CN111442763A - Unmanned aerial vehicle building project supervision method and system, intelligent terminal and storage medium - Google Patents
Unmanned aerial vehicle building project supervision method and system, intelligent terminal and storage medium Download PDFInfo
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Abstract
The invention relates to an unmanned aerial vehicle building engineering supervision method, a system, an intelligent terminal and a storage medium, wherein the method comprises the steps of obtaining current detection distance information between a current detection position and any base point preset in a detection building and current distance information between adjacent base points; searching current proportion information from a preset building model database according to the current detection distance information; synchronously zooming the distance between adjacent base points in the building model database according to the current proportion information to generate distance reference information; and judging the consistency between the current spacing information and the spacing reference information, and if the spacing corresponding to the current spacing information is inconsistent with the spacing corresponding to the spacing reference information, outputting feedback information to a prompter to realize prompting. The invention solves the problems of difficult detection and high danger coefficient when going to the roof, bridge opening and other places, and has the effects of safe detection and convenient detection.
Description
Technical Field
The invention relates to the technical field of building engineering supervision, in particular to an unmanned aerial vehicle building engineering supervision method, an unmanned aerial vehicle building engineering supervision system, an intelligent terminal and a storage medium.
Background
A drone is an unmanned aircraft that operates with a radio remote control device and self-contained program control, or an unmanned aircraft that is operated autonomously, either completely or intermittently, by an onboard computer.
In the prior art, as the chinese patent with publication number CN111006642A, a building levelness detection device for engineering supervision belongs to the technical field of building levelness detection, and comprises a base and a pull ball, when the pull ball is pulled, one end of a clamping block is pulled out of a clamping groove, a sliding block drives a universal wheel to be pressed into a second groove, the base contacts the ground, a level gauge on the base is observed, whether the ground is level or not can be judged, if the ground is not level, a rotating rod is rotated to enable a screw rod to extend out of the lower surface of a through hole or retract into the through hole, the base level of the invention can be regulated, after balancing, a power plug is connected with mains supply, an air cylinder extends out, a top plate is tightly attached to the top beam, data transmitted by each pressure sensor is observed for comparison, if the data of the pressure sensors are consistent, the top beam is in a horizontal state, if the data are inconsistent, the top beam, the sliding block moves downwards, and the clamping block is clamped in the clamping groove, so that the universal wheel at the bottom end of the sliding block extends out, the sliding block is convenient to move, and the flexible mobility of the sliding block is realized.
The above prior art solutions have the following drawbacks: when needs monitor, generally can use the instrument to look over by the place that the staff initiative got into the measurement, in case when going to places such as roof, bridge opening, not only detect the difficulty, danger coefficient is high simultaneously, has improved space still.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle building engineering supervision method which has the characteristics of safety in detection and convenience in detection.
The above object of the present invention is achieved by the following technical solutions:
an unmanned aerial vehicle building engineering supervision method comprises the following steps:
acquiring current detection distance information between a current detection position and any preset base point in a detection building and current distance information between adjacent base points;
searching current proportion information from a preset building model database according to the current detection distance information;
synchronously zooming the distance between adjacent base points in the building model database according to the current proportion information to generate distance reference information;
and judging the consistency between the current spacing information and the spacing reference information, and if the spacing corresponding to the current spacing information is inconsistent with the spacing corresponding to the spacing reference information, outputting feedback information to a prompter to realize prompting.
By adopting the technical scheme, the distance between the current position and the detected building is detected, and the distance between the adjacent base points detected by the current position is measured, so that the current state of the building is judged, namely the characteristics such as deflection and the like are detected, and the distance information is compared with the previous standard model or the distance reference information acquired on the building, so that the measurement is judged, the direct measurement of workers is not needed, the safety is improved, and the measurement difficulty is reduced.
