,23(9):1168-1179.
[5]Han X,Wang J,Miao Q,et al.Schedule Management in Underground
Municipal Pipe Network Construction Based on BIM Technology[C]International
Conference on Sustainable Energy and Environment Engineering.2016.
[6]Irizarry J,Karan E P,Jalaei F.Integrating BIM and GIS to improve
the visual monitoring of construction supply chain management[J].Automation
in Construction,2013,31(5):241-254.
[7]Wang J,Wang X,Shou W,et al.Building information modeling-based
integration of MEP layout designs and constructability[J].Automation in
Construction,2016,61:134-146.gns and constructability,Automation in
Construction 61(2016)134-146。
Summary of the invention
In order to overcome the deficiencies of the prior art, the present invention is directed to propose a kind of feeder channel day-to-day operation that is suitable for is safeguarded, energy
Enhance the online cruising inspection system of unmanned plane of the BIM auxiliary of front and back Collaboration in inspection operation process.For this purpose, the present invention adopts
The technical solution taken is that the feeder channel unmanned plane of BIM auxiliary cooperates with cruising inspection system, including intelligent patrol detection device, center online
Server, WEB client side and alert receipt end, specifically:
Intelligent patrol detection device flies control three parts of module and data transmission module by unmanned aerial vehicle platform, intelligence and constitutes；
Unmanned aerial vehicle platform using can low latitude hovering more rotary wind type unmanned planes, to meet feeder channel thin portion structure closely
The demand of detection, unmanned aerial vehicle platform configures high-definition tripod camera, for acquiring real-time inspection image information；Intelligence flies control module packet
Remote controler and intelligent mobile terminal are included, effect is the patrol task for receiving central server and assigning, and operation unmanned plane presses rear
The route automatic detecting of administrative staff's planning, and attitude of flight vehicle and course line are adjusted in due course depending on on-site actual situations, in addition to this,
The module also obtains its real-time flying quality from unmanned aerial vehicle platform and video image of taking photo by plane, and packing is sent to data transmission mould
Block；4G (the 4th Generation mobile communication that data transmission module passes through inspection scene
Technology) network or wireless private network return position coordinates, body posture and the flight of holder posture to central server in real time
Data, and video data of taking photo by plane, above-mentioned data have device ID label, so that central server is to different inspection devices
Return data carries out structured storage；It is bad for reply respective regions network signal, it is difficult to realize the case where data return in real time,
Data transmission module has the function of local preservation, and after inspection, data can be copied out and upload filing by patrol officer, for rear
Continuous application；
The various information progress that central server is related to system is centrally stored, and responds the request of each terminal device, real
Existing data retrieval, data-pushing, video code conversion and alarm publication, specifically include:
(1) flight management server-side
The function that flight management server-side is realized includes two aspects: 1. assigning user to specified UAV Intelligent inspection device
The inspection route and task planned, and adjustment of the dynamic response rear administrative staff to course line after inspection starts, in real time to
Field inspector issues adjustment instruction；2. receiving position coordinates, body posture and the holder of storage intelligent patrol detection device passback
The flying qualities such as posture, and respond hyper text protocol HTTP (HyperText Transfer Protocol) request retrieval and meet
It is required that flying quality to WEB client side distribute, with realize BIM virtual scene linkage roaming；
(2) inspection Video service end
Inspection Video service end group is in real-time messages transport protocol RTMP (Real Time Messaging Protocol)
Realize push-and-pull stream and the filing storage of inspection video, after the completion of patrol task is assigned, server-side is respectively each to be assigned task
Intelligent patrol detection device distribute specific RTMP plug-flow address, to receive the video image data of passback；Then, to the reality of passback
When video flowing do coding compression work to guarantee the continuity of subsequent transmission；Finally, the drawing stream of response WEB client side player is asked
It asks, is serviced by CDN (Content Delivery Network) to user and distribute real-time inspection image, in addition to this, inspection
Video service end can also carry out parsing storage to passback video, subsequent check analysis to facilitate；
(3) safety supervision BIM integration module
