CN114812516A - BIM-based unmanned aerial vehicle surveying and mapping method, system, device and storage medium - Google Patents
BIM-based unmanned aerial vehicle surveying and mapping method, system, device and storage medium Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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Abstract
The application relates to a BIM-based unmanned aerial vehicle surveying and mapping method, system, device and storage medium, relating to the technical field of unmanned aerial vehicle surveying and mapping, wherein the method comprises the steps of acquiring accumulated surveying and mapping time; acquiring a preset detection period corresponding to the accumulated mapping time from a preset database; if the accumulated mapping time reaches a preset detection period, receiving the current mapping image data; and pushing the current mapping image data to the intelligent terminal of the user. This application has the user of being convenient for according to current survey and drawing image data, shoots the effect that the action carries out real-time adjustment to unmanned aerial vehicle's survey and drawing.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle surveying and mapping, in particular to a BIM-based unmanned aerial vehicle surveying and mapping method, system, device and storage medium.
Background
The unmanned aerial vehicle is combined with a Building Information Model (BIM) technology, so that the integration of building information can be realized, and various information is always integrated in a three-dimensional model information database from the design, construction and operation of a building to the end of the whole life cycle of the building, so that the working efficiency is effectively improved, the resources are saved, the cost is reduced, and the sustainable development is realized.
In the related art, a surveying and mapping device and a surveying and mapping method based on a BIM unmanned aerial vehicle are provided, wherein the unmanned aerial vehicle comprises a flight mechanism, the bottom of the flight mechanism is provided with the surveying and mapping mechanism, and the front surface of the flight mechanism is respectively provided with an infrared signal receiver and an infrared signal transmitter.
In view of the above-described related art, the inventors found that the following drawbacks exist: in the surveying and mapping process, a surveying and mapping mechanism needs to continuously shoot a large amount of image data until the unmanned aerial vehicle falls to the ground, and a user can check and evaluate the photo data. Therefore, unmanned aerial vehicle is at the in-process of survey and drawing flight, and the user is difficult to adjust the shooting to unmanned aerial vehicle's survey and drawing image to some ground.
Disclosure of Invention
In order to facilitate the user to adjust and shoot the surveying and mapping image of the unmanned aerial vehicle in real time, the application provides a BIM-based unmanned aerial vehicle surveying and mapping method, system, device and storage medium.
In a first aspect, the application provides an unmanned aerial vehicle surveying and mapping method based on BIM, which adopts the following technical scheme:
a BIM-based unmanned aerial vehicle surveying and mapping method comprises the following steps:
acquiring accumulated mapping time;
acquiring a preset detection period corresponding to the accumulated mapping time from a preset database;
if the accumulated mapping time reaches the preset detection period, receiving the data of the current mapping image;
and pushing the current mapping image data to an intelligent terminal of a user.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle is at the in-process of flight survey and drawing, and surveying and drawing image data is periodically acquireed to the mapping system to with the real-time propelling movement of current surveying and drawing image data to user's intelligent terminal. The user can directly perceivedly know the current unmanned aerial vehicle's survey and drawing operation condition through looking over the current survey and drawing image data of real-time propelling movement, and current survey and drawing image data provides the reference suggestion for the user, and the user of being convenient for shoots the action to unmanned aerial vehicle's survey and drawing and carries out real-time adjustment according to current survey and drawing image data.
Optionally, before the step of pushing the current mapping image data to the intelligent terminal of the user, the method further includes:
acquiring the definition of a mapping image corresponding to the current mapping image data according to the current mapping image data, wherein the definition of the mapping image comprises a definition state and a fuzzy state;
and if the definition of the mapping image is in a fuzzy state, generating a mapping adjustment instruction and executing, wherein the mapping adjustment instruction is used for sending a mapping adjustment signal to a user.
Through adopting above-mentioned technical scheme, mapping system examines and approves the definition to the mapping image that receives, and when the mapping image is comparatively fuzzy, mapping system generates the survey and drawing adjustment instruction, and the suggestion user needs the survey and drawing process of adjusting unmanned aerial vehicle this moment.
