CN110399641A - A kind of the progress recognition methods and system of unmanned plane inspection - Google Patents
A kind of the progress recognition methods and system of unmanned plane inspection Download PDFInfo
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Abstract
The present invention relates to construction site inspection fields, and in particular to a kind of progress recognition methods of unmanned plane inspection.Unmanned plane flies and shoots automatically according to inspection route in examined in determination or region, obtains shooting image；BIM realistic model is generated by shooting image；BIM planning model and BIM realistic model are compared, the current project progress in the examined in determination or region is obtained.The invention further relates to a kind of progress identifying systems of unmanned plane inspection.The progress recognition methods and system that the present invention passes through a kind of unmanned plane inspection, pass through comparison BIM planning model and BIM realistic model, it is intelligent, embody current project progress be presented, avoid that the personnel cost as caused by by way of progress record is high, is easy to produce erroneous judgement or fails to judge, cannot achieve the problems such as accurate true progress record in real time.
Description
Technical field
The present invention relates to construction site inspection fields, and in particular to a kind of progress recognition methods of unmanned plane inspection and is
System.
Background technique
Construction site inspection is to fully understand building-site condition of construction, by the whole of project inspection quality results
Change and examine, finds and solve relevant issues present in construction in time, improve company's project quality, the control of the targets such as quality
Ability.Make project in construction field engineering quality, safe construction inspection work standardization, degreeization, specialized, the every engineering matter of promotion
Amount and construction, safety management level are continuously improved.
The main contents of construction site inspection include: 1, understand site operation quality, safety, the practicable completion feelings of schedule
Condition, data dynamic, find quality, safety construction, progress and material problem present in construction in time.2, to being sent out in inspection
The incorrect construction method of existing mass defect, technique, the problems such as not implementing by standard, propose reform advice.
It is one of the core work of construction site inspection especially for schedule is understood.
But existing understanding schedule majority carries out verbal description by current entry by administrative staff, with reflection
Current project progress.This mode is although simple and fast, but can be described due to the content of record it is improper misunderstand, or very
Hardly possible describes current progress comprehensively.
Meanwhile inspection process in construction site is complicated, personnel cost is high, meanwhile, in extensive prolonged progress record
In, it is easy to produce erroneous judgement or fails to judge, also cannot achieve accurate true progress record in real time, there is very big time delay and error
Property.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing a kind of unmanned plane inspection
Progress recognition methods and system, solve existing progress record there are personnel costs it is high, be easy to produce erroneous judgement or fail to judge, can not
The problem of realizing accurate true progress record in real time.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of progress identification side of unmanned plane inspection
The step of method, is preset with the BIM planning model of a reflection examined in determination or region project progress, the progress recognition methods is wrapped
Include: unmanned plane flies and shoots automatically according to inspection route in examined in determination or region, obtains shooting image；Pass through shooting figure
As generating BIM realistic model；BIM planning model and BIM realistic model are compared, the practical work in the examined in determination or region is obtained
Cheng Jindu.
Wherein, preferred version is the current mould of BIM for being also preset with the current project progress of a reflection examined in determination or region
The step of type, the progress recognition methods further include: inspection route is obtained according to BIM "current" model；Unmanned plane is according to inspection road
Line flies and shoots automatically, obtains shooting image；By shooting image, updating BIM "current" model and generating BIM realistic model.
Wherein, preferred version is: being preset with a complete BIM model, the BIM model nesting construction program is simultaneously drawn
It is divided into the BIM planning model of at least two reflection examined in determination or region difference project progress.
Wherein, the step of preferred version is, the progress recognition methods further include: unmanned plane carries out multiple inspection work；
After inspection work every time, according to shooting image by newly-increased or/and modification the specific structure layout updates recognized extremely
BIM "current" model, and generate BIM realistic model.
Wherein, preferred version is, in conjunction with examined in determination or the preset rules in region, to be established described in identification by machine learning
The step of inspection model in examined in determination or region, the progress recognition methods further include: unmanned plane is in examined in determination or region
It is middle to fly and shoot automatically according to inspection route, obtain shooting image；The specific structure of shooting image is obtained by inspection model
Layout；It is laid out according to specific structure and generates BIM realistic model；BIM planning model and BIM realistic model are compared, is patrolled described in acquisition
Examine the Practical Project progress in object or region.
