CN113433971A - Method, device, equipment and storage medium for acquiring data of high-rise building exterior wall - Google Patents
Method, device, equipment and storage medium for acquiring data of high-rise building exterior wall Download PDFInfo
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for acquiring data of an outer wall of a high-rise building. The method comprises the following steps: acquiring a three-dimensional building model, and decomposing the three-dimensional building model according to a preset target inspection area to obtain an inspection area model of the unmanned aerial vehicle; decomposing the surface of the inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit; generating one-to-one corresponding viewpoints of the unmanned aerial vehicle cameras according to each view field unit to obtain a viewpoint set; determining the flight path of the unmanned aerial vehicle according to the viewpoint set; determining a route task parameter of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path; and controlling the unmanned aerial vehicle to collect the outer wall data of the target inspection area according to the flight path task parameters. The technical scheme provided by the embodiment of the invention improves the efficiency, accuracy and safety of the high-rise building exterior wall inspection, reduces the inspection time and workload and reduces the inspection cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of building detection, in particular to a method, a device, equipment and a storage medium for acquiring data of an outer wall of a high-rise building.
Background
One of the existing high-rise building outer wall detection methods is that people visually check and record a series of defects on high-altitude operation equipment, namely a visual method, which is the most common method in the current structure inspection, and particularly, detection personnel are mostly adopted to tie safety ropes or stand on a high-altitude operation vehicle for visual inspection and manually record defect information. Secondly, an unmanned aerial vehicle is used for carrying a high-definition optical camera to collect the image data of the outer wall, and the existing method for collecting the image data of the outer wall by the unmanned aerial vehicle mainly comprises the steps that the unmanned aerial vehicle is manually controlled by detection personnel, and the position and the camera angle of the unmanned aerial vehicle are adjusted to record the defect information.
The visual method firstly needs the detection personnel to work high above the ground in the aspect of safety, and has great threat to the personal safety of the detection personnel. In the aspect of accuracy, the detection personnel check by eyes and add subjective consciousness and experience judgment of people, and certain difference exists in judgment of results. In terms of efficiency, preparing aerial work equipment, inspection personnel for inspection, and manually recording data are time consuming. In terms of cost, the cost per inspection is very high due to the large amount of manpower and machinery added. Unmanned aerial vehicle inspection method has the promotion of certain degree than the visual method in the aspect of the security, but the proficiency that detection personnel used unmanned aerial vehicle is a potential safety hazard, and misoperation can make unmanned aerial vehicle fall, influences public safety. In the aspect of efficiency, the detection personnel need to manually operate the unmanned aerial vehicle and adjust the position of the unmanned aerial vehicle camera in real time to find the best shooting angle, the technical proficiency of the detection personnel is checked by the process comparison, and meanwhile, a large amount of time can be consumed by the manually operated process.
Disclosure of Invention
The embodiment of the invention provides a high-rise building outer wall data acquisition method, a high-rise building outer wall data acquisition device, high-rise building outer wall data acquisition equipment and a storage medium, so that the efficiency and the safety of high-rise building outer wall inspection are improved, the inspection time and the workload are reduced, and the cost is reduced.
In a first aspect, an embodiment of the present invention provides a method for acquiring data of an exterior wall of a high-rise building, where the method includes:
acquiring a three-dimensional building model, and decomposing the three-dimensional building model according to a preset target inspection area to obtain an inspection area model of the unmanned aerial vehicle;
decomposing the surface of the inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit;
generating one-to-one corresponding viewpoints of the unmanned aerial vehicle cameras according to the view field units to obtain a viewpoint set;
determining the flight path of the unmanned aerial vehicle according to the viewpoint set;
determining a route task parameter of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path;
and controlling an unmanned aerial vehicle to collect the outer wall data of the target inspection area according to the flight path task parameters.