Optionally, after the step of obtaining the map image definition corresponding to the current mapping image data, the method further includes:
if the definition of the surveying and mapping image is in a clear state, acquiring a surveying and mapping aerial photograph corresponding to the current surveying and mapping image data;
acquiring a preset aerial photo range corresponding to the surveying and mapping aerial photo range from a preset database;
and if the surveying and mapping photo range does not meet the preset photo range, executing the steps of generating a surveying and mapping adjustment instruction and executing.
Through adopting above-mentioned technical scheme, mapping system carries out the analysis of boat piece looks width of cloth to the mapping image that satisfies the definition requirement, judges whether the mapping image of current shooting satisfies the demand of boat piece looks width of cloth, if the mapping boat piece looks width of cloth scope that current image is unsatisfied preset boat piece looks width of cloth, mapping system then generates the survey and drawing adjustment instruction, and the suggestion user carries out the height control operation to unmanned aerial vehicle's mapping process.
Optionally, after the step of generating and executing the mapping adjustment instruction is executed, the method further includes:
calculating to generate a navigation film phase amplitude difference value according to the surveying and mapping navigation film phase amplitude and the preset navigation film phase amplitude range;
acquiring a preset aerial photograph phase amplitude difference total range from a preset database, wherein the preset aerial photograph phase amplitude difference total range comprises a plurality of preset aerial photograph phase amplitude difference sub-ranges;
according to the aerial photograph phase amplitude difference value and the preset aerial photograph phase amplitude difference total range, calling the preset aerial photograph phase amplitude difference sub-range corresponding to the aerial photograph phase amplitude difference value;
determining a preset flight height adjusting value corresponding to the preset air slide phase amplitude difference sub-range according to the called preset air slide phase amplitude difference sub-range;
and generating a flying height adjusting instruction according to the preset flying height adjusting value and executing.
By adopting the technical scheme, if the mapping aerial photograph range of the current image does not meet the preset aerial photograph range, the mapping system automatically calculates and generates a flying height adjusting value by comparing an aerial photograph range difference value and a preset aerial photograph range difference total range, generates a flying height adjusting instruction according to the flying height adjusting value, and automatically adjusts the current flying height of the unmanned aerial vehicle.
Optionally, after the step of generating and executing the mapping adjustment instruction, the method further includes:
acquiring the actual position of the unmanned aerial vehicle;
acquiring a preset total mapping track from a preset database, wherein the preset total mapping track comprises a plurality of preset mapping sub-tracks;
according to the actual position of the unmanned aerial vehicle, calling a preset mapping sub-track corresponding to the actual position of the unmanned aerial vehicle;
and generating a surveying and mapping stopping instruction according to the called preset surveying and mapping sub-track, and executing the surveying and mapping stopping instruction, wherein the surveying and mapping stopping instruction is used for suspending the shooting operation of the unmanned aerial vehicle in the called preset surveying and mapping sub-track.
Through adopting above-mentioned technical scheme, if unmanned aerial vehicle the not conform to the circumstances of requirement of surveying and mapping image data appear at the flight in-process, surveying and mapping system then transfers the corresponding survey and mapping sub-orbit of predetermineeing with current unmanned aerial vehicle actual position, and generate the survey and mapping and shoot and suspend the instruction, the shooting of suspension unmanned aerial vehicle in predetermineeing the survey and mapping sub-orbit at present to reduce the waste of shooting the resource.
Optionally, after the step of retrieving the preset mapping sub-trajectory corresponding to the actual position of the drone, the method further includes:
determining a subsequent preset mapping sub-track corresponding to the called preset mapping sub-track according to the called preset mapping sub-track;
and generating a flight path adjusting instruction according to the subsequent preset mapping sub-track and executing.
Through adopting above-mentioned technical scheme, if unmanned aerial vehicle the condition that surveying image data is unsatisfactory appears in flight process, surveying and mapping system then calls and predetermines the sub-orbit of survey and drawing with the corresponding presetting of current unmanned aerial vehicle actual position, then confirm with the corresponding follow-up survey and drawing sub-orbit of presetting of survey and drawing sub-orbit of calling to directly carry out the survey and drawing process in the follow-up survey and drawing sub-orbit of presetting, play the effect that reduces unmanned aerial vehicle flight time.