Safety supervision BIM integration module carries out storage management to the feeder channel BIM model for coupling integrated security monitoring data；
(4) alarm release module
If finding dangerous situation during inspection, alarm release module will send the alarm that user writes to engineering related personnel
The emergency response measure of short message and suggestion；
WEB client side is made of inspection route planning module, BIM auxiliary polling module and warning message editor module,
Under inspection route planning module, after user analyzes determining emphasis inspection position according to safety monitoring data, it is based on channel BIM model
It clicks and draws out inspection course line, then the course line drawn out is resolved to data lattice corresponding with unmanned aerial vehicle platform interface
Formula, and assigned by central server to intelligent patrol detection device, BIM assists polling module to show simultaneously under same browser page
Show and the inspection video outdoor scene returned in real time and couple the channel BIM virtual scene of dynamic safety supervision data, by from central server
It calls the unmanned plane position, body posture and the holder camera that are consistent with video present frame picture towards data, then carries out coordinate
The matching of BIM virtual scene with video present frame picture of taking photo by plane is realized in the resolving of conversion and actual situation camera match parameter, reaches empty
Quasi- BIM is with the effect for audio video synchronization roaming of taking photo by plane, if noting abnormalities from inspection video image, user can be compiled using warning message
Module is collected to write abnormal alarm short message and issued from central server to related personnel；
Alert receipt end both can be personal intelligent mobile phone, be also possible to the technical grade palm PC of special configuration
PDA, related personnel receive warning message alert receipt end in the form of short message, then negotiate to formulate emergency preplan, in time
Take measures the development that controls the dangerous circumstances.
Safety supervision BIM integration module specific workflow is as follows: 1. according to the information architectures feeder channel BIM mould such as design drawing
Type, wherein the mode of safety monitoring arrangement symbolizationization modeling indicates different types of prison with the block of different shape and color
Survey sensor；2. light-weight technologg is carried out to the BIM model built up, to be converted to the format for supporting WEB terminal browsing；3. developing number
According to the collecting safe monitoring data system of interface docking canal engineering, realize that the dynamic storage of safety monitoring data is integrated；4. transporting
The method mapped with critical field establishes the one-to-one relationship between monitoring sensor actual number and its BIM model ID number, from
And that realizes between safety supervision data and BIM model integrated couples.
The features of the present invention and beneficial effect are:
The present invention is a kind of by Building Information Model (Building Information Modeling, BIM) auxiliary, energy
Realize the water supply project unmanned plane safety patrol inspection system that front and back cooperate with online.Its advantages are as follows:
1. realizing the unmanned plane inspection of the band-like engineering of long range channel, it is blind in the presence of detecting to solve traditional artificial method
The problem of area, inefficiency, is conducive to the degree of automation and coverage area for improving inspection.
2. breaking the information barrier between front patrol officer and rear administrative staff using modern communications technology, realizes and patrol
The real-time passback with aerial images is assigned in the Dynamic Programming in inspection course line, enhances the collaboration of front and back personnel in inspection operation process
Property.
3. being based on channel BIM dynamic integrity safety monitoring information, and then unmanned plane inspection image is coupled, can be administrative staff
It quickly judges abnormal risk and ancillary works decision provides comprehensive, intuitive information support.
Detailed description of the invention:
Fig. 1 composition block diagram of the present invention.
Fig. 2 system integration principles figure.
Specific embodiment
It is suitable for feeder channel day-to-day operation the technical problem to be solved by the invention is to provide one kind to safeguard, can enhances
The online cruising inspection system of unmanned plane of the BIM auxiliary of front and back Collaboration in inspection operation process.
In order to achieve the above object, used technical solution is as follows:
A kind of unmanned plane of BIM auxiliary cooperates with cruising inspection system to be made of (as shown in Figure 1) four parts online, including intelligently patrols
Checking device, central server, WEB client side and alert receipt end.
