CN114967760A - Building engineering supervision method and system based on unmanned aerial vehicle and storage medium - Google Patents
Building engineering supervision method and system based on unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The invention relates to a building project supervision method, a building project supervision system and a storage medium based on an unmanned aerial vehicle, and belongs to the field of building project supervision, wherein the method comprises the following steps: loading an unmanned aerial vehicle control scheme corresponding to the current construction progress; executing an unmanned aerial vehicle control scheme to control the operation of the unmanned aerial vehicle; after the unmanned aerial vehicle control scheme is executed, obtaining a current panoramic image based on all the obtained building images; extracting a first historical panoramic image closest to the current moment from all currently stored historical panoramic images corresponding to the project; comparing the current panoramic image with the first historical panoramic image to identify a difference part in the current panoramic image; generating a key area image for the difference part; and sending the current panoramic image and the key area image to image viewing equipment. This application has the long-range reason of being convenient for reason personnel, is convenient for improve the effect of reason efficiency simultaneously.
Description
Technical Field
The invention relates to the field of construction project supervision, in particular to a construction project supervision method and system based on an unmanned aerial vehicle and a storage medium.
Background
In the field of constructional engineering, construction sites are influenced by a plurality of factors such as materials, personnel operation behaviors, construction environments and the like, and uncertain factors are numerous, so that the construction site has a necessary requirement for engineering supervision. The supervision of the construction site is usually carried out by supervision personnel in a visual inspection mode according to the inspection rules of the actual situation, the inspection records are filled in real time, and finally, an inspection report is issued.
However, there are many defects in the whole supervision method by manual work, so that the chinese patent application with publication number discloses a method for supervising unmanned aerial vehicle construction engineering, which includes the following contents: acquiring image data, and acquiring picture data of a building construction site through an unmanned aerial vehicle module; data processing, processing the picture data into panoramic image data; outputting panoramic image data to VR equipment, and detecting the construction site by a monitoring person wearing the VR equipment in a visual inspection mode.
In the process of implementing the present application, the inventors found that the above-mentioned technology has at least the following problems: in the method, although the supervision personnel can monitor the building construction site remotely by checking the panoramic image, the supervision personnel cannot find the key points quickly easily and the efficiency is affected because the information contained in the image is more and the discrimination is not high.
Disclosure of Invention
In order to facilitate the remote supervision of supervision personnel and improve supervision efficiency, the application provides a building engineering supervision method and system based on an unmanned aerial vehicle and a storage medium.
In a first aspect, the application provides a building engineering supervision method based on an unmanned aerial vehicle, which adopts the following technical scheme:
a building project supervision method based on an unmanned aerial vehicle is based on a building project supervision system, the building project supervision system comprises a control center, the unmanned aerial vehicle and an image viewing device, and the method comprises the following steps:
loading an unmanned aerial vehicle control scheme corresponding to the current construction progress, wherein a flight path and a hovering coordinate point located in the flight path are recorded in the unmanned aerial vehicle control scheme;
executing the drone control scheme to control the drone to operate such that the drone performs the following actions: flying along the flying path and temporarily staying at each hovering coordinate point to acquire and feed back a building image for the building to be supervised;
after the unmanned aerial vehicle control scheme is executed, obtaining a current panoramic image based on all the obtained building images;
extracting a first historical panoramic image closest to the current moment from all currently stored historical panoramic images corresponding to the project;
comparing the current panoramic image with the first historical panoramic image to identify a difference portion in the current panoramic image;
generating a region of interest image for the difference portion;
and sending the current panoramic image and the key area image to the image viewing equipment.
By adopting the technical scheme, the construction stage of the building engineering is completed, and when the engineering supervision is needed, the control center can control the unmanned aerial vehicle to fly according to the loaded unmanned aerial vehicle control scheme, so that the building image of the building to be supervised is obtained, then the control center splices the obtained all the building images to obtain the current panoramic image, and further compares the current panoramic image with the extracted first historical panoramic image, so that the part newly completing construction in the construction stage, namely the difference part in the current panoramic image is identified. Then, the control center can generate a key area image aiming at the difference part and send the key area image together with the current panoramic image to the image viewing equipment for the supervision personnel to view, on one hand, the remote supervision of the construction building by the supervision personnel is facilitated, on the other hand, the supervision personnel can find the key point in time in the viewing process, and therefore efficiency is improved.