Optionally, after the step of generating and executing the flight path adjustment instruction, the method further includes:
acquiring the unmanned aerial vehicle surveying and mapping progress according to the actual position of the unmanned aerial vehicle and the preset surveying and mapping total track, wherein the unmanned aerial vehicle surveying and mapping progress comprises two states of in-progress and completed;
and if the unmanned aerial vehicle surveying and mapping progress is in a finished state, generating a re-flying surveying and mapping instruction according to the called preset surveying and mapping sub-track and executing the re-flying surveying and mapping instruction.
Through adopting above-mentioned technical scheme, after unmanned aerial vehicle accomplished the flight process of survey and drawing route, surveying and drawing system need control unmanned aerial vehicle and carry out the operation of flying again to the region execution that the survey image is nonstandard, and surveying and drawing system generates the survey and drawing instruction of flying again and carries out according to the predetermined survey and drawing sub-orbit of transferring, and control unmanned aerial vehicle flies again in proper order to the region that needs fly again.
In a second aspect, the present application provides an unmanned aerial vehicle mapping system based on BIM, adopts following technical scheme:
a BIM-based unmanned aerial vehicle mapping system, comprising:
an accumulated mapping time acquisition module for acquiring accumulated mapping time;
a preset detection period acquisition module, configured to acquire a preset detection period corresponding to the accumulated mapping time from a preset database;
a current mapping image data receiving module, configured to receive current mapping image data if the accumulated mapping time reaches the preset detection period;
and the current mapping image data pushing module is used for pushing the current mapping image data to the intelligent terminal of the user.
In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
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 executed to perform any of the above BIM-based unmanned aerial vehicle surveying methods.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer readable storage medium storing a computer program capable of being loaded by a processor and executing any of the above BIM-based unmanned aerial vehicle surveying methods.
In summary, the present application includes at least one of the following beneficial technical effects:
unmanned aerial vehicle is at the in-process of flight survey and drawing, and survey and drawing image data is periodically obtained to surveying and drawing image data to with current real-time propelling movement of data to user's intelligent terminal. The user can directly perceivedly know the current unmanned aerial vehicle's survey and drawing operation condition through looking over the current survey and drawing image data of real-time propelling movement, and current survey and drawing image data provides the reference suggestion for the user, and the user of being convenient for shoots the action to unmanned aerial vehicle's survey and drawing and carries out real-time adjustment according to current survey and drawing image data.
Survey and drawing system carries out the analysis of boat piece looks width of cloth to the survey and drawing image that satisfies the definition requirement, judges whether the survey and drawing image of current shooting satisfies the demand of boat piece looks width of cloth, if the survey and drawing boat piece looks width of cloth of current image does not satisfy predetermined boat piece looks width of cloth scope, survey and drawing system then generates the survey and drawing adjustment instruction, the suggestion user carries out the altitude mixture control operation to unmanned aerial vehicle's mapping process.
If the mapping aerial photograph range of the current image does not meet the preset aerial photograph range, the mapping system automatically calculates and generates a flying height adjusting value by comparing an aerial photograph range difference value with a preset aerial photograph range difference total range, generates a flying height adjusting instruction according to the flying height adjusting value, and automatically adjusts the current flying height of the unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic flow chart of an unmanned aerial vehicle surveying and mapping method based on BIM in an embodiment of the present application.
Fig. 2 is a schematic flow chart of generating and executing a mapping adjustment instruction in an embodiment of the present application.
FIG. 3 is a flow chart illustrating the generation and execution of a fly-height adjustment command according to an embodiment of the present application.
Fig. 4 is a schematic flow chart of generating and executing a flight path adjustment instruction in the embodiment of the present application.
Fig. 5 is a schematic flow chart of obtaining a mapping progress of an unmanned aerial vehicle in the embodiment of the present application.
Fig. 6 is a block diagram of a BIM-based unmanned aerial vehicle surveying and mapping system according to an embodiment of the present application.