Optionally, the generating, according to each of the view field units, one-to-one viewpoints of the cameras of the unmanned aerial vehicle to obtain a view field set includes:
and projecting the centroid of each view field unit on the surface of the patrol area model to obtain the view point set.
Optionally, before the decomposing the surface of the inspection area model according to the size of the field of view of the unmanned aerial vehicle camera to obtain each field of view unit, the method further includes:
and determining the size of the view field according to the minimum vertical distance between the unmanned aerial vehicle and the building outer wall and the unmanned aerial vehicle camera parameters.
Optionally, after determining the route task parameter of the unmanned aerial vehicle according to the BIM information of the inspection area model and the flight path, the method further includes:
determining the energy consumption of the unmanned aerial vehicle according to the flight line task parameters;
and setting a battery supply point in the air route of the unmanned aerial vehicle according to the energy consumption.
Optionally, the BIM information includes an actual distance between two adjacent viewpoints and a three-dimensional coordinate of each viewpoint.
Optionally, before decomposing the three-dimensional building model according to the preset target inspection area to obtain the inspection area model of the unmanned aerial vehicle, the method further includes:
and preprocessing the three-dimensional building model to remove components irrelevant to an outer wall data acquisition task in the three-dimensional building model.
Optionally, before determining the flight path task parameter of the unmanned aerial vehicle according to the BIM information of the inspection area model and the flight path, the method further includes:
acquiring preset initial parameters of the unmanned aerial vehicle through an interactive interface, wherein the preset initial parameters comprise at least one of longitude and latitude, yaw angle and flight direction of an initial viewpoint in the flight path;
correspondingly, the determining of the air route task parameters of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path comprises the following steps:
and determining the flight path task parameters according to the BIM information, the flight path and the preset initial parameters.
In a second aspect, an embodiment of the present invention further provides a device for acquiring data from an external wall of a high-rise building, where the device includes:
the model acquisition module is used for acquiring a three-dimensional building model and decomposing the three-dimensional building model according to a preset target inspection area to obtain an inspection area model of the unmanned aerial vehicle;
the model decomposition module is used for decomposing the surface of the inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit;
the viewpoint generating module is used for generating viewpoints of the unmanned aerial vehicle cameras in one-to-one correspondence according to the view field units to obtain a viewpoint set;
the flight path determining module is used for determining the flight path of the unmanned aerial vehicle according to the view point set;
the route parameter determining module is used for determining a route task parameter of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path;
and the outer wall data acquisition module is used for controlling the unmanned aerial vehicle to acquire the outer wall data of the target inspection area according to the air route task parameters.
In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for acquiring the data of the outer wall of the high-rise building provided by any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for acquiring data of an external wall of a high-rise building according to any embodiment of the present invention.
The embodiment of the invention provides a high-rise building outer wall data acquisition method, which comprises the steps of firstly obtaining a three-dimensional building model, obtaining an inspection area model of an unmanned aerial vehicle by decomposition from the three-dimensional building model according to a preset target inspection area, then decomposing the surface of the inspection area model according to the size of a view field of an unmanned aerial vehicle camera to obtain each view field unit, generating one-to-one corresponding view point of the unmanned aerial vehicle camera according to each view field unit to obtain a view point set, determining a flight path of the unmanned aerial vehicle according to the view point set, and finally determining a flight path task parameter of the unmanned aerial vehicle according to BIM information of the inspection area model and the flight path, so that the unmanned aerial vehicle is controlled to acquire outer wall data of the target inspection area according to the flight path task parameter. According to the high-rise building outer wall data acquisition method provided by the embodiment of the invention, the flight path task parameters of the unmanned aerial vehicle are automatically generated and the unmanned aerial vehicle is controlled to automatically acquire the high-rise building outer wall data, so that the efficiency, the accuracy and the safety of high-rise building outer wall inspection are improved, the inspection time and the workload are reduced, the inspection cost is reduced, and the method has the advantages of rapidness, effectiveness, safety and the like.