(1) intelligent patrol detection device
Intelligent patrol detection device flies control three parts such as module and data transmission module by unmanned aerial vehicle platform, intelligence and constitutes.
Unmanned aerial vehicle platform using can low latitude hovering more rotary wind type unmanned planes, to meet feeder channel thin portion structure closely
The demand of detection.Platform configuration high-definition tripod camera, for acquiring real-time inspection image information.It includes remote control that intelligence, which flies control module,
Device and intelligent mobile terminal, effect are the patrol tasks for receiving central server and assigning, and operation unmanned plane presses rear administrator
The route automatic detecting of member's planning, and attitude of flight vehicle and course line are adjusted in due course depending on on-site actual situations.In addition to this, the module
Also its real-time flying quality is obtained from unmanned aerial vehicle platform and video image of taking photo by plane, packing is sent to data transmission module.Data
Transmission module returns position coordinates, body posture to central server by the 4G network or wireless private network at inspection scene in real time
With the flying qualities such as holder posture, and video data of taking photo by plane, above-mentioned data have device ID label, so as to central server
Structured storage is carried out to the return data of different inspection devices.It is bad for reply respective regions network signal, it is difficult to realize number
The case where (especially vision signal) is returned when factually, data transmission module have the function of local preservation, after inspection, inspection
Data can be copied out and upload filing by personnel, for subsequent applications.
(2) central server
The various information progress that central server is related to system is centrally stored, and responds the request of each terminal device, real
The functions such as existing data retrieval, data-pushing, video code conversion and alarm publication.Physically, after central server is by being distributed in
The more databases and application server host of side are constituted；It logically, then is by a series of realization different business demands
Functional module is constituted, and specifically includes flight management server-side, inspection Video service end, safety supervision BIM integration module and alarm publication
Four parts of module.
(1) flight management server-side
The function that flight management server-side is realized includes two aspects: 1. assigning user to specified UAV Intelligent inspection device
The inspection route and task planned, and adjustment of the dynamic response rear administrative staff to course line after inspection starts, in real time to
Field inspector issues adjustment instruction；2. receiving position coordinates, body posture and the holder of storage intelligent patrol detection device passback
The flying qualities such as posture, and respond HTTP request and retrieve satisfactory flying quality to WEB client side distribution, to realize BIM
The linkage of virtual scene roams.
(2) inspection Video service end
Inspection Video service end group is in real-time messages transport protocol (Real Time Messaging Protocol, RTMP)
Realize push-and-pull stream and the filing storage of inspection video.After the completion of patrol task is assigned, server-side is respectively each to be assigned task
Intelligent patrol detection device distribute specific RTMP plug-flow address, to receive the video image data of passback；Then, to the reality of passback
When video flowing do coding compression work to guarantee the continuity of subsequent transmission；Finally, the drawing stream of response WEB client side player is asked
It asks, is serviced by CDN (Content Delivery Network) to user and distribute real-time inspection image.In addition to this, inspection
Video service end can also carry out parsing storage to passback video, subsequent check analysis to facilitate.
(3) safety supervision BIM integration module
Safety supervision BIM integration module carries out storage management to the feeder channel BIM model for coupling integrated security monitoring data.Tool
Body process is as follows: 1. according to the information architectures feeder channel BIM model such as design drawing, wherein symbolization is arranged in safety monitoring
The mode of modeling indicates different types of monitoring sensor with the block of different shape and color；2. to the BIM model built up into
Row light-weight technologg, to be converted to the format for supporting WEB terminal browsing；3. developing the safety monitoring of data-interface docking canal engineering
Data collection system realizes that the dynamic storage of safety monitoring data is integrated；4. establishing monitoring with the method for critical field mapping
One-to-one relationship between sensor actual number and its BIM model ID number, to realize the collection between safety supervision data and BIM model
At coupling.