Description of reference numerals: 1. an accumulated mapping time acquisition module; 2. a detection period acquisition module is preset; 3. a current mapping image data receiving module; 4. and a current mapping image data pushing module.
Detailed Description
The present application is described in further detail below with reference to figures 1-6.
The embodiment of the application discloses a BIM-based unmanned aerial vehicle surveying and mapping method, system, device and storage medium.
Referring to fig. 1, a BIM-based unmanned aerial vehicle surveying and mapping method includes:
s101, acquiring accumulated mapping time.
Specifically, be provided with the time-recorder on the unmanned aerial vehicle, unmanned aerial vehicle flies the survey and drawing in-process, and the time-recorder is cumulated unmanned aerial vehicle's flight survey and drawing time, and survey and drawing system receives the accumulative total survey and drawing time that the time-recorder sent, and then learns current unmanned aerial vehicle's flight survey and drawing time.
And S102, acquiring a preset detection period corresponding to the accumulated mapping time from a preset database.
Specifically, after the surveying and mapping system receives the accumulated surveying and mapping time sent by the timer, a preset detection period corresponding to the accumulated surveying and mapping time is obtained from a preset database. The preset detection period is generated by presetting for a user, and is used for representing a time interval of periodic detection on real-time surveying and mapping image data of the unmanned aerial vehicle.
S103, receiving the current mapping image data if the accumulated mapping time reaches a preset detection period.
Specifically, be provided with the mapping device who is used for surveying and mapping to shoot on the unmanned aerial vehicle, unmanned aerial vehicle is at the flight in-process, and mapping device shoots in succession surveying and mapping ground. If the accumulated mapping time reaches the preset detection period, the mapping system receives the data of the current mapping image shot by the mapping device, wherein the data of the current mapping image is the data of the first mapping image shot by the mapping device after the accumulated mapping time reaches the preset detection period.
And S104, pushing the current surveying and mapping image data to an intelligent terminal of the user.
Specifically, unmanned aerial vehicle is at the in-process of flight survey and drawing, and mapping system obtains survey and drawing image data periodically to with the real-time propelling movement of current survey and drawing image data to user's intelligent terminal. The user can directly perceivedly know the current unmanned aerial vehicle's survey and drawing operation condition through looking over the current survey and drawing image data of real-time propelling movement, and current survey and drawing image data provides the reference suggestion for the user, and the user of being convenient for shoots the action to unmanned aerial vehicle's survey and drawing and carries out real-time adjustment according to current survey and drawing image data.
Referring to fig. 2, before S104, a mapping adjustment instruction is further generated according to the current mapping image data, which includes the following steps:
s201, obtaining the definition of the surveying and mapping image corresponding to the current surveying and mapping image data.
Specifically, after the mapping system receives the data of the current mapping image shot by the mapping device, the mapping system checks the definition of the received mapping image. The mapping system acquires the definition of the mapping image corresponding to the current mapping image data according to the current mapping image data, wherein the definition of the mapping image comprises a definition state and a fuzzy state.
S202, judging whether the definition of the test image is in a clear state.
If not, jumping to S203;
if yes, go to S204 to S206.
And S203, generating a surveying and mapping adjustment instruction and executing.
Specifically, if the sharpness of the map image is in a fuzzy state, the mapping system generates and executes a mapping adjustment command, wherein the mapping adjustment command is used for sending a mapping adjustment signal to the user. The mapping system prompts a user that the mapping process of the unmanned aerial vehicle needs to be adjusted at the moment, so that the user can also timely know the abnormal shooting condition of the mapping image under the condition that the data of the current mapping image is not checked.
And S204, acquiring a mapping aerial photograph corresponding to the current mapping image data.
Specifically, if the definition of the surveying and mapping image is in a clear state, the surveying and mapping system acquires a surveying and mapping aerial photograph corresponding to the data of the current surveying and mapping image. And the mapping system continues to carry out aerial photograph analysis on the mapping image meeting the definition requirement.
S205, acquiring a preset aerial photo range corresponding to the surveying and mapping aerial photo range from a preset database.