Drawings
Fig. 1 is a flowchart of a high-rise building exterior wall data acquisition method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a high-rise building exterior wall data acquisition device according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a computer device according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a high-rise building exterior wall data acquisition method according to an embodiment of the present invention. The embodiment can be applied to the detection of the outer wall of the high-rise building, and the method can be executed by the data acquisition device for the outer wall of the high-rise building provided by the embodiment of the invention, and the device can be realized by hardware and/or software and can be generally integrated in computer equipment. As shown in fig. 1, the method specifically comprises the following steps:
and S11, acquiring the three-dimensional building model, and decomposing the three-dimensional building model according to a preset target inspection area to obtain the inspection area model of the unmanned aerial vehicle.
The three-dimensional Building model can be a BIM Building model, Building Information Modeling (BIM) technology replaces manual work to effectively manage a Building project to make accurate progress evaluation, a virtual Building engineering three-dimensional model is built, a complete Building engineering Information base consistent with actual conditions is provided for the model by using a digital technology, the three-dimensional Building model becomes a mainstream technology in the current Building industry, the three-dimensional Building model is generally applied to the whole life cycle of a Building, and relevant data are reserved. Therefore, the required three-dimensional building model can be directly obtained, and the actual air route data of the unmanned aerial vehicle when the unmanned aerial vehicle executes the building outer wall data acquisition task can be determined according to the obtained three-dimensional building model.
In actual outer wall inspection operation, usually, the outer wall of the whole building is not inspected, and then, an inspection area model which is required to be inspected by the unmanned aerial vehicle can be firstly decomposed from the obtained three-dimensional building model according to a preset target inspection area, so that the subsequent required calculated amount is reduced, the accuracy of a calculation result can be improved, of course, the target inspection area can be the whole building range, and the corresponding inspection area model can be the three-dimensional building model.
Optionally, before decomposing the three-dimensional building model according to the preset target inspection area to obtain the inspection area model of the unmanned aerial vehicle, the method further includes: and preprocessing the three-dimensional building model to remove components irrelevant to an outer wall data acquisition task in the three-dimensional building model. Specifically, in the three-dimensional building model, some data which are irrelevant to the outer wall data to be detected may be included, and the construction which is irrelevant to the outer wall data acquisition task may be removed in advance, so that the subsequent required calculation amount is further reduced, and the accuracy of the calculation result is improved.
S12, decomposing the surface of the inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit.
Wherein, optionally, before decomposing the surface of the patrol inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit, the method further comprises: and determining the size of the view field according to the minimum vertical distance between the unmanned aerial vehicle and the building outer wall and the unmanned aerial vehicle camera parameters. Can calculate the field of view size that obtains the unmanned aerial vehicle camera according to unmanned aerial vehicle and the minimum perpendicular distance and the unmanned aerial vehicle camera parameter of building outer wall to can decompose the surface of patrolling and examining the regional model according to the field of view size, wherein, unmanned aerial vehicle camera parameter can include sensor size and focus etc.. Specifically, after the view field size of the unmanned aerial vehicle camera is determined, the surface of the inspection area model can be decomposed into each view field unit according to the view field size, and the image of the next view field unit can be shot when the unmanned aerial vehicle moves to one position, so that all outer wall data of the target inspection area can be shot, and more redundancy can not exist.
And S13, generating one-to-one corresponding viewpoints of the unmanned aerial vehicle cameras according to the view field units to obtain a viewpoint set.
Specifically, after each view field unit is obtained through decomposition, the view points of the corresponding unmanned aerial vehicle cameras can be generated according to each view field unit, and a view point set is formed by all the generated view points, so that the corresponding shooting positions of the unmanned aerial vehicle can be determined according to each view point, the air route of the unmanned aerial vehicle can be further determined, and the BIM building model can be automatically gridded by utilizing Dynamo to generate the view points. Optionally, the generating, according to each of the view field units, one-to-one viewpoints of the cameras of the unmanned aerial vehicle to obtain a view field set includes: and projecting the centroid of each view field unit on the surface of the patrol area model to obtain the view point set. Specifically, the centroid of each field unit may be determined first, and then the centroid is projected on the surface of the patrol inspection area model to obtain a corresponding viewpoint, so as to obtain a viewpoint set.