(4) alarm release module
If finding dangerous situation during inspection, alarm release module will be to engineering related personnel (safe Quality Inspector, management level
Deng) send the emergency response measure of alarm message and suggestion that user writes.
(3) WEB client side
WEB client side is made of inspection route planning module, BIM auxiliary polling module and warning message editor module.?
Under inspection route planning module, after user analyzes determining emphasis inspection position according to safety monitoring data, it is based on channel BIM model
It clicks and draws out inspection course line, then the course line drawn out is resolved to data lattice corresponding with unmanned aerial vehicle platform interface
Formula, and assigned by central server to intelligent patrol detection device.BIM assists polling module to show simultaneously under same browser page
Show and the inspection video outdoor scene returned in real time and couple the channel BIM virtual scene of dynamic safety supervision data, by from central server
The data such as the unmanned plane position being consistent with video present frame picture, body posture and holder camera direction are called, are then sat
The resolving of mark conversion and actual situation camera match parameter, realizes the matching of dynamic BIM virtual scene with video present frame picture of taking photo by plane,
Achieve the effect that virtual dynamic BIM with audio video synchronization roaming of taking photo by plane.The dynamic BIM coupled believes inspection video image
Breath enhancing, rear administrative staff can check analysis safety monitoring, manual inspection data, Jin Erfu during watching inspection video
Help evaluation engineering safe condition.If noting abnormalities from inspection video image, user can be write using warning message editor module
Abnormal alarm short message is simultaneously issued from central server to related personnel.
(4) alert receipt end
Alert receipt end both can be personal intelligent mobile phone, be also possible to the technical grade palm PC of special configuration
(Personal Digital Assistant, PDA).Related personnel receives alarm signal alert receipt end in the form of short message
Then breath is negotiated to formulate emergency preplan, takes timely measure the development that controls the dangerous circumstances.
Below with reference to examples and drawings, the present invention is further described.
Present example provides one kind and is suitable for the maintenance of feeder channel day-to-day operation, and it is automatic to enhance inspection operation process
The BIM of change degree and front and back concertedness assists the online cruising inspection system of unmanned plane.As depicted in figs. 1 and 2, composition includes intelligence
Inspection device, central server, WEB client side and alert receipt end.
(1) intelligent patrol detection device
Intelligent patrol detection device flies control three parts such as module and data transmission module by unmanned aerial vehicle platform, intelligence and constitutes,
It constitutes in detail as shown in Figure 2.
Unmanned aerial vehicle platform is more rotary wind type unmanned planes, is equipped with high-definition tripod camera thereon, for acquiring to feeder channel
Real-time imaging information.To meet the inspection requirement under the adverse circumstances such as High aititude, low temperature, fugitive dust, using big boundary technical grade nobody
Machine longitude and latitude Matrice 210RTK is as unmanned aerial vehicle platform, and station keeping precision reaches 0.1m, and it is 7km that figure, which passes and fly control distance,
Have the degree of protection of IP43, and second development interface is provided.When specific implementation, the embodiment of the present invention is to unmanned aerial vehicle platform type selecting
With no restrictions.
It includes remote controler and intelligent mobile terminal that intelligence, which flies control module, and effect is the inspection for receiving central server and assigning
Task, operation unmanned plane presses the route automatic detecting of rear administrative staff planning, and adjusts flight in due course depending on on-site actual situations
Device posture and course line.In addition to this, which also obtains its real-time flying quality from unmanned aerial vehicle platform and video image of taking photo by plane,
Packing is sent to data transmission module.The preferably big boundary Cendence of the embodiment of the present invention utilizes its powerful expansion as remote controler
Function is opened up, realizes the customized of operational and controlled key button；For intelligent mobile terminal, this example develops base using DJI Mobile SDK
In the winged control APP of android system.When specific implementation, the embodiment of the present invention is to remote controler and intelligent mobile terminal development platform
Selection with no restrictions.