The present invention in a preferred example may be further configured to: the method for acquiring the distance reference information between the adjacent base points in the building model database comprises the following steps:
acquiring first distance information and second distance information between a current position and any base point on a detected building, wherein the distance corresponding to the first distance information is inconsistent with the distance corresponding to the second distance information;
the unmanned aerial vehicle keeps the distance corresponding to the first distance information to do forward circular motion, and obtains the distance data between the adjacent base points in real time;
if the adjacent base points cannot be identified, keeping the distance corresponding to the first distance information to perform reverse circular motion until the adjacent base points cannot be identified, and completing data acquisition;
the unmanned aerial vehicle keeps the distance corresponding to the second distance information to do forward circular motion, and obtains the distance data between the adjacent base points in real time;
if the adjacent base points cannot be identified, keeping the distance corresponding to the second distance information to perform reverse circular motion until the adjacent base points cannot be identified, and completing data acquisition;
and summarizing the two data acquisition steps, so that the proportion information and the distance reference information corresponding to different detection distance information are calculated and stored.
Through adopting above-mentioned technical scheme, interval benchmark information detects the interval through the position to different distances when acquireing, and the length of distance to basic point is unchangeable when detecting to do circular motion, the control of rethread proportion is in order simulating the interval that different positions correspond, and the storage is in order to supply to transfer after gathering, and the practicality is strong.
The present invention in a preferred example may be further configured to: the method comprises the following steps:
obtaining current obstacle distance information of the distance between the current unmanned aerial vehicle and surrounding obstacles;
controlling the pause displacement of the unmanned aerial vehicle according to the comparison relation between the current obstacle information and the preset obstacle reference information;
and if the distance corresponding to the current obstacle information is smaller than or equal to the distance corresponding to the obstacle reference information, controlling the unmanned aerial vehicle to pause and displace.
Through adopting above-mentioned technical scheme, judge through the obstacle state around to unmanned aerial vehicle to detect the barrier, in case when meetting the barrier, will stop, thereby avoid unmanned aerial vehicle to crash, security when having improved overall control, the practicality is strong.
The present invention in a preferred example may be further configured to: the method comprises the following steps:
if the distance corresponding to the current obstacle information is smaller than or equal to the distance corresponding to the obstacle reference information, acquiring current obstacle characteristic information;
finding out the type of the obstacle from a preset obstacle database according to the current obstacle characteristic information;
and controlling a preset display screen to display and acquiring surrounding image information in real time according to the type of the obstacle.
Through adopting above-mentioned technical scheme, when meetting the barrier, detect the type of barrier to the cooperation display screen is exported image information, looks over for the staff, and judges through the barrier type, thereby also further knows the state around detecting the building, and the practicality is strong.
The present invention in a preferred example may be further configured to: the method comprises the following steps:
if the current obstacle information is smaller than or equal to the obstacle reference information, controlling the unmanned aerial vehicle to move for a preset moving distance along the direction perpendicular to the current running direction, and continuously detecting the current obstacle distance information;
if the current obstacle information is larger than the obstacle reference information, identifying the detected building again according to the position so as to correct the detection distance information; if the current obstacle information is smaller than or equal to the obstacle reference information, controlling the unmanned aerial vehicle to move for a preset moving distance along the vertical direction of the current running direction, wherein the vertical direction is different from the previous direction, and continuously detecting the current obstacle distance information;
if the current obstacle information is larger than the obstacle reference information, identifying the detected building again according to the position so as to correct the detection distance information; otherwise, the detection distance information is continuously corrected.
Through adopting above-mentioned technical scheme, in case meet the barrier in time, will dodge voluntarily to make and detect normal going on, adopt and carry out the change of direction of motion with the vertical direction of last time, thereby change the position, with the holistic intellectuality that improves.
The present invention in a preferred example may be further configured to: the method comprises the following steps:
acquiring current times information of the unmanned aerial vehicle moving within a preset moving distance;
judging whether the current frequency information is greater than a preset reference frequency or not;
and if the times corresponding to the current times information are larger than the times corresponding to the reference times, controlling a preset alarm to alarm.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle detects the number of times of dodging when making automatic dodging to further judgement is carried out to the condition that unmanned aerial vehicle detected, in case dodge the number of times and exceed the benchmark number of times, just report an emergency and ask for help or increased vigilance this moment, thereby pass through the staff, in order to do subsequent regulation.
The present invention in a preferred example may be further configured to: the verification method of the distance information comprises the following steps:
acquiring current checking distance information between a checking position and any one base point preset in a detection building and current checking distance information between adjacent base points, wherein the checking position is different from the detection position by one point;
searching current checking proportion information from a preset building model database according to the current checking distance information;
synchronously zooming the check distance between adjacent base points in the building model database according to the current check proportion information to generate check distance reference information;
judging whether the current check distance information is consistent with the distance reference information; if the distance information is consistent with the distance information, the distance information is valid; otherwise, it is not effective.