Specifically, after the surveying and mapping system acquires the surveying and mapping aerial photo range corresponding to the current surveying and mapping image data, a preset aerial photo range corresponding to the surveying and mapping aerial photo range is acquired from a preset database, wherein the preset aerial photo range is preset and generated for a user, and the preset aerial photo range is used for representing the aerial photo range required by the current surveying and mapping process.
And S206, judging whether the surveying and mapping aerial photo phase range meets a preset aerial photo phase range.
If not, jumping to S207;
if yes, the step of acquiring the accumulated mapping time is executed.
And S207, executing the steps of generating and executing the surveying and mapping adjustment instruction.
Specifically, survey and drawing system carries out the analysis of the photo looks width of a book to the survey and drawing image that satisfies the definition requirement, judges whether the survey and drawing image of taking at present satisfies the photo looks width of a book demand, if the survey and drawing photo looks width of a book scope of a book unsatisfied preset photo looks width of a book scope of a book of the current image, survey and drawing system then generates survey and drawing adjustment instruction, the suggestion user carries out height adjustment operation to unmanned aerial vehicle's mapping process.
As an implementation manner, S204 to S207 in the embodiments of the present application are optional.
Referring to fig. 3, after S207, a flying height adjustment command is generated according to the difference between the aerial photograph amplitudes, which specifically includes the following steps:
and S301, calculating to generate a navigation film phase amplitude difference value.
Specifically, if the mapping aerial photograph range of the current image does not meet the preset aerial photograph range, the mapping system calculates and generates an aerial photograph range difference value by comparing the mapping aerial photograph range with the preset aerial photograph range. For example, the preset range of the aerial photo frames is a-b, if the surveying and mapping aerial photo frame is x, wherein x is smaller than a, the difference value of the aerial photo frames at this time is- (x-a); and if the mapping aerial photo amplitude is y, wherein y is larger than b, the difference value of the aerial photo amplitude at the moment is y-b.
S302, acquiring a preset total range of the aerial photo phase-amplitude difference from a preset database.
Specifically, after the mapping system calculates and generates the air photo phase-amplitude difference value, a preset air photo phase-amplitude difference total range is obtained from a preset database, wherein the preset air photo phase-amplitude difference total range comprises a plurality of preset air photo phase-amplitude difference sub-ranges.
And S303, calling a preset aerial photo phase amplitude difference sub-range corresponding to the aerial photo phase amplitude difference value.
Specifically, the surveying and mapping system calls a preset aerial photo phase amplitude difference sub-range corresponding to the aerial photo phase amplitude difference value according to the aerial photo phase amplitude difference value and a preset aerial photo phase amplitude difference total range. And the surveying and mapping system respectively compares the aerial photo phase-amplitude difference value with each preset aerial photo phase-amplitude difference sub-range, and further determines the preset aerial photo phase-amplitude difference sub-range in which the current aerial photo phase-amplitude difference value falls.
S304, determining a preset flying height adjusting value corresponding to a preset aerial photograph phase amplitude difference sub-range.
Specifically, the mapping system determines a preset flight height adjustment value corresponding to the preset aerial photograph phase amplitude difference sub-range according to the preset aerial photograph phase amplitude difference sub-range. The preset flight height adjustment value is generated by presetting each preset aerial photograph phase amplitude difference sub-range according to the proportional relation between the flight height and the aerial photograph phase amplitude by a user.
And S305, generating a flight height adjusting command and executing the flight height adjusting command.
Specifically, if the mapping aerial photograph range of the current image does not meet the preset aerial photograph range, the mapping system automatically calculates and generates a flying height adjusting value by comparing an aerial photograph range difference value with a preset aerial photograph range difference total range, generates a flying height adjusting instruction according to the flying height adjusting value, and automatically adjusts the current flying height of the unmanned aerial vehicle.
Referring to fig. 4, after S203, a mapping and shooting suspension instruction is further generated according to the actual position of the drone, and the method specifically includes the following steps:
s401, acquiring the actual position of the unmanned aerial vehicle.