Optionally, after comparing the current panoramic image with the first historical panoramic image to identify a disparity portion in the current panoramic image, the method further includes:
and adding a marking frame for the graphic area where the difference part is located in the current panoramic image.
By adopting the technical scheme, the arrangement of the marking frame is convenient for the supervision personnel to quickly position the difference part in the current panoramic image.
Optionally, when there are a plurality of difference portions, the generated key area images also correspond to the plurality of difference portions one by one;
after adding a labeling frame to the graph area where the difference part is located in the current panoramic image, the method further comprises:
setting hyperlinks which link to the corresponding key area images for the area where each difference part is located in the current panoramic image based on the corresponding relation between the difference parts and the key area images;
the sending the current panoramic image and the key area image to the image viewing device specifically includes:
sending the current panoramic image to the image viewing device;
after receiving a selection instruction aiming at a target hyperlink, feeding back a key area image linked to the target hyperlink.
By adopting the technical scheme, when the control center generates the image to the image checking equipment, the image is not sent out completely at one time, the current panoramic image which embodies the whole body is sent firstly, and the corresponding key area image is fed back after the supervision personnel selects the hyperlink, so that the user experience of the supervision personnel is improved conveniently, and the interference of redundant information is reduced.
Optionally, after comparing the current panoramic image with the first historical panoramic image to identify a disparity portion in the current panoramic image, the method further includes:
identifying a source architectural image of the first difference portion;
identifying a source hovering coordinate point corresponding to the source building image;
generating a supplemental hover coordinate point based on the relative position of the first difference portion in the corresponding source architectural image and the source hover coordinate point;
generating a supplemental flight path based on the flight path and the supplemental hover coordinate point;
generating a supplementary unmanned aerial vehicle control scheme recorded with the supplementary flight path and the supplementary hovering coordinate point;
executing the supplementary unmanned aerial vehicle control scheme to control the unmanned aerial vehicle to operate, so that the unmanned aerial vehicle obtains and feeds back a supplementary image of the building structure corresponding to the first difference part when hovering at the supplementary hovering coordinate point;
the generating of the key area image for the difference part specifically includes:
generating a highlight region image for the difference portion based on the supplementary image corresponding to the difference portion.
Optionally, the first difference portions are respectively corresponding to a plurality of supplementary hovering coordinate points, so that the first difference portions are corresponding to a plurality of supplementary images;
the generation process of the key area image for the first difference part comprises the following steps:
obtaining a panoramic supplementary image based on all supplementary images corresponding to the first difference part;
the panoramic supplemental image is taken as an image of a region of interest for the first difference portion.
Optionally, after the generating the image of the region of interest for the difference portion, the method further includes:
and identifying the size of each figure outline in the current panoramic image based on a preset size identification method, and adding size labels to the identified image outlines.
In a second aspect, the present application provides a construction project supervision system, which adopts the following technical scheme:
the utility model provides a building engineering supervision system, includes control center, unmanned aerial vehicle and image viewing equipment, wherein, control center includes:
the system comprises an unmanned aerial vehicle control scheme loading module, a data processing module and a data processing module, wherein the unmanned aerial vehicle control scheme loading module is used for loading an unmanned aerial vehicle control scheme corresponding to the current construction progress, and a flight path and a hovering coordinate point located in the flight path are recorded in the unmanned aerial vehicle control scheme;
an unmanned aerial vehicle control scheme execution module, configured to execute the unmanned aerial vehicle control scheme to control the operation of the unmanned aerial vehicle, so that the unmanned aerial vehicle executes the following actions: flying along the flying path and temporarily staying at each hovering coordinate point to acquire and feed back a building image for the building to be supervised;
the panoramic image generation module is used for obtaining a current panoramic image based on all the obtained building images after the unmanned aerial vehicle control scheme is executed;
the historical panoramic image extraction module is used for extracting a first historical panoramic image closest to the current moment from all currently stored historical panoramic images corresponding to the project;
an image comparison module for comparing the current panoramic image with the first historical panoramic image to identify a disparity portion in the current panoramic image;
a key area image generation module for generating a key area image for the difference portion;
and the image sending module is used for sending the current panoramic image and the key area image to the image viewing equipment.
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, said memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer readable storage medium comprising a computer program stored thereon which is loadable by a processor and adapted to carry out the method of the first aspect.