Through adopting above-mentioned technical scheme, interval information can carry out the check-up once after calculating in the detection to improve holistic accuracy, the position of check-up and the position that detects before do not belong to same position, thereby improve holistic authenticity, more accuracy, the practicality is strong.
The invention also aims to provide an unmanned aerial vehicle building engineering supervision system which has the characteristics of safety in detection and convenience in detection.
The second aim of the invention is realized by the following technical scheme:
an unmanned aerial vehicle building engineering supervision system which characterized in that includes:
the acquisition module is used for acquiring detection distance information, first distance information, second distance information, obstacle feature information, frequency information, verification distance information and verification distance information;
a memory for storing a program of the control method for the unmanned aerial vehicle construction project supervision;
the processor and the program in the memory can be loaded and executed by the processor and realize the control method of the unmanned aerial vehicle building engineering supervision.
By adopting the technical scheme, the distance between the current position and the detected building is detected, and the distance between the adjacent base points detected by the current position is measured, so that the current state of the building is judged, namely the characteristics such as deflection and the like are detected, and the distance information is compared with the previous standard model or the distance reference information acquired on the building, so that the measurement is judged, the direct measurement of workers is not needed, the safety is improved, and the measurement difficulty is reduced.
The invention aims to provide the intelligent terminal which has the characteristics of safety in detection and convenience in detection.
The third object of the invention is realized by the following technical scheme:
an intelligent terminal comprises a memory and a processor, wherein a computer program which can be loaded by the processor and can execute the unmanned aerial vehicle building engineering supervision method is stored in the memory.
By adopting the technical scheme, the distance between the current position and the detected building is detected, and the distance between the adjacent base points detected by the current position is measured, so that the current state of the building is judged, namely the characteristics such as deflection and the like are detected, and the distance information is compared with the previous standard model or the distance reference information acquired on the building, so that the measurement is judged, the direct measurement of workers is not needed, the safety is improved, and the measurement difficulty is reduced.
The fourth purpose of the invention is to provide a computer storage medium which can store corresponding programs and has the characteristics of convenient detection safety and convenient detection.
The fourth object of the invention is realized by the following technical scheme:
a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform any of the above-described unmanned aerial vehicle construction project supervision methods.
By adopting the technical scheme, the distance between the current position and the detected building is detected, and the distance between the adjacent base points detected by the current position is measured, so that the current state of the building is judged, namely the characteristics such as deflection and the like are detected, and the distance information is compared with the previous standard model or the distance reference information acquired on the building, so that the measurement is judged, the direct measurement of workers is not needed, the safety is improved, and the measurement difficulty is reduced.
In summary, the invention includes at least one of the following beneficial technical effects:
1. the detection is safe and convenient;
2. the detection precision is higher, and the data authenticity is improved;
3. automatic avoidance is realized, and the operation is safer.
Drawings
Fig. 1 is a method flow diagram of a method for supervising unmanned aerial vehicle construction projects.
Fig. 2 is a flowchart of a method for acquiring distance reference information between adjacent base points in a building model database.
Fig. 3 is a flow chart of a method of obstacle around a drone.
Fig. 4 is a flow chart of a method of obstacle display.
Fig. 5 is a flow chart of a method of correcting detected distance information.
Fig. 6 is a flowchart of a method of correcting the number of times distance information is detected.
Fig. 7 is a flowchart of a verification method of the spacing information.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiments of the present invention will be described in further detail with reference to the drawings attached hereto.
Referring to fig. 1, an embodiment of the present invention provides a building engineering supervision method for an unmanned aerial vehicle, where a camera on the unmanned aerial vehicle is used to locate a current position, and a detection is performed according to a position from the current position to a base point, so as to determine a distance between the base points, and determine an overall quality of a finished building according to the distance between the base points, where the specific method includes the following steps:
step 100: and acquiring current detection distance information between the current detection position and any preset base point in the detection building and current distance information between adjacent base points.