Data transmission module returns position seat to central server by the 4G network or wireless private network at inspection scene in real time
The flying qualities such as mark, body posture and holder posture, and video image data of taking photo by plane, above-mentioned data have device ID mark
Label, so that return data of the central server to different inspection devices carries out structured storage.For reply respective regions network letter
It is number bad, it is difficult to realize the case where data return (especially vision signal) in real time, data transmission module, which has, local saves function
Can, after inspection, data can be copied out and upload filing by patrol officer, for subsequent applications.Data transmission module can both be adopted
Special peripheral hardware equipment can also be used with the 4G mobile communication module built in intelligent mobile terminal, to improve signal stabilization and reduction
Transmission delay, this example use third party's high-definition multimedia interface (High-Definition Multimedia
Interface, HDMI) 4G encoder carries out video stream pushing and data transmission, and when specific implementation, can not be limited this.
(2) central server
The various information progress that central server is related to system is centrally stored, and responds the request of each terminal device, real
The functions such as existing data retrieval, data-pushing, video code conversion and alarm publication.Physically, after central server is by being distributed in
The more databases and application server host of side are constituted；It logically, then is by a series of realization different business demands
Functional module is constituted, and specifically includes flight management server-side, inspection Video service end, safety supervision BIM integration module and alarm publication
Four parts of module.
(1) flight management server-side
The inspection route and appoint that flight management server-side assigns user to plan to specified UAV Intelligent inspection device
Business, and adjustment of the dynamic response rear administrative staff to course line after inspection starts issue to field inspector adjust in real time
Instruction.On the other hand, the flights numbers such as position coordinates, body posture and the holder posture of storage intelligent patrol detection device passback are received
According to, and respond HTTP request and retrieve satisfactory flying quality to WEB client side push, to realize the connection of BIM virtual scene
Animation trip, present example carry out structured storage, specific implementation to flying quality using relevant database SQL Server
This can not be limited.
(2) inspection Video service end
Inspection Video service end group is in real-time messages transport protocol (Real Time Messaging Protocol, RTMP)
Realize push-and-pull stream and the filing storage of inspection video.After the completion of patrol task is assigned, server-side is respectively the appointment that receives an assignment
Each inspection device distributes specific RTMP plug-flow address, to receive the video image data of passback；Then, to the real-time of passback
Video flowing does coding compression work to guarantee the continuity of subsequent transmission；Finally, the drawing stream of response WEB client side player is asked
It asks, is serviced by CDN (Content Delivery Network) to user and distribute the real-time inspection image of push.In addition to this,
Inspection Video service end can also carry out parsing storage to passback video, subsequent check analysis to facilitate.
(3) safety supervision BIM integration module
Safety supervision BIM integration module carries out storage management to the channel BIM model for coupling integrated security monitoring data.Specific stream
Journey includes following four step.
1) according to the information architectures feeder channel BIM model such as design drawing, wherein safety monitoring arrangement symbolization is built
The mode of mould indicates different types of monitoring sensor with the block of different shape and color.Can be used Autodesk Revit into
Row modeling, present example are without limitation.
2) light-weight technologg is carried out to the BIM model built up, to be converted to the format for supporting WEB terminal browsing.This example benefit
Conversion process carried out to modeling achievement with Autodesk Forge service, other conversion programs also can be used in when specific implementation.
3) exploitation data-interface docks existing collecting safe monitoring data system, realizes that the dynamic of safety monitoring data enters
Library is integrated.Collecting safe monitoring data system of the Demonstration Application engineering using Beijing Ji Kang, system reality in the present embodiment
Automatic remote acquisition monitoring data are showed and have been stored in the Access database of server, therefore this example uses development interface
Monitoring data are automatically imported the data set of system database management software SQL Server by program, regular (daily) from Access
At scheme, when specific implementation, is without limitation.