Wherein, preferred version is, the establishment step of the inspection model includes: be preset with examined in determination or region default
Rule；Obtain multiple shooting image sample datas based on examined in determination or region；By machine learning, in conjunction with the default rule
Then with shooting image sample data, the inspection model for identifying the examined in determination or region is established.
Wherein, preferred version is: the region of patrolling and examining or object construction site and corresponding building structure.
Wherein, preferred version is: the shooting image assigns shooting time and camera site.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of progress identification system of unmanned plane inspection
System, processing unit, the processing unit are stored with computer program, and the computer program can be performed to realize the side
The step of method；Unmanned plane flies and claps automatically according to inspection route in examined in determination or region under control of the processing unit
It takes the photograph, obtains shooting image.
Wherein, preferred version is: the processing unit includes BIM realistic model generation module, project progress acquisition module
And memory module, the memory module are preset with the BIM planning model of a reflection examined in determination or region project progress；It is described
BIM realistic model generation module generates BIM realistic model by shooting image；The project progress obtains module comparison BIM meter
Model and BIM realistic model are drawn, the Practical Project progress in the examined in determination or region is obtained.
The beneficial effects of the present invention are compared with prior art, the present invention is known by a kind of progress of unmanned plane inspection
Other method and system, by comparison BIM planning model and BIM realistic model, current project progress is presented in intelligent, materialization,
Avoid the personnel cost as caused by by way of progress record is high, be easy to produce erroneous judgement or fail to judge, cannot achieve
In real time the problems such as accurate true progress record；Further, by machine learning, comprehensively intelligent obtain currently is realized
Project progress improves accuracy, improves efficiency simultaneously, implements project progress follow-up comprehensively.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the flow diagram of progress recognition methods of the present invention；
Fig. 2 is the flow diagram of the progress recognition methods the present invention is based on BIM "current" model；
Fig. 3 is that the present invention is based on the progress recognition methods flow diagrams that multiple unmanned plane carries out inspection work；
Fig. 4 is the progress recognition methods flow diagram the present invention is based on machine learning；
Fig. 5 is the flow diagram of the foundation of inspection model of the present invention；
Fig. 6 is progress identifying system structural schematic diagram of the present invention；
Fig. 7 is the concrete structure schematic diagram of Fig. 6.
Specific embodiment
Now in conjunction with attached drawing, elaborate to presently preferred embodiments of the present invention.
As shown in Figure 1, the present invention provides the preferred embodiment of progress recognition methods.
A kind of the step of progress recognition methods of unmanned plane inspection, the progress recognition methods includes:
Step S11, it is preset with the BIM planning model of a reflection examined in determination or region project progress；
Step S12, unmanned plane flies and shoots automatically according to inspection route in examined in determination or region, obtains shooting figure
Picture；
Step S13, BIM realistic model is generated by shooting image；
Step S14, BIM planning model and BIM realistic model are compared；
Step S15, the Practical Project progress in the examined in determination or region is obtained.
Wherein, BIM model, core are by establishing virtual architectural engineering threedimensional model, are this using digitizing technique
A model provides the complete and consistent architectural engineering information bank of actual conditions.The information bank not only includes description building structure
Geological information, professional attributes and the status information of part further comprise the state letter of non-component object (such as space, motor behavior)
Breath.The BIM model based on the examined in determination or region is established by related software, to reflect the examined in determination or region
Three-dimensional structure.
Wherein, the region of patrolling and examining or object construction site and corresponding building structure.
Specifically:
About step S11, a BIM planning model is established, the BIM planning model is for reacting examined in determination or region
The model of progress completes the BIM threedimensional model presented after a certain step project progress to current engineering.
About step S12, selected object or the region for needing inspection as examined in determination or region, and is directed to inspection pair
As or the core checked of the wanted inspection in region or other critical positions produce polling path, using the flight road as unmanned plane
Diameter.