The distance between the current position and the tested building is detected through an infrared distance meter or an ultrasonic distance meter, namely the current detection distance information, the distance between the adjacent base points is also synchronously detected at the current position, the detection of the adjacent base points is respectively carried out to the distance between the two base points through the current position, and then the distance between the adjacent base points is calculated through the pythagorean theorem.
Step 101: and searching current proportion information from a preset building model database according to the current detection distance information.
The building model database is a preset database, and the input is realized by workers. And the model database has the corresponding distances of the information of different distance detection distances. And searching out the proportion information from the building model database through the detected current detection distance information, and zooming the data in the building database by the proportion information so as to facilitate comparison.
Step 102: and synchronously scaling the distance between the adjacent base points in the building model database according to the current proportion information to generate distance reference information.
And synchronously scaling the proportional information and the distance between adjacent base points in the building model database to obtain distance reference information, wherein the distance reference information and the actually measured information are one distance from each other.
Step 103: and judging the consistency between the current spacing information and the spacing reference information, and if the spacing corresponding to the current spacing information is inconsistent with the spacing corresponding to the spacing reference information, outputting feedback information to a prompter to realize prompting.
And judging the consistency between the current spacing information and the spacing reference information, if the spacing corresponding to the current spacing information is inconsistent with the spacing corresponding to the spacing reference information, indicating that the building is detected to be in a problem, and outputting feedback information to a prompter to realize prompting. And if the distance corresponding to the current distance information is consistent with the distance corresponding to the distance reference information, the building is detected to be normal, and the detection is finished at the moment.
Referring to fig. 2, the method for acquiring the distance reference information between adjacent base points in the building model database is as follows:
step 200: and acquiring first distance information and second distance information between the current position and any base point on the detected building, wherein the distance corresponding to the first distance information is inconsistent with the distance corresponding to the second distance information.
The building model database may collect data by performing on-site measurement on a previously completed and qualified building when data is collected, or may simulate on-site data by modeling, and when the simulated data is first detected on-site, actual correction is required.
The unmanned aerial vehicle detects the position of a defined base point at the first distance information at the current position, wherein the base point is a positioning point set by a worker, is convenient to identify and is set by the worker. And identifying twice at the position of the first distance information and the position of the second distance information, wherein the distance corresponding to the first distance information is inconsistent with the distance corresponding to the second distance information during detection, so that the accuracy is improved.
Step 201: the unmanned aerial vehicle keeps the distance corresponding to the first distance information to do forward circular motion, and obtains the distance data between the adjacent base points in real time.
The unmanned aerial vehicle takes the base points as the circle center, keeps the distance corresponding to the first distance information to perform positive circular motion, and therefore collects the interval data between the adjacent base points, wherein the positive circular motion is clockwise motion, and therefore detection and judgment are performed on the base points.
Step 202: and if the adjacent base points cannot be identified, keeping the distance corresponding to the first distance information to perform reverse circular motion until the adjacent base points cannot be identified, and finishing data acquisition.
When the base points are detected, one base point is used as the center of a circle for detection, once other base points are not identified in the detection process, the distance corresponding to the first distance information is kept to perform reverse phase circular motion, so that the reverse phase is detected once again, and when the adjacent base points are not identified in the reverse phase detection, the data acquisition is completed.
Step 203: the unmanned aerial vehicle keeps the distance corresponding to the second distance information to do forward circular motion, and obtains the distance data between the adjacent base points in real time.
And after data acquisition is carried out according to the first distance information, carrying out second information acquisition by keeping the second distance information. The unmanned aerial vehicle takes the base points as the circle center, keeps the distance corresponding to the second distance information to perform positive circular motion, and therefore collects the interval data between the adjacent base points, wherein the positive circular motion is clockwise motion, and therefore detection and judgment are performed on the base points.
Step 204: and if the adjacent base points cannot be identified, keeping the distance corresponding to the second distance information to perform reverse circular motion until the adjacent base points cannot be identified, and finishing data acquisition.
When the base points are detected, one base point is used as the center of a circle for detection, once other base points are not identified in the detection process, the distance corresponding to the second distance information is kept to perform reverse phase circular motion, so that the reverse phase is detected once again, and when the adjacent base points are not identified in the reverse phase detection, the data acquisition is completed.