By adopting the technical scheme, after the computer-readable storage medium is loaded into any computer, the computer can execute the building project supervision method based on the unmanned aerial vehicle in the first aspect.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the construction method comprises the steps that a construction stage of the building engineering is completed, when engineering supervision is needed, the control center can control the unmanned aerial vehicle to fly according to a loaded unmanned aerial vehicle control scheme, so that a building image of a building to be supervised is obtained, then the control center splices all the obtained building images to obtain a current panoramic image, and further compares the current panoramic image with the extracted first historical panoramic image, so that a part newly completed in the construction stage, namely a difference part in the current panoramic image is identified. Then, the control center can generate a key area image aiming at the difference part and send the key area image and the current panoramic image to the image viewing equipment for viewing by the supervision personnel, so that on one hand, the remote supervision of the construction building by the supervision personnel is facilitated, on the other hand, the supervision personnel can find the key point in time in the viewing process, and the efficiency is improved;
2. when the control center generates images to the image checking equipment, the images are not sent out completely at one time, the current panoramic image which represents the whole is sent out firstly, and after the supervision personnel selects the hyperlinks, the corresponding key area images are fed back, so that the user experience of the supervision personnel is improved conveniently, and the interference of redundant information is reduced.
Drawings
FIG. 1 is a schematic diagram of a system for embodying a construction project supervision system in an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram for embodying a method for supervising construction projects based on unmanned aerial vehicles in the embodiment of the application;
fig. 3 is a block diagram of a system for embodying a control center in an embodiment of the present application.
Description of reference numerals: 31. an unmanned aerial vehicle control scheme loading module; 32. an unmanned aerial vehicle control scheme execution module; 33. a panoramic image generation module; 34. a historical panoramic image extraction module; 35. an image comparison module; 36. a key area image generation module; 37. and an image sending module.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
The embodiment of the application discloses a building engineering supervision method based on an unmanned aerial vehicle, and with reference to fig. 1, the method can be applied to a building engineering supervision system, and an execution main body is a control center in the building engineering supervision system, and the control center can be an industrial computer. The construction project supervision system further comprises an unmanned aerial vehicle and image viewing equipment, the unmanned aerial vehicle is used for obtaining and feeding back various images based on control of the control center, and the control center sends processing results to the corresponding image viewing equipment after processing the images, for example, VR equipment, so that supervision personnel can remotely supervise the project construction conditions.
The process flow shown in fig. 2 will be described in detail below with reference to the specific embodiments, and the contents may be as follows:
s10: and loading the unmanned aerial vehicle control scheme corresponding to the current construction progress.
Wherein, can have the multiple unmanned aerial vehicle control scheme that technical staff wrote in advance in the control center, different unmanned aerial vehicle control scheme is corresponding to different construction progress. Each unmanned aerial vehicle control scheme records a flight path and a hovering coordinate point located in the flight path.
In implementation, the control center can load the unmanned aerial vehicle control scheme corresponding to the current construction progress based on selection operation of technicians, and can also periodically load the unmanned aerial vehicle control scheme corresponding to the current construction progress based on a preset monitoring period.
S20: and executing the unmanned aerial vehicle control scheme to control the unmanned aerial vehicle to operate.
In implementation, the control center can execute the unmanned aerial vehicle control scheme after receiving the monitoring start request, so as to control the operation of the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along some flight paths recorded in the unmanned aerial vehicle control scheme, and stays for a preset period of time when reaching each hovering coordinate point, and during the period, the control center can control some built-in image acquisition devices in the unmanned aerial vehicle to acquire and feed back building images aiming at the building to be supervised.
S30: and after the unmanned aerial vehicle control scheme is executed, obtaining the current panoramic image based on all the obtained building images.
In implementation, the control center executes the loaded unmanned aerial vehicle control scheme, so that after the unmanned aerial vehicle stops running, all building images received in the execution process aiming at the building to be supervised can be subjected to image splicing processing, and the current panoramic image corresponding to the building to be supervised is obtained and stored.
S40: and extracting a first historical panoramic image closest to the current moment from all the currently stored historical panoramic images corresponding to the project.
In implementation, the control center may identify respective storage completion times of all historical panoramic images corresponding to the current project, which are currently stored, identify a historical panoramic image of which the storage time is closest to the current time as a first historical panoramic image, and further extract the first historical panoramic image.
S50: the current panoramic image is compared with the first historical panoramic image to identify a disparity portion in the current panoramic image.