4) with the method for critical field mapping, safety supervision instrument actual situation number is added in the database of structured storage and is reflected
Firing table establishes the one-to-one relationship between instrument actual number and its BIM model ID number, to realize safety supervision data and BIM mould
Integrated between type couples.
(4) alarm release module
If finding dangerous situation during inspection, alarm release module will be to engineering related personnel (safe Quality Inspector, management level
Deng) send warning message and emergency response measure that user writes.
(3) WEB client side
WEB client side is made of inspection route planning module, BIM auxiliary polling module and warning message editor module.
Under inspection route planning module, after user analyzes determining emphasis inspection position according to safety monitoring data, it is based on
Channel BIM model, which clicks, draws out inspection course line, and then the course line drawn out is resolved to and unmanned aerial vehicle platform interface pair
The data format answered, and assigned by central server to intelligent patrol detection device.
BIM auxiliary polling module shows the inspection video outdoor scene returned in real time simultaneously and is coupled under same browser page
The channel BIM virtual scene of safety supervision data, this example is using Autodesk Forge Viewer to lightweight channel BIM model
Network visualization publication is carried out, real-time inspection video is carried out from central server using Ali's cloud Web player SDK and draws stream.It is logical
It crosses from central server and calls the numbers such as the unmanned plane position being consistent with video present frame picture, body posture and holder camera direction
According to the then resolving of progress coordinate conversion and actual situation camera match parameter, realizes BIM virtual scene and video present frame of taking photo by plane is drawn
The matching in face achievees the effect that virtual BIM with audio video synchronization roaming of taking photo by plane.The dynamic BIM coupled to inspection video image into
Going information enhancement, rear administrative staff can check analysis safety monitoring, manual inspection data during watching inspection video,
And then auxiliary evaluation engineering safety situation.
If found the abnormal situation (such as water pollution, landslide), rear personnel Ke Tong from the inspection video image of passback
It crosses warning message editor module and writes abnormal alarm short message content (such as description abnormal conditions, preliminary emergency trouble shooting measures),
The alarm message for writing completion is issued from central server is unified to related personnel.
(4) alert receipt end
Alert receipt end is also possible to the technical grade palm PC of special configuration either personal intelligent mobile phone
(Personal Digital Assistant, PDA).Related personnel receives alarm signal alert receipt end in the form of short message
Then breath is negotiated to formulate emergency preplan, takes timely measure the development that controls the dangerous circumstances.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of feeder channel unmanned plane of BIM auxiliary cooperates with cruising inspection system online, characterized in that including intelligent patrol detection device,
Central server, WEB client side and alert receipt end, specifically:
Intelligent patrol detection device flies control three parts of module and data transmission module by unmanned aerial vehicle platform, intelligence and constitutes；
Unmanned aerial vehicle platform using can low latitude hovering more rotary wind type unmanned planes, closely detected with meeting feeder channel thin portion structure
Demand, unmanned aerial vehicle platform configure high-definition tripod camera, for acquiring real-time inspection image information；It includes distant that intelligence, which flies control module,
Device and intelligent mobile terminal are controlled, effect is the patrol task for receiving central server and assigning, and operation unmanned plane is managed by rear
The route automatic detecting of personnel planning, and attitude of flight vehicle and course line are adjusted in due course depending on on-site actual situations, in addition to this, the mould
Block also obtains its real-time flying quality from unmanned aerial vehicle platform and video image of taking photo by plane, and packing is sent to data transmission module；Number
4G (the 4th Generation mobile communication for passing through inspection scene according to transmission module
Technology) network or wireless private network return position coordinates, body posture and the flight of holder posture to central server in real time
Data, and video data of taking photo by plane, above-mentioned data have device ID label, so that central server is to different inspection devices
Return data carries out structured storage；It is bad for reply respective regions network signal, it is difficult to realize the case where data return in real time,
Data transmission module has the function of local preservation, and after inspection, data can be copied out and upload filing by patrol officer, for rear