Step 205: and summarizing the two data acquisition steps, so that the proportion information and the distance reference information corresponding to different detection distance information are calculated and stored.
And summarizing the data acquired twice, so that the proportion is converted according to the difference between the first distance information and the second distance information acquired twice, the proportion information is calculated, the distance between the two times is also calculated according to the conversion of the proportion, and distance reference information is obtained and stored for later retrieval.
Referring to fig. 3, when detecting, the unmanned aerial vehicle determines surrounding obstacles, and the determination method is as follows:
step 300: and acquiring current obstacle distance information of the distance between the current unmanned aerial vehicle and surrounding obstacles.
Be provided with a plurality of proximity sensor on the unmanned aerial vehicle to detect the barrier around, and output obstacle distance information.
Step 301: and controlling the pause displacement of the unmanned aerial vehicle according to the comparison relationship between the current obstacle information and the preset obstacle reference information.
Obstacle reference information is the distance that the staff predetermine, through comparing current obstacle information and obstacle reference information to the stop of control unmanned aerial vehicle's displacement.
Step 302: and if the distance corresponding to the current obstacle information is smaller than or equal to the distance corresponding to the obstacle reference information, controlling the unmanned aerial vehicle to pause and displace.
Once the distance corresponding to the current obstacle information is smaller than or equal to the distance corresponding to the obstacle reference information, the unmanned aerial vehicle is indicated to be about to collide, and the unmanned aerial vehicle is controlled to pause and move at the moment, so that the unmanned aerial vehicle can stand by in place and keep flying.
Referring to fig. 4, when the unmanned aerial vehicle encounters an obstacle, the obstacle encountered by the unmanned aerial vehicle is determined, and the identification mode is as follows:
step 400: and if the distance corresponding to the current obstacle information is smaller than or equal to the distance corresponding to the obstacle reference information, acquiring the current obstacle characteristic information.
And once the distance corresponding to the current obstacle information is smaller than or equal to the distance corresponding to the obstacle reference information, acquiring current obstacle characteristic information, and identifying and acquiring the current obstacle characteristic information by adopting a camera.
Step 401: and finding out the type of the obstacle from a preset obstacle database according to the current obstacle characteristic information.
The obstacle database is a preset database, and different obstacles are recognized by a worker in advance through a camera, so that the obstacle database is supplemented. The obstacle type is searched from the obstacle database according to the current obstacle characteristic information so as to judge whether the obstacle is a house, a plant or the like, and therefore the judging capability is improved.
Step 402: and controlling a preset display screen to display and acquiring surrounding image information in real time according to the type of the obstacle.
After the type of the obstacle is identified, the obstacle is displayed through the display screen, so that the surrounding image information is acquired, namely, video recording is carried out, and playing and displaying are also carried out on the display screen.
Referring to fig. 5, when encountering an obstacle, the unmanned aerial vehicle avoids the obstacle, and the avoiding method includes the following steps:
step 500: and if the current obstacle information is smaller than or equal to the obstacle reference information, controlling the unmanned aerial vehicle to carry out the preset moving distance along the vertical direction of the current running direction, and continuously detecting the current obstacle distance information.
Once the current obstacle information is less than or equal to the obstacle reference information, the unmanned aerial vehicle is controlled to move along the vertical direction of the current running direction so as to avoid the obstacle, the size of the obstacle is not known, the unmanned aerial vehicle moves by the preset moving distance every time, the moving distance is set by a worker, and after the unmanned aerial vehicle moves, the obstacle distance information is detected again to determine the obstacle.
Step 501: if the current obstacle information is larger than the obstacle reference information, identifying the detected building again according to the position so as to correct the detection distance information; if the current obstacle information is smaller than or equal to the obstacle reference information, the unmanned aerial vehicle is controlled to carry out the preset moving distance along the vertical direction of the current running direction, the vertical direction is different from the previous direction, and the current obstacle distance information is continuously detected.
When the current obstacle information is larger than the obstacle reference information, the obstacle which is avoided at the current distance is represented, the detected building is identified again according to the position, and the detected distance information is corrected.