And S14, determining the flight path of the unmanned aerial vehicle according to the view point set.
Specifically, after the viewpoint set is obtained, the optimal flight path of the unmanned aerial vehicle, that is, the flight path with the shortest overall path, the least time consumption and the lowest repetition rate, may be calculated according to the viewpoint set.
And S15, determining the flight path task parameters of the unmanned aerial vehicle according to the BIM information of the inspection area model and the flight path.
Specifically, after the flight path of the unmanned aerial vehicle is determined, specific air route task parameters such as position parameters, distance parameters and angle parameters are needed to control the unmanned aerial vehicle to fly, and the air route task parameters of the unmanned aerial vehicle can be determined according to the BIM information of the routing inspection area model and the determined flight path. Optionally, the BIM information includes an actual distance between two adjacent viewpoints, a three-dimensional coordinate of each viewpoint, and the like.
Optionally, before determining the flight path task parameter of the unmanned aerial vehicle according to the BIM information of the inspection area model and the flight path, the method further includes: acquiring preset initial parameters of the unmanned aerial vehicle through an interactive interface, wherein the preset initial parameters comprise at least one of longitude and latitude, yaw angle and flight direction of an initial viewpoint in the flight path; correspondingly, the determining of the air route task parameters of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path comprises the following steps: and determining the flight path task parameters according to the BIM information, the flight path and the preset initial parameters. Specifically, an interactive interface for automatic conversion of the unmanned aerial vehicle air route task parameters can be provided for the user, and the user can input related preset initial parameters in the interactive interface so as to manually adjust the air route of the unmanned aerial vehicle. After the preset initial parameters input by the user are obtained, the route task parameters of the unmanned aerial vehicle can be determined according to the BIM information of the inspection area model, the determined flight path and the preset initial parameters.
Optionally, after determining the route task parameter of the unmanned aerial vehicle according to the BIM information of the inspection area model and the flight path, the method further includes: determining the energy consumption of the unmanned aerial vehicle according to the flight line task parameters; and setting a battery supply point in the air route of the unmanned aerial vehicle according to the energy consumption. Specifically, for further automation, can set up the battery supply point for unmanned aerial vehicle to make unmanned aerial vehicle can reach nearest battery supply point and charge when the energy exhausts, thereby guarantee that unmanned aerial vehicle can accomplish whole data acquisition process. The energy consumption of the flight action of the unmanned aerial vehicle can be recorded, the maximum task amount which can be executed by each battery is calculated, and battery supply points are set for the unmanned aerial vehicle at the position where the counted energy consumption reaches or will reach the maximum task amount according to the determined air route task parameters so as to charge the unmanned aerial vehicle or replace the battery.
And S16, controlling an unmanned aerial vehicle to collect the outer wall data of the target inspection area according to the flight path task parameters.
Specifically, after the air route task parameters of the unmanned aerial vehicle are determined, the unmanned aerial vehicle can be controlled to fly according to the air route task parameters, and when the unmanned aerial vehicle is controlled to reach the relative position of a viewpoint once, the outer wall data of the viewpoint is collected once. After the flight is finished according to the flight path task parameters, all the outer wall data of the target inspection area can be acquired. After the whole data acquisition task is completed, the effects of image quality, coverage and the like can be evaluated to determine whether all or part of the viewpoints need to be acquired again or not.