In practice, the control center compares the current panoramic image with the first historical panoramic image, and thereby identifies a newly added portion of the current panoramic image compared with the first historical panoramic image, i.e., a difference portion. Because supervision on the engineering is periodical, the difference part can be embodied in the latest construction stage and the part which is newly finished in construction, and therefore supervision personnel can be helped to filter the part which is already finished in the previous construction stage.
S60: an image of the region of interest for the above-described difference portion is generated.
In an implementation, the control center may perform an enlargement process on the disparity portion in the current panoramic image, thereby forming an emphasized region image for the disparity portion.
S70: and sending the current panoramic image and the key area image to image viewing equipment.
In implementation, after the control center completes generation of the key area image, the current panoramic image and the key area image can be sent to the image viewing device together, so that remote viewing and supervision by a supervisor are facilitated.
Optionally, in another embodiment, in order to facilitate the proctoring person to quickly locate the disparity portion in the current panoramic image, after the above S50, the following may be further included:
and adding a marking frame for the graphic area where the difference part is located in the current panoramic image.
In implementation, the control center may add a label frame to the graph region where the difference portion is located in the current panoramic image, where the label frame may be a rectangular frame, a circular frame, or the like, and when the difference portion includes a plurality of independent regions, that is, corresponds to a plurality of independent graph regions, the label frame may also be generated in a plurality of corresponding ways, and different label frames do not interfere with each other.
Optionally, in another embodiment, when there are a plurality of mutually independent difference portions, in addition to the plurality of corresponding labeling frames, the generated highlight area images also correspond to the plurality of difference portions one by one. In this case, after the above-mentioned marking frame is added to the graph area where the difference portion is located in the current panoramic image, the building engineering supervision method based on the unmanned aerial vehicle may further include the following steps:
and setting hyperlinks which link to the corresponding key area images for the area where each difference part is located in the current panoramic image based on the corresponding relation between the difference parts and the key area images.
In implementation, the control center may set a hyperlink for each graphic area where the difference portion is located in the current panoramic image based on the correspondence between the difference portion and the highlight area image, and the triggering range of the hyperlink may use the annotation box as a boundary. For the graphic area corresponding to any difference part, the set hyperlink is connected with the key area image corresponding to the difference part.
In this case, in order to improve the user experience of the proctoring staff and reduce the interference of the redundant information, the above S70 may specifically include the following contents:
and sending the current panoramic image to the image viewing device.
In implementation, the control center may initially send only the current panoramic image tagged with the annotation box to the image viewing device.
After receiving a selection instruction aiming at the target hyperlink, feeding back the key area image linked with the target hyperlink.
Wherein the target hyperlink may be any one of all hyperlinks in the current panoramic image.
In implementation, during the process of viewing the current panoramic image through the image viewing device, the proctor can select a graph in which any difference part is located, so as to trigger a corresponding hyperlink, namely a target hyperlink. At this time, the image viewing device feeds back a selection instruction for the target hyperlink to the control center, so that the control center feeds back the key area image linked to the target hyperlink.
Optionally, in another embodiment, after the step S50, the following steps may be further included:
a source architectural image of the first difference portion is identified.
Wherein the first difference portion may be any one of all difference portions.
In practice, for each difference portion, the control center will identify its source architectural image. Taking the first difference portion as an example, since the current panoramic image is formed by sequentially splicing a plurality of building images, the control center can identify the building image including the graph corresponding to the first difference portion, that is, the building image meeting the requirement, based on the positions of the graphs corresponding to the first difference portion in the current panoramic image. When there is only one building image meeting the requirement, the building image is the source building image, and when there are a plurality of building images meeting the requirement, the control center can respectively identify the proportion of the graph corresponding to the first difference part in each building image meeting the requirement, and identify the building image with the largest proportion as the source building image.
And identifying a source hovering coordinate point corresponding to the source building image.
In implementation, the control center may further identify a hover coordinate point where the drone acquires and feeds back the source building image, that is, the source hover coordinate point.
Generating a supplemental hover coordinate point based on the relative location of the first difference portion in the corresponding source architectural image and the source hover coordinate point.
In an implementation, the control center may identify a relative position of the graph corresponding to the first difference portion in the corresponding source architectural image with respect to the image center, and calculate an offset distance of the graph corresponding to the first difference portion with respect to the image center based on the relative position and the scale of the source architectural image, and then, the control center may perform coordinate adjustment based on the source hover coordinate point based on the offset distance, so as to obtain a supplementary hover coordinate point corresponding to the first difference portion.