Continuous application；
The various information progress that central server is related to system is centrally stored, and responds the request of each terminal device, realizes number
According to retrieval, data-pushing, video code conversion and alarm publication, specifically include:
(1) flight management server-side
The function that flight management server-side is realized includes two aspects: 1. assigning user's planning to specified UAV Intelligent inspection device
Good inspection route and task, and adjustment of the dynamic response rear administrative staff to course line after inspection starts, in real time to scene
Patrol officer issues adjustment instruction；2. receiving position coordinates, body posture and the holder posture of storage intelligent patrol detection device passback
Equal flying qualities, and respond hyper text protocol HTTP (HyperText Transfer Protocol) request retrieval and meet the requirements
Flying quality to WEB client side distribute, with realize BIM virtual scene linkage roaming；
(2) inspection Video service end
Inspection Video service end group is realized in real-time messages transport protocol RTMP (Real Time Messaging Protocol)
The push-and-pull stream of inspection video and filing storage, after the completion of patrol task is assigned, server-side is respectively each intelligence for being assigned task
Energy inspection device distributes specific RTMP plug-flow address, to receive the video image data of passback；Then, to the real-time view of passback
Frequency stream does coding compression work to guarantee the continuity of subsequent transmission；Finally, the drawing stream request of response WEB client side player,
It is serviced by CDN (Content Delivery Network) to user and distributes real-time inspection image, in addition to this, inspection video
Server-side can also carry out parsing storage to passback video, subsequent check analysis to facilitate；
(3) safety supervision BIM integration module
Safety supervision BIM integration module carries out storage management to the feeder channel BIM model for coupling integrated security monitoring data；
(4) alarm release module
If finding dangerous situation during inspection, alarm release module will send the alarm message that user writes to engineering related personnel
And the emergency response measure suggested；
WEB client side is made of inspection route planning module, BIM auxiliary polling module and warning message editor module, in inspection
Under route planning module, after user analyzes determining emphasis inspection position according to safety monitoring data, clicked based on channel BIM model
Inspection course line is drawn out, then the course line drawn out is resolved to data format corresponding with unmanned aerial vehicle platform interface, and
It is assigned by central server to intelligent patrol detection device, BIM assists polling module to show reality simultaneously under same browser page
The inspection video outdoor scene of Shi Huichuan and the channel BIM virtual scene for coupling dynamic safety supervision data, by being called from central server
Then unmanned plane position, body posture and the holder camera being consistent with video present frame picture carry out coordinate conversion towards data
With the resolving of actual situation camera match parameter, realizes the matching of BIM virtual scene with video present frame picture of taking photo by plane, reach virtual
BIM is with the effect for audio video synchronization roaming of taking photo by plane, if noting abnormalities from inspection video image, user can utilize warning message editor
Module is write abnormal alarm short message and is issued from central server to related personnel；
Alert receipt end both can be personal intelligent mobile phone, be also possible to the technical grade palm PC PDA of special configuration, phase
Pass personnel receive warning message alert receipt end in the form of short message, then negotiate to formulate emergency preplan, take arrange in time
Apply the development that controls the dangerous circumstances.
2. the feeder channel unmanned plane of BIM auxiliary as described in claim 1 cooperates with cruising inspection system online, characterized in that safety supervision
BIM integration module specific workflow is as follows: 1. according to the information architectures feeder channel BIM model such as design drawing, wherein safety
The mode of monitoring arrangement symbolizationization modeling indicates different types of monitoring sensor with the block of different shape and color；②
Light-weight technologg is carried out to the BIM model built up, to be converted to the format for supporting WEB terminal browsing；3. developing data-interface docking
The collecting safe monitoring data system of canal engineering realizes that the dynamic storage of safety monitoring data is integrated；4. using critical field
The method of mapping establishes the one-to-one relationship between monitoring sensor actual number and its BIM model ID number, to realize safety supervision
Integrated between data and BIM model couples.
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