Unmanned plane should include that the Flight main body of unmanned plane, the sensing of RTK module and profession and capture apparatus, RTK module are adopted
It is two measuring station carrier waves of real-time processing with RTK (Real-time kinematic, in real time dynamically) carrier phase difference technology
The carrier phase that base station acquires is issued receiver user by the difference method of phase observations amount, carries out that difference is asked to resolve coordinate, this
It is a kind of new common satellite positioning surveys method, the polling path of Flight main body is controlled by RTK module.And sensing
And capture apparatus includes visible light shooting equipment, thermal infrared capture apparatus and laser radar, it is red by visible light shooting equipment, heat
Outer capture apparatus realizes the acquisition of shooting image, by laser radar to prevent collision obstacle.
Control unmanned plane realization barrier avoiding function, hovering function focusing shooting function, flight, breakpoint continue and fly, return automatically manually
Boat, oblique photograph, along the function of conducting wire automatic cruising and ranging.
About step S13, in practical operation, the shooting image of multiple positions is obtained, and to the shooting image of each position
Analysis and arrangement is carried out, corresponding three-dimensional structure is obtained, and form a BIM realistic model based on the inspection route, certainly may be used
With the complicated or comprehensive inspection route of setting one, a plurality of inspection route also can be set, can be reflected by BIM realistic model whole
A examined in determination or the structure or its variation in region.
About step S14 and step S15, BIM planning model and BIM realistic model are compared, and is accomplished in several ways
Compare, the difference of the two model is such as obtained by special-purpose software, or obtains the difference of the two model by manual examination and verification；From original
The two difference can be judged, or by model data, pass through by the obvious region such as model gaps and omissions, the change in reason
The difference of both diversity judgements of data.
By the gap of BIM realistic model and BIM planning model, to judge Practical Project progress.
In the present embodiment, the shooting image assigns shooting time and camera site.The update position that can be will be seen that
It is assigned on the corresponding position of polling path, increases label newly in this position, carry out Put on file, facilitate scene or administrative staff flat
Platform can be checked based on polling path updates position, makes update position more intuitive, carries mobile terminal energy, more efficiently find
Scene goes out to update the position location of position.
As shown in Fig. 2, the present invention provides the preferred embodiment of the progress recognition methods based on BIM "current" model.
The step of progress recognition methods further include:
Step S11, it is preset with the BIM planning model of a reflection examined in determination or region project progress；
Step S121, inspection route is obtained according to BIM "current" model；
Step S122, unmanned plane flies and shoots automatically according to inspection route, obtains shooting image；
Step S131, it is preset with the BIM "current" model of the current project progress of a reflection examined in determination or region；
Step S132, it by shooting image, updates BIM "current" model and generates BIM realistic model；
Step S14, BIM planning model and BIM realistic model are compared；
Step S15, the Practical Project progress in the examined in determination or region is obtained.
Wherein, step S121, step S122, step S132, step S14 and step S15 are sequentially carried out, and step S11 is by BIM
Planning model is sent in step S14, and BIM "current" model is sent in step S132 by step S131.
Specifically:
About step S121 and step S122, the polling path is that multiple location points are arranged on BIM model, by position
Point is together in series, and eliminates obstruction and calculate best (time is most short or can inspect a little at most), forms a polling path；With emphasis on
In in the environment with barrier, according to certain evaluation criterion, finds a nothing from initial state to dbjective state and touch
Hit path.
About step S131 and step S132, (the practical mould of BIM is generated by shooting image on the basis of above-mentioned steps S13
Type), it optimizes, not needing to start from scratch again every time generates BIM realistic model, but one reflection examined in determination of first building
Or the BIM "current" model of the current project progress in region, and information update will be updated into BIM "current" model, in BIM "current" model
On the basis of update and form a BIM realistic model, improve treatment effeciency, and reduce processing requirement, meanwhile, can be to each engineering
The change of progress has more specific guide and more specific display.
In the present embodiment, it is preset with a complete BIM model, the BIM model nesting construction program simultaneously divides
At the BIM planning model of at least two reflection examined in determination or region difference project progress.