Generating a supplemental flight path based on the flight path and the supplemental hover coordinate point.
In implementations, the control center may generate the supplemental flight path based on the coordinates of the supplemental hover coordinate point such that the generated supplemental flight path is able to pass through the supplemental hover coordinate point.
And generating a supplementary unmanned aerial vehicle control scheme recorded with the supplementary flight path and the supplementary hovering coordinate point.
In implementation, the control center obtains a supplementary unmanned aerial vehicle control scheme based on the currently loaded unmanned aerial vehicle control scheme and based on the supplementary flight path and the supplementary hovering coordinate point.
And executing the supplementary unmanned aerial vehicle control scheme to control the unmanned aerial vehicle to operate, so that when the unmanned aerial vehicle hovers at the supplementary hovering coordinate point, the supplementary image of the building structure corresponding to the first difference part is acquired and fed back.
In implementation, the control center may execute the generated supplementary unmanned aerial vehicle control scheme, so that the unmanned aerial vehicle flies along the supplementary flight path and stays for a preset period of time when reaching each supplementary hovering coordinate point, and during this period, the control center may control the image acquisition device built in the unmanned aerial vehicle to acquire and feed back the supplementary image for the building structure corresponding to the first difference portion.
In this case, S60 may specifically include the following:
an emphasized region image for the difference portion is generated based on the supplementary image corresponding to the difference portion.
In practice, for any difference portion, the control center may generate an image of the important region for the difference portion based on its corresponding complementary image, that is, a complementary image of the building structure corresponding to the difference portion. For example, a supplementary image corresponding to a certain difference portion may be directly used as a highlight image for the difference portion.
Further, in another embodiment, the first difference portion may correspond to a plurality of supplementary hover coordinate points, for example, after the first supplementary hover coordinate point is generated, the control center may select a symmetry axis or a center point, and perform symmetric or circumferential array processing on the first supplementary hover coordinate point, so as to obtain other supplementary hover coordinate points. At this time, since the unmanned aerial vehicle is controlled to acquire the supplementary image corresponding to the first difference portion at each supplementary hovering coordinate point, the first difference portion corresponds to a plurality of supplementary images.
In this case, the generation process of the emphasized region image for the first difference portion may include the following:
a panoramic supplementary image is derived based on all supplementary images corresponding to the first difference portion.
In an implementation, the control center may stitch all of the supplemental images corresponding to the first disparity portion to generate a panoramic supplemental image.
The panoramic supplemental image is taken as an emphasized region image for the first disparity portion.
In implementation, the control center can use the generated panoramic supplementary image as a key area image for the first difference part, thereby being helpful for the remote proctoring process of proctoring personnel to be more intuitive.
Optionally, in another embodiment, after the step S60, the following may be further included:
and identifying the size of each figure outline in the current panoramic image based on a preset size identification method, and adding size labels to the identified image outlines.
In practice, the constructor can place in advance in the construction site a reference object of known dimensions. Then, for the current panoramic image, the control center can identify the pixel size of the reference object in the panoramic image, and generate a size reference standard by combining the actual size of the reference object and the distance between the reference object and the unmanned aerial vehicle when the image acquisition is completed, and then the control center can respectively identify the actual size of each image contour in the current panoramic image based on the size reference standard, and add a size label for reflecting the actual size to each image contour in the current panoramic image, thereby completing the update of the current panoramic image. Thereafter, when the key area image is generated, the dimensioning of the same image contour can be inherited. Thereby facilitating the reference of the proctoring personnel.
Based on the above method, the embodiment of the present application further discloses a construction project supervision system, referring to fig. 3, the construction project supervision system includes a control center, an unmanned aerial vehicle, and an image viewing device, wherein the control center includes:
and the unmanned aerial vehicle control scheme loading module 31 is used for loading an unmanned aerial vehicle control scheme corresponding to the current construction progress, and the unmanned aerial vehicle control scheme records a flight path and a hovering coordinate point located in the flight path.
The unmanned aerial vehicle control scheme execution module 32 is used for executing the loaded unmanned aerial vehicle control scheme to control the operation of the unmanned aerial vehicle, so that the unmanned aerial vehicle executes the following actions: and flying along the flying path and temporarily stopping at each hovering coordinate point to acquire and feed back the building image of the building to be supervised.