Specifically, be provided with the locator on the unmanned aerial vehicle, unmanned aerial vehicle is at the flight survey and drawing in-process, and the locator carries out real-time detection to unmanned aerial vehicle's actual position. If the unmanned aerial vehicle has the situation that the mapping image data is not qualified in the flight process, the mapping system receives the actual position of the unmanned aerial vehicle sent by the locator.
S402, acquiring a preset mapping total track from a preset database.
Specifically, the surveying system obtains a preset surveying total trajectory from a preset database, wherein the preset surveying total trajectory comprises a plurality of preset surveying sub-trajectories. The preset total mapping track is generated by presetting the user according to the requirement of the mapping flight route, the preset sub-mapping track is generated by segmenting the preset total mapping track, and the preset total mapping track is formed by connecting a plurality of preset sub-mapping tracks end to end.
S403, calling a preset mapping sub-track corresponding to the actual position of the unmanned aerial vehicle.
Specifically, the surveying and mapping system calls a preset surveying and mapping sub-track corresponding to the actual position of the unmanned aerial vehicle according to the actual position of the unmanned aerial vehicle. The surveying and mapping system compares the current actual position of the unmanned aerial vehicle with each preset surveying and mapping sub-track, and analyzes the preset surveying and mapping sub-track position where the current actual position of the unmanned aerial vehicle is obtained.
And S404, generating a surveying and mapping shooting stopping instruction and executing.
Specifically, when unmanned aerial vehicle appeared surveying and mapping image data nonconforming condition at the in-flight time, surveying and mapping system generated the surveying and mapping according to the preset surveying and mapping sub-track of transferring and stopped the instruction and carried out, wherein, the surveying and mapping was stopped the instruction and was used for suspending unmanned aerial vehicle the operation of shooing in the preset surveying and mapping sub-track of transferring.
If the unmanned aerial vehicle appears surveying and mapping image data nonconforming's condition at the flight in-process, it indicates that unmanned aerial vehicle need carry out the survey and drawing operation again to the area that image data is defective, and surveying and drawing system transfers and predetermines the survey and drawing sub-orbit corresponding with current unmanned aerial vehicle actual position, and generate the survey and drawing and shoot and suspend the instruction, the shooting of suspension unmanned aerial vehicle in predetermineeing the survey and drawing sub-orbit at present to reduce the waste of shooting the resource and survey and mapping image data's redundancy.
S405, determining a subsequent preset mapping sub-track corresponding to the called preset mapping sub-track.
Specifically, the mapping system determines a subsequent predetermined mapping sub-trajectory corresponding to the retrieved predetermined mapping sub-trajectory based on the retrieved predetermined mapping sub-trajectory. And the subsequent preset mapping sub-track is the next preset mapping sub-track after the called preset mapping sub-track in the preset mapping total track.
And S406, generating a flight path adjusting instruction and executing.
Specifically, if unmanned aerial vehicle the condition that surveying image data does not conform to the requirements appears in flight process, surveying and mapping system then calls and predetermines the sub-orbit of survey and drawing with the corresponding presetting of current unmanned aerial vehicle actual position, then confirm with the corresponding follow-up survey and drawing sub-orbit of predetermineeing of survey and drawing of drawing with calling to directly carry out the follow-up survey and drawing process of predetermineeing in the sub-orbit of survey and drawing, play the effect that reduces unmanned aerial vehicle flight time.
As an implementation manner, S405 to S406 in the embodiment of the present application are optional.
Referring to fig. 5, after S406, a missed approach mapping instruction is further generated according to the actual position of the drone, and the method specifically includes the following steps:
s501, obtaining the unmanned aerial vehicle surveying and mapping progress.
Specifically, the mapping system acquires unmanned aerial vehicle mapping progress according to the actual position of the unmanned aerial vehicle and a preset mapping total track, wherein the unmanned aerial vehicle mapping progress comprises two states of in-process and completed. The surveying and mapping system analyzes and learns the flight surveying and mapping process of the current unmanned aerial vehicle according to the moving process of the actual position of the unmanned aerial vehicle in the preset surveying and mapping total track.