According to the technical scheme provided by the embodiment of the invention, firstly, a three-dimensional building model is obtained, a routing inspection area model of the unmanned aerial vehicle is obtained by decomposition from the three-dimensional building model according to a preset target inspection area, then, the surface of the routing inspection area model is decomposed according to the size of the field of view of a camera of the unmanned aerial vehicle to obtain each field of view unit, then, the one-to-one corresponding viewpoint of the camera of the unmanned aerial vehicle is generated according to each field of view unit to obtain a viewpoint set, so that the flight path of the unmanned aerial vehicle is determined according to the viewpoint set, finally, the airline task parameters of the unmanned aerial vehicle can be determined according to the BIM information and the flight path of the routing inspection area model, and the unmanned aerial vehicle is controlled to. By automatically generating the flight path task parameters of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to automatically collect the data of the outer wall of the high-rise building, the efficiency, the accuracy and the safety of the inspection of the outer wall of the high-rise building are improved, the inspection time and the workload are reduced, the inspection cost is reduced, and the unmanned aerial vehicle has the advantages of being fast, effective, safe and the like.
Example two
Fig. 2 is a schematic structural diagram of a high-rise building exterior wall data acquisition device according to a second embodiment of the present invention, where the device may be implemented in a hardware and/or software manner, and may be generally integrated in a computer device, and is used to execute the high-rise building exterior wall data acquisition method according to any embodiment of the present invention. As shown in fig. 2, the apparatus includes:
the model obtaining module 21 is configured to obtain a three-dimensional building model, and decompose the three-dimensional building model according to a preset target inspection area to obtain an inspection area model of the unmanned aerial vehicle;
the model decomposition module 22 is used for decomposing the surface of the inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit;
the viewpoint generating module 23 is configured to generate one-to-one viewpoints of the cameras of the unmanned aerial vehicle according to each of the view field units to obtain a viewpoint set;
a flight path determining module 24, configured to determine a flight path of the unmanned aerial vehicle according to the view set;
the route parameter determining module 25 is used for determining a route task parameter of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path;
and the outer wall data acquisition module 26 is used for controlling the unmanned aerial vehicle to acquire the outer wall data of the target inspection area according to the air route task parameters.
According to the technical scheme provided by the embodiment of the invention, firstly, a three-dimensional building model is obtained, a routing inspection area model of the unmanned aerial vehicle is obtained by decomposition from the three-dimensional building model according to a preset target inspection area, then, the surface of the routing inspection area model is decomposed according to the size of the field of view of a camera of the unmanned aerial vehicle to obtain each field of view unit, then, the one-to-one corresponding viewpoint of the camera of the unmanned aerial vehicle is generated according to each field of view unit to obtain a viewpoint set, so that the flight path of the unmanned aerial vehicle is determined according to the viewpoint set, finally, the airline task parameters of the unmanned aerial vehicle can be determined according to the BIM information and the flight path of the routing inspection area model, and the unmanned aerial vehicle is controlled to collect the outer wall data of the target inspection area according to the airline task parameters. By automatically generating the flight path task parameters of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to automatically collect the data of the outer wall of the high-rise building, the efficiency, the accuracy and the safety of the inspection of the outer wall of the high-rise building are improved, the inspection time and the workload are reduced, the inspection cost is reduced, and the unmanned aerial vehicle has the advantages of being fast, effective, safe and the like.
On the basis of the above technical solution, optionally, the viewpoint generating module 23 is specifically configured to:
and projecting the centroid of each view field unit on the surface of the patrol area model to obtain the view point set.
On the basis of the above technical solution, optionally, the device for acquiring data of an external wall of a high-rise building further includes:
and the view field size determining module is used for determining the view field size according to the minimum vertical distance between the unmanned aerial vehicle and the building outer wall and the unmanned aerial vehicle camera parameters before decomposing the surface of the inspection area model according to the view field size of the unmanned aerial vehicle camera to obtain each view field unit.