It is to contain a BIM model to design a model as a whole certainly, together in the process of construction in whole building building site
When, due to the step of construction site construction, can not accomplish in one move, required for needing to complete step by step by project progress according to plan
Work, therefore the BIM planning models of multiple reflection examined in determination or region difference project progress, every BIM meter can be sorted out
Drawing model is that BIM model is showed in the project progress of different phase.
Therefore, after the plan for completing a certain stage, practical building construction is arrived and meets a BIM planning model, so that it may be opened
Beginning continues to build, it is known that meets next BIM planning model.
As shown in figure 3, the present invention provides the preferable reality for carrying out the progress recognition methods of inspection work based on multiple unmanned plane
Apply example.
The step of progress recognition methods further include:
Step S11, it is preset with the BIM planning model of a reflection examined in determination or region project progress；
Step S121, inspection route is obtained according to BIM "current" model；
Step S122, unmanned plane flies and shoots automatically according to inspection route, obtains shooting image；
Step S131 ', the BIM "current" model for being preset with the current project progress of a reflection examined in determination or region；
Step S132 ', according to shooting image by newly-increased or/and modification the specific structure layout updates recognized to BIM
"current" model；
Step S133 ', BIM realistic model is generated；
Step S14, BIM planning model and BIM realistic model are compared；
Step S15, the Practical Project progress in the examined in determination or region is obtained.
Wherein, step S121, step S122, step S132 ', step S133 ', step S14 and step S15 are sequentially carried out,
And carry out inspection work as unmanned plane, after completing step S15, reenter step S121, carry out next time nobody
Machine carries out inspection work, while updating the BIM "current" model of step S131 '；BIM planning model is sent to step by step S11
In S14, BIM "current" model is sent in step S132 ' by step S131 '.Wherein, step S131 ', step S132 ' and step
In S133 ' " ' ", it is a kind of more preferable scheme, is marked to more preferably distinguish, is in above-mentioned steps S131 and step S132
The scheme to extend out.
Specifically:
Firstly, most of identical explanation is described above-mentioned, no longer describe one by one herein.
Secondly, BIM "current" model is the project progress in the current examined in determination of reflection or region about step S131 ', because
This is intended to be updated to newest, BIM "current" model, if need not update without newly building certainly after each unmanned plane inspection work.
About step S132 ', according to shooting image by newly-increased or/and modification the specific structure layout updates recognized extremely
BIM "current" model has been described by the three-dimensional structure above description that shooting image obtains specific structure layout, specific by what is increased newly
The specific structure of topology layout or modification layout, modification are updated to BIM "current" model, basic as updating next time.Certainly,
After step S15, it is also necessary to the BIM "current" model being updated are sent to step S131 ', i.e., as in S132 ' next time
BIM "current" model.
It is consistent with the generation BIM realistic model in the step step S132 about step S133 ', no longer describe one by one.
As shown in figure 4, the present invention provides the preferred embodiment of the progress recognition methods based on machine learning.
The step of progress recognition methods further include:
Step S11, it is preset with the BIM planning model of a reflection examined in determination or region project progress；
Step S12, unmanned plane flies and shoots automatically according to inspection route, obtains shooting image；
Step S131 ", in conjunction with the preset rules in examined in determination or region, pass through machine learning and establish and identify the inspection pair
As or region inspection model；
Step S132 ", the specific structure that shooting image is obtained by inspection model are laid out；
Step S133 ", generation BIM realistic model is laid out according to specific structure；
Step S14, BIM planning model and BIM realistic model are compared；
Step S15, the Practical Project progress in the examined in determination or region is obtained.
Wherein, step S12, step S132 ", step S133 ", step S14 and step S15 are sequentially carried out；Step S11 will
BIM planning model is sent in step S14, and BIM "current" model is sent in step S132 " by step S131 ".Wherein, step
" " in S131 ", step S132 " and step S133 " ", it is a kind of more preferable scheme of step S13, is marked to more preferably distinguish
Note, is the scheme to extend out in above-mentioned steps S13.