And the panoramic image generation module 33 is configured to obtain a current panoramic image based on all the acquired building images after the unmanned aerial vehicle control scheme is executed.
And the historical panoramic image extraction module 34 is configured to extract a first historical panoramic image closest to the current time from all currently stored historical panoramic images corresponding to the current project.
An image comparison module 35 for comparing the current panoramic image with the first historical panoramic image to identify a disparity portion in the current panoramic image.
And a key area image generating module 36 for generating a key area image for the difference portion.
And an image sending module 37, configured to send the current panoramic image and the key area image to an image viewing device.
Optionally, the control center further includes a labeling frame adding module, configured to add a labeling frame to a graph area in which the difference portion is located in the current panoramic image after comparing the current panoramic image with the first historical panoramic image to identify the difference portion in the current panoramic image.
Optionally, when there are multiple different portions, the generated key area images are also multiple corresponding to the different portions one by one.
The control center further comprises a hyperlink setting module which is used for setting hyperlinks which are linked with corresponding key area images for the areas where the difference parts are located in the current panoramic image based on the corresponding relation between the difference parts and the key area images after adding the marking boxes for the graphic areas where the difference parts are located in the current panoramic image.
The image sending module 37 is specifically configured to send the current panoramic image to the image viewing device. And after receiving a selection instruction aiming at the target hyperlink, feeding back the key area image linked to the target hyperlink.
Optionally, the control center further includes:
and the source building image identification module is used for identifying a source building image of the first difference part after comparing the current panoramic image with the first historical panoramic image to identify the difference part in the current panoramic image.
And the source hovering coordinate point identification module is used for identifying a source hovering coordinate point corresponding to the source building image.
And the supplementary hovering coordinate point generating module is used for generating a supplementary hovering coordinate point based on the relative position of the first difference part in the corresponding source architectural image and the source hovering coordinate point.
And the supplementary flight path generation module is used for generating a supplementary flight path based on the flight path and the supplementary hovering coordinate point.
And the supplementary unmanned aerial vehicle control scheme generation module is used for generating a supplementary unmanned aerial vehicle control scheme recorded with a supplementary flight path and a supplementary hovering coordinate point.
The unmanned aerial vehicle control scheme execution module 32 is further configured to execute a supplementary unmanned aerial vehicle control scheme to control the operation of the unmanned aerial vehicle, so that when the unmanned aerial vehicle hovers at the supplementary hovering coordinate point, a supplementary image for the building structure corresponding to the first difference portion is acquired and fed back.
The key area image generation module 36 is specifically configured to generate a key area image for the difference portion based on the supplementary image corresponding to the difference portion.
Optionally, the first difference portions are corresponding to a plurality of supplementary hover coordinate points, so that the first difference portions are corresponding to a plurality of supplementary images.
The panoramic image generation module 33 is further configured to obtain a panoramic supplementary image based on all supplementary images corresponding to the first difference portion.
The emphasized region image generating module 36 is specifically configured to use the panoramic supplementary image as an emphasized region image for the first difference portion.
Optionally, the control center further includes a size labeling module, configured to, after generating the image of the key area for the difference portion, identify the size of each graph contour in the current panoramic image based on a preset size identification method, and add size labels to the identified image contours.
The embodiment of the application further discloses an intelligent terminal, which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute the building engineering supervision method based on the unmanned aerial vehicle.
The embodiment of the present application further discloses a computer-readable storage medium, which stores a computer program that can be loaded by a processor and execute the building engineering supervision method based on the unmanned aerial vehicle, and the computer-readable storage medium 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 application, and do not limit the scope of protection of the application. It is to be understood that the embodiments described are only some of the embodiments of the present application and not all of them. All other embodiments, which can be derived by a person skilled in the art from these embodiments without making any inventive step, are within the scope of the present application.