On the basis of the above technical solution, optionally, the device for acquiring data of an external wall of a high-rise building further includes:
the energy consumption determining module is used for determining the energy consumption of the unmanned aerial vehicle according to the flight path task parameters after determining the flight path task parameters of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path;
and the battery supply point setting module is used for setting a battery supply point in the air route of the unmanned aerial vehicle according to the energy consumption.
On the basis of the above technical solution, optionally, the BIM information includes an actual distance between two adjacent viewpoints and a three-dimensional coordinate of each viewpoint.
On the basis of the above technical solution, optionally, the device for acquiring data of an external wall of a high-rise building further includes:
and the model preprocessing module is used for preprocessing the three-dimensional building model before decomposing the three-dimensional building model according to a preset target inspection area to obtain an inspection area model of the unmanned aerial vehicle so as to remove members irrelevant to an outer wall data acquisition task in the three-dimensional building model.
On the basis of the above technical solution, optionally, the device for acquiring data of an external wall of a high-rise building further includes:
an initial parameter obtaining module, configured to obtain a preset initial parameter of the unmanned aerial vehicle through an interactive interface before determining a course task parameter of the unmanned aerial vehicle according to the BIM information of the inspection area model and the flight path, where the preset initial parameter includes at least one of a longitude and latitude, a yaw angle, and a flight direction of an initial viewpoint in the flight path;
correspondingly, the route parameter determination module 25 is specifically configured to:
and determining the flight path task parameters according to the BIM information, the flight path and the preset initial parameters.
The high-rise building outer wall data acquisition device provided by the embodiment of the invention can execute the high-rise building outer wall data acquisition method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the device for acquiring data of an external wall of a high-rise building, each included unit and module is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a computer device provided in the third embodiment of the present invention, and shows a block diagram of an exemplary computer device suitable for implementing the embodiment of the present invention. The computer device shown in fig. 3 is only an example, and should not bring any limitation to the function and the scope of use of the embodiments of the present invention. As shown in fig. 3, the computer apparatus includes a processor 31, a memory 32, an input device 33, and an output device 34; the number of the processors 31 in the computer device may be one or more, one processor 31 is taken as an example in fig. 3, the processor 31, the memory 32, the input device 33 and the output device 34 in the computer device may be connected by a bus or in other ways, and the connection by the bus is taken as an example in fig. 3.
The memory 32 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the high-rise building exterior wall data acquisition method in the embodiment of the present invention (for example, the model acquisition module 21, the model decomposition module 22, the viewpoint generation module 23, the flight path determination module 24, the route parameter determination module 25, and the exterior wall data acquisition module 26 in the high-rise building exterior wall data acquisition device). The processor 31 executes various functional applications and data processing of the computer device by running the software programs, instructions and modules stored in the memory 32, so as to realize the above-mentioned method for collecting data of the outer wall of the high-rise building.
The memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 32 may further include memory located remotely from the processor 31, which may be connected to a computer device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 33 may be used to acquire a three-dimensional building model and preset initial parameters, and to generate key signal inputs related to user settings and function control of the computer apparatus, and the like. The output device 34 may be used to send control signals to the drone, and may also include a display screen or the like, which may be used to provide an interactive interface to the user.
Example four
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for acquiring data of an external wall of a high-rise building, and the method includes:
acquiring a three-dimensional building model, and decomposing the three-dimensional building model according to a preset target inspection area to obtain an inspection area model of the unmanned aerial vehicle;
decomposing the surface of the inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit;
generating one-to-one corresponding viewpoints of the unmanned aerial vehicle cameras according to the view field units to obtain a viewpoint set;
determining the flight path of the unmanned aerial vehicle according to the viewpoint set;
determining a route task parameter of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path;
and controlling an unmanned aerial vehicle to collect the outer wall data of the target inspection area according to the flight path task parameters.