It is specific:
About step S131 ", step S132 " and step S133 ", the inspection model established using machine learning is described
Inspection model meets preset rules, realizes intelligent modeling, improves modeling accuracy and efficiency.
The specific structure layout is the structure of shooting image to be identified by inspection model, and carry out three-dimensional modeling, certainly
It two-dimentional can also model, obtain and correspond to, BIM module is updated in BIM realistic model, produces new BIM realistic model.Modeling
Thinking can be, and be stored with BIM module corresponding to various structures (building structure), will be from shooting image recognition by inspection model
Structure query out finds out corresponding BIM module.
As shown in figure 5, the present invention provides the preferred embodiment of the foundation of inspection model.
The establishment step of the inspection model includes:
Step S131 ", the preset rules for being preset with examined in determination or region；
Step S132 ", multiple shooting image sample datas based on examined in determination or region are obtained；
Step S133 ", identification institute is established in conjunction with the preset rules and shooting image sample data by machine learning
State the inspection model in examined in determination or region.
Wherein, the preset rules should be construction site standard that meet national standards, can be by country or relevant department
The rule of formulation, or the rule formulated by company or relevant department, it is specific to need according to different scenes and then limit, with full
The demand of sufficient different scenes.For example, safety net structure, hole and protective fence and warning sign, face side position and protective fence, foundation pit and
Protective fence, the connector of outer wall stand and the 500mm that ensures to be staggered, the structure of different buildings etc..
About step S132 " and step S133 ", multiple shooting image sample datas are obtained by unmanned plane, as
The sample data of machine learning identifies whether shooting image sample data is corresponding with preset rules, is convenient for by artificial judgment
The study of machine big data.It is of course also possible to obtain shooting image sample data by other approach.
Machine learning (Machine Learning, ML) is a multi-field cross discipline, be related to probability theory, statistics,
The multiple subjects such as Approximation Theory, convextiry analysis, algorithm complexity theory.Specialize in the study that the mankind were simulated or realized to computer how
Behavior reorganizes the existing structure of knowledge and is allowed to constantly improve the performance of itself to obtain new knowledge or skills.It is people
The core of work intelligence is the fundamental way for making computer have intelligence, and application spreads the every field of artificial intelligence, it is main
Using conclusion, synthesis rather than deduce.
Using preset rules as standard of comparison, all shooting image sample datas are compared with preset rules, from
And whether acquisition is corresponding with preset rules, by the study of mass data sample, establishes an inspection model, is used for two-dimensional bat
It takes the photograph image and forms three-dimensional BIM model.
As shown in Figure 6 and Figure 7, the present invention provides the preferred embodiment of progress recognition methods.
A kind of progress identifying system of unmanned plane inspection, processing unit 100, the processing unit 100 are stored with computer
The step of program, the computer program can be performed to realize the method；Unmanned plane 200, in the control of processing unit 100
It under system, flies and shoots automatically according to inspection route in examined in determination or region, obtain shooting image.
Specifically, the processing unit 100 includes BIM realistic model generation module 101, project progress acquisition module 102
With memory module 103, the memory module 103 is preset with the BIM planning model of a reflection examined in determination or region project progress；
The BIM realistic model generation module 101 generates BIM realistic model by shooting image；The project progress obtains module 102
BIM planning model and BIM realistic model are compared, the current project progress in the examined in determination or region is obtained.
Wherein, unmanned plane 200 includes unmanned plane main control module 201 and camera 202, and unmanned plane main control module 201 controls
Unmanned plane 200 flies automatically according to polling path, and control camera 202 is shot, and obtains shooting image.
Wherein, unmanned plane main control module 201 can be set up directly on unmanned plane 200, be also possible to the place for having unmanned plane 200
It manages circuit and remote management platform combination is constituted.
As described above, only preferred embodiment is not intended to limit the scope of the present invention, Fan Yibenfa
Equivalent change or modification made by bright claim is all that the present invention is covered.