Claims (9)
1. A building project supervision method based on an unmanned aerial vehicle is based on a building project supervision system, the building project supervision system comprises a control center, the unmanned aerial vehicle and an image viewing device, and the method comprises the following steps:
loading an unmanned aerial vehicle control scheme corresponding to the current construction progress, wherein a flight path and a hovering coordinate point in the flight path are recorded in the unmanned aerial vehicle control scheme;
executing the drone control scheme to control the drone to operate such that the drone performs the following actions: flying along the flying path and temporarily staying at each hovering coordinate point to acquire and feed back a building image for the building to be supervised;
after the unmanned aerial vehicle control scheme is executed, obtaining a current panoramic image based on all the obtained building images;
extracting a first historical panoramic image closest to the current moment from all currently stored historical panoramic images corresponding to the project;
comparing the current panoramic image with the first historical panoramic image to identify a difference portion in the current panoramic image;
generating a key area image for the difference part;
and sending the current panoramic image and the key area image to the image viewing equipment.
2. The UAV-based construction project supervision method according to claim 1, further comprising, after said comparing the current panoramic image with the first historical panoramic image to identify a difference portion in the current panoramic image:
and adding a marking frame for the graphic area where the difference part is located in the current panoramic image.
3. The method for supervising building engineering based on unmanned aerial vehicle according to claim 2, wherein when there are a plurality of the difference portions, the generated images of the key area are also in one-to-one correspondence with the plurality of the difference portions;
after adding a labeling frame to the graph area where the difference part is located in the current panoramic image, the method further comprises:
setting hyperlinks which link to the corresponding key area images for the area where each difference part is located in the current panoramic image based on the corresponding relation between the difference parts and the key area images;
the sending the current panoramic image and the key area image to the image viewing device specifically includes:
sending the current panoramic image to the image viewing device;
after receiving a selection instruction aiming at a target hyperlink, feeding back a key area image linked to the target hyperlink.
4. The UAV based construction project supervision method according to claim 1, wherein after the comparing the current panoramic image with the first historical panoramic image to identify a difference portion in the current panoramic image, further comprising:
identifying a source architectural image of the first difference portion;
identifying a source hovering coordinate point corresponding to the source building image;
generating a supplemental hover coordinate point based on the relative position of the first difference portion in the corresponding source architectural image and the source hover coordinate point;
generating a supplemental flight path based on the flight path and the supplemental hover coordinate point;
generating a supplementary unmanned aerial vehicle control scheme recorded with the supplementary flight path and the supplementary hovering coordinate point;
executing the supplementary unmanned aerial vehicle control scheme to control the unmanned aerial vehicle to operate, so that the unmanned aerial vehicle obtains and feeds back a supplementary image of the building structure corresponding to the first difference part when hovering at the supplementary hovering coordinate point;
the generating of the key area image for the difference part specifically includes:
generating a highlight region image for the difference portion based on the supplementary image corresponding to the difference portion.
5. The UAV-based construction project supervision method according to claim 4, wherein the first difference portions each correspond to a plurality of supplementary hovering coordinate points, such that the first difference portions correspond to a plurality of supplementary images;
the generation process of the key area image for the first difference part comprises the following steps:
obtaining a panoramic supplementary image based on all supplementary images corresponding to the first difference part;
the panoramic supplemental image is taken as an image of a region of interest for the first difference portion.
6. The UAV based construction project supervision method according to claim 1, wherein after the generating of the key area image for the difference portion, the method further comprises:
and identifying the size of each figure outline in the current panoramic image based on a preset size identification method, and adding size labels to the identified image outlines.
7. The utility model provides a building engineering supervision system which characterized in that, looks over equipment including control center, unmanned aerial vehicle and image, wherein, control center includes:
the unmanned aerial vehicle control scheme loading module (31) is used for loading an unmanned aerial vehicle control scheme corresponding to the current construction progress, and a flight path and a hovering coordinate point in the flight path are recorded in the unmanned aerial vehicle control scheme;
-a drone control scheme execution module (32) for executing the drone control scheme to control the operation of the drone so that the drone performs the following actions: flying along the flying path and temporarily staying at each hovering coordinate point to acquire and feed back a building image for the building to be supervised;
the panoramic image generation module (33) is used for obtaining a current panoramic image based on all the acquired building images after the unmanned aerial vehicle control scheme is executed;
the historical panoramic image extraction module (34) is used for extracting a first historical panoramic image which is closest to the current moment from all the historical panoramic images which are stored currently and correspond to the project;
an image comparison module (35) for comparing the current panoramic image and the first historical panoramic image to identify a disparity portion in the current panoramic image;
a region-of-interest image generation module (36) for generating a region-of-interest image for the difference portion;
an image sending module (37) for sending the current panoramic image and the key area image to the image viewing device.
8. 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 6.
9. 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 6.
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