And S502, if the unmanned aerial vehicle surveying and mapping progress is in a finished state, generating a re-flying surveying and mapping command and executing the re-flying surveying and mapping command.
Specifically, if the unmanned aerial vehicle surveying and mapping progress is in a finished state, the surveying and mapping system generates a re-flying surveying and mapping instruction according to the called preset surveying and mapping sub-track and executes the re-flying surveying and mapping instruction. After the unmanned aerial vehicle finishes the flight process of the surveying and mapping route, the surveying and mapping system controls the unmanned aerial vehicle to execute the re-flight operation on the area with nonstandard surveying and mapping image.
And the surveying system generates and executes a re-flying surveying and mapping instruction according to the called preset surveying and mapping sub-track, and controls the unmanned aerial vehicle to sequentially re-fly the area needing re-flying. The unmanned aerial vehicle is enabled to carry out surveying and mapping again on the called preset surveying and mapping sub-track in the process of flying again, and automatic perfect operation of data is achieved. Meanwhile, in the process of re-flying, the unmanned aerial vehicle gradually approaches to the takeoff ground, and the effect of saving flight resources can be achieved.
The implementation principle of the unmanned aerial vehicle surveying and mapping method based on the BIM is as follows: unmanned aerial vehicle is at the in-process of flight survey and drawing, and survey and drawing image data is periodically obtained to surveying and drawing image data to with current real-time propelling movement of data to user's intelligent terminal. The user can directly perceivedly know the survey and drawing operation condition of current unmanned aerial vehicle through looking over the current survey and drawing image data of real-time propelling movement, and the user of being convenient for shoots the action to unmanned aerial vehicle's survey and carries out real-time adjustment.
Based on the method, the embodiment of the application also discloses an unmanned aerial vehicle surveying and mapping system based on the BIM. Referring to fig. 6, a BIM-based unmanned aerial vehicle mapping system includes:
the device comprises an accumulated mapping time acquisition module 1, wherein the accumulated mapping time acquisition module 1 is used for acquiring accumulated mapping time.
And the preset detection period acquisition module 2 is used for acquiring a preset detection period corresponding to the accumulated mapping time from a preset database.
The current surveying and mapping image data receiving module 3 is used for receiving the current surveying and mapping image data if the accumulated surveying and mapping time reaches a preset detection period.
The current surveying and mapping image data pushing module 4 is used for pushing the current surveying and mapping image data to the intelligent terminal of the user through the current surveying and mapping image data pushing module 4.
The embodiment of the application further discloses an intelligent terminal, which comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and can execute the BIM-based unmanned aerial vehicle surveying and mapping method.
The embodiment of the application also discloses a computer readable storage medium. A computer program capable of being loaded by a processor and executing a BIM-based drone mapping method as described above is stored in a computer-readable storage medium, which includes, 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.
The above examples are only used to illustrate the technical solutions of the present invention, and do not limit the scope of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from these embodiments without inventive step, are within the scope of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still make various combinations, additions, deletions or other modifications of the features of the embodiments of the present invention according to the situation without conflict, and thus, different technical solutions that do not substantially depart from the spirit of the present invention may be obtained, and these technical solutions also belong to the scope of the present invention.
Claims (10)
1. A BIM-based unmanned aerial vehicle surveying and mapping method is characterized by comprising the following steps:
acquiring accumulated mapping time;
acquiring a preset detection period corresponding to the accumulated mapping time from a preset database;
if the accumulated mapping time reaches the preset detection period, receiving the data of the current mapping image;
and pushing the current mapping image data to an intelligent terminal of a user.
2. The BIM-based unmanned aerial vehicle surveying and mapping method according to claim 1, wherein before the step of pushing the current surveying and mapping image data to a smart terminal of a user, further comprising:
acquiring the definition of a mapping image corresponding to the current mapping image data according to the current mapping image data, wherein the definition of the mapping image comprises a definition state and a fuzzy state;
and if the definition of the mapping image is in a fuzzy state, generating a mapping adjustment instruction and executing, wherein the mapping adjustment instruction is used for sending a mapping adjustment signal to a user.