During the time of reexamination, in case current barrier information is less than or equal to when being greater than barrier benchmark information, show that distance this moment does not avoid the barrier, control unmanned aerial vehicle carries out predetermined displacement along the vertical direction of current traffic direction this moment, carry out the change of position the second time promptly, the change of this time position is different with last direction to carry out dodging of barrier, and continuously detect current barrier distance information, thereby detect the barrier distance information for the third time, carry out the determination of barrier.
Step 502: if the current obstacle information is larger than the obstacle reference information, identifying the detected building again according to the position so as to correct the detection distance information; otherwise, the detection distance information is continuously corrected.
In the subsequent detection process, once the current obstacle information is larger than the obstacle reference information, the obstacle can be avoided, the detected building is identified again according to the position, and the detection distance information is corrected;
in the subsequent detection process, once the current obstacle information is less than or equal to the obstacle reference information, the obstacle cannot be avoided, the detection distance information is continuously corrected, so that the avoiding action is carried out, and in the avoiding action, the obstacle is detected in real time, so that the collision of the unmanned aerial vehicle is avoided in the avoiding process.
Referring to fig. 6, when an unmanned aerial vehicle performs avoidance, the number of avoidance times is counted, and the steps and methods are as follows:
step 600: and acquiring the current times information of the unmanned aerial vehicle moving in the preset moving distance.
And counting the times of the unmanned aerial vehicle moving under the moving distance, thereby outputting the time information.
Step 601: and judging whether the current frequency information is greater than the preset reference frequency.
The reference times are preset times of workers, and the times information and the reference times are judged so as to judge whether the reference times are exceeded or not.
Step 602: and if the times corresponding to the current times information are larger than the times corresponding to the reference times, controlling a preset alarm to alarm.
Once the number of times corresponding to the current number of times information is larger than the number of times corresponding to the reference number of times, namely, after the number of times is exceeded, the preset alarm is controlled to give an alarm at the moment, so that a prompt is given to a worker, the worker can observe the alarm through the camera at the moment, and the detection distance information is defined in a manual correction mode.
Referring to fig. 7, the method for verifying the distance information includes:
step 700: and acquiring current checking distance information between the checking position and any one base point preset in the detection building and current checking distance information between adjacent base points, wherein the checking position is different from the detection position.
The checking position is a position set by a worker, secondary detection is carried out by checking the checking distance information between the position and a base point on a detection building and the current checking distance information between adjacent base points, and the checking position and the detection position are different from each other, so that the overall accuracy is improved.
Step 701: and searching current checking proportion information from a preset building model database according to the current checking distance information.
And searching current checking proportion information from the building model database through checking distance information so as to match the spacing.
Step 702: and synchronously zooming the check distance between adjacent base points in the building model database according to the current check proportion information to generate check distance reference information.
And according to the current check proportion information, synchronously scaling the check distance between adjacent base points in the building model database to generate check distance reference information, wherein the check distance reference information and the distance reference information are generated in the same manner, which is not described herein again.
Step 703: judging whether the current check distance information is consistent with the distance reference information; if the distance information is consistent with the distance information, the distance information is valid; otherwise, it is not effective.
Judging whether the current check distance information is consistent with the distance reference information; if the current check distance information is consistent with the distance reference information, the distance information is effective; and if the current check distance information is inconsistent with the distance reference information, the distance information is invalid and needs to be acquired again.
Based on the same invention concept, the embodiment of the invention provides an unmanned aerial vehicle building engineering supervision system, which comprises:
the acquisition module is used for acquiring detection distance information, first distance information, second distance information, obstacle feature information, frequency information, verification distance information and verification distance information;
a memory for storing a program of a control method of unmanned aerial vehicle construction project supervision as in fig. 1 to 7;
a processor, a program in memory capable of being loaded for execution by the processor and implementing a method of controlling a drone architectural project supervisor as in fig. 1-7.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
An embodiment of the present invention provides a computer-readable storage medium storing a computer program capable of being loaded by a processor and executing the method of fig. 1 to 7.
Computer storage media include, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, which includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the method shown in fig. 1 to 7.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
Claims (10)
1. An unmanned aerial vehicle building engineering supervision method is characterized by comprising the following steps:
acquiring current detection distance information between a current detection position and any preset base point in a detection building and current distance information between adjacent base points;
searching current proportion information from a preset building model database according to the current detection distance information;
synchronously zooming the distance between adjacent base points in the building model database according to the current proportion information to generate distance reference information;
and judging the consistency between the current spacing information and the spacing reference information, and if the spacing corresponding to the current spacing information is inconsistent with the spacing corresponding to the spacing reference information, outputting feedback information to a prompter to realize prompting.