The storage medium may be any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lambda (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the method for acquiring data of an external wall of a high-rise building provided by any embodiment of the present invention.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for acquiring data of an external wall of a high-rise building is characterized by comprising the following steps:
acquiring a three-dimensional building model, and decomposing the three-dimensional building model according to a preset target inspection area to obtain an inspection area model of the unmanned aerial vehicle;
decomposing the surface of the inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit;
generating one-to-one corresponding viewpoints of the unmanned aerial vehicle cameras according to the view field units to obtain a viewpoint set;
determining the flight path of the unmanned aerial vehicle according to the viewpoint set;
determining a route task parameter of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path;
and controlling an unmanned aerial vehicle to collect the outer wall data of the target inspection area according to the flight path task parameters.
2. The method for acquiring the data of the external wall of the high-rise building according to claim 1, wherein the generating of the one-to-one corresponding viewpoints of the unmanned aerial vehicle cameras according to the respective view field units to obtain a view field set comprises:
and projecting the centroid of each view field unit on the surface of the patrol area model to obtain the view point set.
3. The method for acquiring the data of the outer wall of the high-rise building according to the claim 1, wherein before decomposing the surface of the inspection area model according to the size of the field of view of the unmanned aerial vehicle camera to obtain each field of view unit, the method further comprises the following steps:
and determining the size of the view field according to the minimum vertical distance between the unmanned aerial vehicle and the building outer wall and the unmanned aerial vehicle camera parameters.
4. The method for acquiring the data of the outer wall of the high-rise building according to the claim 1, after determining the flight path task parameters of the unmanned aerial vehicle according to the BIM information of the inspection area model and the flight path, further comprising the following steps:
determining the energy consumption of the unmanned aerial vehicle according to the flight line task parameters;
and setting a battery supply point in the air route of the unmanned aerial vehicle according to the energy consumption.
5. The method for collecting the data of the exterior wall of the high-rise building according to claim 1, wherein the BIM information comprises an actual distance between two adjacent viewpoints and a three-dimensional coordinate of each viewpoint.
6. The method for acquiring the data of the external wall of the high-rise building according to the claim 1, before decomposing the inspection area model of the unmanned aerial vehicle from the three-dimensional building model according to the preset target inspection area, further comprising:
and preprocessing the three-dimensional building model to remove components irrelevant to an outer wall data acquisition task in the three-dimensional building model.
7. The method for acquiring the data of the outer wall of the high-rise building according to the claim 1, wherein before determining the flight path task parameters of the unmanned aerial vehicle according to the BIM information of the inspection area model and the flight path, the method further comprises the following steps:
acquiring preset initial parameters of the unmanned aerial vehicle through an interactive interface, wherein the preset initial parameters comprise at least one of longitude and latitude, yaw angle and flight direction of an initial viewpoint in the flight path;
correspondingly, the determining of the air route task parameters of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path comprises the following steps:
and determining the flight path task parameters according to the BIM information, the flight path and the preset initial parameters.
8. The utility model provides a high-rise building outer wall data acquisition device which characterized in that includes:
the model acquisition module is used for acquiring a three-dimensional building model and decomposing the three-dimensional building model according to a preset target inspection area to obtain an inspection area model of the unmanned aerial vehicle;
the model decomposition module is used for decomposing the surface of the inspection area model according to the size of the view field of the unmanned aerial vehicle camera to obtain each view field unit;
the viewpoint generating module is used for generating viewpoints of the unmanned aerial vehicle cameras in one-to-one correspondence according to the view field units to obtain a viewpoint set;
the flight path determining module is used for determining the flight path of the unmanned aerial vehicle according to the view point set;
the route parameter determining module is used for determining a route task parameter of the unmanned aerial vehicle according to the BIM information of the routing inspection area model and the flight path;
and the outer wall data acquisition module is used for controlling the unmanned aerial vehicle to acquire the outer wall data of the target inspection area according to the air route task parameters.
9. A computer device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of high-rise building facade data collection according to any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method for acquiring data of an exterior wall of a high-rise building according to any one of claims 1 to 7.
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