3. The BIM-based unmanned aerial vehicle surveying method of claim 2, wherein after the step of obtaining a survey image sharpness corresponding to the current survey image data, further comprising:
if the definition of the surveying and mapping image is in a clear state, acquiring a surveying and mapping aerial photograph corresponding to the current surveying and mapping image data;
acquiring a preset aerial photo range corresponding to the surveying and mapping aerial photo range from a preset database;
and if the surveying and mapping photo range does not meet the preset photo range, executing the steps of generating a surveying and mapping adjustment instruction and executing.
4. The BIM-based unmanned aerial vehicle surveying method of claim 3, wherein after the step of performing the generating surveying and mapping adjustment instructions and performing, further comprising:
calculating to generate a navigation film phase amplitude difference value according to the surveying and mapping navigation film phase amplitude and the preset navigation film phase amplitude range;
acquiring a preset aerial photograph phase amplitude difference total range from a preset database, wherein the preset aerial photograph phase amplitude difference total range comprises a plurality of preset aerial photograph phase amplitude difference sub-ranges;
according to the aerial photograph phase amplitude difference value and the preset aerial photograph phase amplitude difference total range, calling the preset aerial photograph phase amplitude difference sub-range corresponding to the aerial photograph phase amplitude difference value;
determining a preset flight height adjusting value corresponding to the preset air slide phase amplitude difference sub-range according to the called preset air slide phase amplitude difference sub-range;
and generating a flying height adjusting instruction according to the preset flying height adjusting value and executing.
5. The BIM-based unmanned aerial vehicle surveying method of claim 1, wherein after the step of generating and executing surveying and mapping adjustment instructions, further comprising:
acquiring the actual position of the unmanned aerial vehicle;
acquiring a preset mapping total track from a preset database, wherein the preset mapping total track comprises a plurality of preset mapping sub-tracks;
calling a preset mapping sub-track corresponding to the actual position of the unmanned aerial vehicle according to the actual position of the unmanned aerial vehicle;
and generating a surveying and mapping stopping instruction according to the called preset surveying and mapping sub-track, and executing the surveying and mapping stopping instruction, wherein the surveying and mapping stopping instruction is used for suspending the shooting operation of the unmanned aerial vehicle in the called preset surveying and mapping sub-track.
6. A BIM-based unmanned aerial vehicle surveying method according to claim 5, wherein after said step of retrieving a preset surveying sub-trajectory corresponding to the actual position of the unmanned aerial vehicle, further comprising:
determining a subsequent preset mapping sub-track corresponding to the called preset mapping sub-track according to the called preset mapping sub-track;
and generating a flight path adjusting instruction according to the subsequent preset mapping sub-track and executing.
7. The BIM-based unmanned aerial vehicle surveying and mapping method according to claim 6, wherein after the step of generating and executing the flight path adjustment instruction, further comprising:
acquiring the unmanned aerial vehicle surveying and mapping progress according to the actual position of the unmanned aerial vehicle and the preset surveying and mapping total track, wherein the unmanned aerial vehicle surveying and mapping progress comprises two states of in-progress and completed;
and if the unmanned aerial vehicle surveying and mapping progress is in a finished state, generating a re-flying surveying and mapping instruction according to the called preset surveying and mapping sub-track and executing the re-flying surveying and mapping instruction.
8. An unmanned aerial vehicle mapping system based on BIM, its characterized in that includes:
an accumulated mapping time acquisition module (1) for acquiring accumulated mapping time;
a preset detection period acquisition module (2) for acquiring a preset detection period corresponding to the accumulated mapping time from a preset database;
a current mapping image data receiving module (3) for receiving the current mapping image data if the accumulated mapping time reaches the preset detection period;
and the current mapping image data pushing module (4) is used for pushing the current mapping image data to an intelligent terminal of a user.
9. The utility model provides an intelligent terminal which characterized in that: comprising a memory and a processor, said memory having stored thereon a computer program which can be loaded by the processor and which performs the method of any of claims 1 to 7.
10. A computer-readable storage medium characterized by: a computer program which can be loaded by a processor and which performs the method according to any one of claims 1 to 7.
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