2. The method of claim 1, wherein the obtaining of the distance reference information between adjacent base points in the building model database comprises:
acquiring first distance information and second distance information between a current position and any base point on a detected building, wherein the distance corresponding to the first distance information is inconsistent with the distance corresponding to the second distance information;
the unmanned aerial vehicle keeps the distance corresponding to the first distance information to do forward circular motion, and obtains the distance data between the adjacent base points in real time;
if the adjacent base points cannot be identified, keeping the distance corresponding to the first distance information to perform reverse circular motion until the adjacent base points cannot be identified, and completing data acquisition;
the unmanned aerial vehicle keeps the distance corresponding to the second distance information to do forward circular motion, and obtains the distance data between the adjacent base points in real time;
if the adjacent base points cannot be identified, keeping the distance corresponding to the second distance information to perform reverse circular motion until the adjacent base points cannot be identified, and completing data acquisition;
and summarizing the two data acquisition steps, so that the proportion information and the distance reference information corresponding to different detection distance information are calculated and stored.
3. The method of claim 2, comprising:
obtaining current obstacle distance information of the distance between the current unmanned aerial vehicle and surrounding obstacles;
controlling the pause displacement of the unmanned aerial vehicle according to the comparison relation between the current obstacle information and the preset obstacle reference information;
and if the distance corresponding to the current obstacle information is smaller than or equal to the distance corresponding to the obstacle reference information, controlling the unmanned aerial vehicle to pause and displace.
4. The method of claim 3, comprising:
if the distance corresponding to the current obstacle information is smaller than or equal to the distance corresponding to the obstacle reference information, acquiring current obstacle characteristic information;
finding out the type of the obstacle from a preset obstacle database according to the current obstacle characteristic information;
and controlling a preset display screen to display and acquiring surrounding image information in real time according to the type of the obstacle.
5. The method of claim 3, comprising:
if the current obstacle information is smaller than or equal to the obstacle reference information, controlling the unmanned aerial vehicle to move for a preset moving distance along the direction perpendicular to the current running direction, and continuously detecting the current obstacle distance information;
if the current obstacle information is larger than the obstacle reference information, identifying the detected building again according to the position so as to correct the detection distance information; if the current obstacle information is smaller than or equal to the obstacle reference information, controlling the unmanned aerial vehicle to move for a preset moving distance along the vertical direction of the current running direction, wherein the vertical direction is different from the previous direction, and continuously detecting the current obstacle distance information;
if the current obstacle information is larger than the obstacle reference information, identifying the detected building again according to the position so as to correct the detection distance information; otherwise, the detection distance information is continuously corrected.
6. The method of claim 5, comprising:
acquiring current times information of the unmanned aerial vehicle moving within a preset moving distance;
judging whether the current frequency information is greater than a preset reference frequency or not;
and if the times corresponding to the current times information are larger than the times corresponding to the reference times, controlling a preset alarm to alarm.
7. The method of claim 1, wherein the verification of the spacing information comprises:
acquiring current checking distance information between a checking position and any one base point preset in a detection building and current checking distance information between adjacent base points, wherein the checking position is different from the detection position by one point;
searching current checking proportion information from a preset building model database according to the current checking distance information;
synchronously zooming the check distance between adjacent base points in the building model database according to the current check proportion information to generate check distance reference information;
judging whether the current check distance information is consistent with the distance reference information; if the distance information is consistent with the distance information, the distance information is valid; otherwise, it is not effective.
8. An unmanned aerial vehicle building engineering supervision system which characterized in that includes:
the acquisition module is used for acquiring detection distance information, first distance information, second distance information, obstacle feature information, frequency information, verification distance information and verification distance information;
a memory for storing a program of a control method of unmanned aerial vehicle construction project supervision according to any one of claims 1 to 7;
a processor, a program in memory capable of being loaded for execution by the processor and implementing the method of control of unmanned aerial vehicle construction project supervision according to any of claims 1 to 7.
9. An intelligent terminal, comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.
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