Claims (10)
1. a kind of progress recognition methods of unmanned plane inspection, which is characterized in that be preset with a reflection examined in determination or region is different
The step of BIM planning model of project progress, the progress recognition methods includes:
Unmanned plane flies and shoots automatically according to inspection route in examined in determination or region, obtains shooting image；
BIM realistic model is generated by shooting image；
BIM planning model and BIM realistic model are compared, the Practical Project progress in the examined in determination or region is obtained.
2. progress recognition methods according to claim 1, which is characterized in that be also preset with a reflection examined in determination or region
The step of BIM "current" model of current project progress, the progress recognition methods further include:
Inspection route is obtained according to BIM "current" model；
Unmanned plane flies and shoots automatically according to inspection route, obtains shooting image；
By shooting image, updating BIM "current" model and generating BIM realistic model.
3. progress recognition methods according to claim 1 or 2, it is characterised in that: be preset with a complete BIM model, institute
It states BIM model nesting construction program and is divided into the BIM of at least two reflection examined in determination or region difference project progress
Planning model.
4. progress recognition methods according to claim 2, which is characterized in that the step of progress recognition methods also wraps
It includes:
Unmanned plane carries out multiple inspection work；
After each inspection work, newly-increased or/and modification the specific structure recognized is laid out more according to shooting image
Newly to BIM "current" model, and generate BIM realistic model.
5. progress recognition methods according to claim 1, which is characterized in that in conjunction with examined in determination or the default rule in region
Then, the inspection model for identifying the examined in determination or region is established by machine learning, the step of the progress recognition methods also
Include:
Unmanned plane flies and shoots automatically according to inspection route in examined in determination or region, obtains shooting image；
The specific structure layout of shooting image is obtained by inspection model；
It is laid out according to specific structure and generates BIM realistic model；
BIM planning model and BIM realistic model are compared, the Practical Project progress in the examined in determination or region is obtained.
6. progress recognition methods according to claim 5, which is characterized in that the establishment step of the inspection model includes:
Preset rules including examined in determination or region；
Obtain multiple shooting image sample datas based on examined in determination or region；
It establishes in conjunction with the preset rules and shooting image sample data by machine learning and identifies the examined in determination or area
The inspection model in domain.
7. progress recognition methods according to claim 1, it is characterised in that: the region of patrolling and examining or object include building work
Ground and corresponding building structure.
8. progress recognition methods according to claim 1, it is characterised in that: the shooting image assigns shooting time and bat
It acts as regent and sets.
9. a kind of progress identifying system of unmanned plane inspection, it is characterised in that:
Processing unit, the processing unit are stored with computer program, and the computer program can be performed to realize as weighed
Benefit requires the step of any one of 1 to 8 the method；
Unmanned plane flies and shoots automatically according to inspection route in examined in determination or region, obtain under control of the processing unit
Take shooting image.
10. progress identifying system according to claim 9, it is characterised in that: the processing unit includes BIM realistic model
Generation module, project progress obtain module and memory module, the memory module are preset with a reflection examined in determination or region work
The BIM planning model of Cheng Jindu；The BIM realistic model generation module generates BIM realistic model by shooting image；The work
Cheng Jindu obtains module comparison BIM planning model and BIM realistic model, obtain the Practical Project in the examined in determination or region into
Degree.
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| CN201910543700.8A CN110399641A (en) | 2019-06-21 | 2019-06-21 | A kind of the progress recognition methods and system of unmanned plane inspection |
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| CN110866738A (en) * | 2019-11-20 | 2020-03-06 | 上海宝冶集团有限公司 | BIM technology-based construction site progress analysis method and system |
| CN110988871A (en) * | 2019-12-25 | 2020-04-10 | 中南大学 | Unmanned aerial vehicle-mounted through-wall radar high-rise building wall health offline detection system and detection method |
| CN111080491A (en) * | 2019-12-12 | 2020-04-28 | 成都阳帆网络科技有限公司 | Construction site inspection system and method based on video identification |
| CN111754616A (en) * | 2020-05-09 | 2020-10-09 | 国网浙江省电力有限公司 | Engineering progress identification method based on RTK technology |
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| CN114140899A (en) * | 2021-12-20 | 2022-03-04 | 浙江交通职业技术学院 | Engineering inspection system and method based on artificial intelligence |
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