CN115131689A - Unmanned aerial vehicle surveying and mapping roadbed operation method based on artificial intelligence, terminal equipment and storage medium - Google Patents
Unmanned aerial vehicle surveying and mapping roadbed operation method based on artificial intelligence, terminal equipment and storage medium Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
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- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The application is suitable for the technical field of roadbed and pavement engineering and discloses an unmanned aerial vehicle surveying and mapping roadbed operation method based on artificial intelligence, terminal equipment and a storage medium. According to the method, the real-time display three-dimensional model is constructed according to the image data of the construction site, so that the current total filling amount of the roadbed construction site can be obtained from the real-time display three-dimensional model, the single transportation time length and the single transportation amount of each transport vehicle and the real-time soil storage amount of the corresponding soil taking point of each transport vehicle are obtained simultaneously, and then the transportation route of the transport vehicles is adjusted according to the current total filling amount, the real-time soil storage amount, the single transportation time length and the single transportation amount, so that the problem of construction stagnation caused by the fact that the soil does not exist in the soil taking site can be effectively reduced, and the construction efficiency is improved.
Description
Technical Field
The application relates to the technical field of roadbed and pavement engineering, in particular to an unmanned aerial vehicle surveying and mapping roadbed operation method based on artificial intelligence, terminal equipment and a storage medium.
Background
The current roadbed construction mode is as follows: the project department distributes filling work points to labor force according to the designed road bed distance and the filling volume of earth and stones, the labor force configures corresponding construction machinery for construction by self, and the project department only controls the quality and settles accounts according to the road bed filling receiver. However, the actual field situation changes much, for example, the soil amount of the soil taking point is not enough to fill the filling material of the filling point, so that the construction under the scheduling of the construction mode is stopped, and the construction efficiency is reduced.
Disclosure of Invention
The embodiment of the application discloses unmanned aerial vehicle surveying and mapping roadbed operation method, terminal equipment and storage medium based on artificial intelligence, and the transportation route of a transport vehicle can be adjusted in real time based on image data of a construction site, so that the problem of construction stagnation caused by the fact that soil does not exist in a soil sampling field is solved, and the construction efficiency is improved.
The embodiment of the application discloses unmanned aerial vehicle surveys and draws road bed operation method based on artificial intelligence, includes:
acquiring image data, wherein the image data comprises panoramic data shot by an unmanned aerial vehicle on a construction site;
constructing a real-time display three-dimensional model of a roadbed construction site according to the image data;
acquiring the current total filling amount from the real-time display three-dimensional model;
acquiring the single transportation time length and the single transportation square amount of each transport vehicle;
acquiring the real-time soil storage amount of the soil taking point corresponding to each transport vehicle;
and adjusting the transportation route of the transport vehicle according to the current total filling amount, the real-time soil storage amount, the single transportation time and the single transportation volume.
Optionally, the constructing a real-time display three-dimensional model of the roadbed construction site according to the image data includes:
constructing a real scene three-dimensional model of a construction site according to the image data;
AI identification is carried out on the image data to obtain constructor data, construction equipment data and two-dimensional code information of a construction site;
constructing an engineering three-dimensional model according to the image data;
rendering the engineering three-dimensional model according to the constructor data, the construction equipment data and the two-dimensional code information;
and superposing the real-scene three-dimensional model and the rendered engineering three-dimensional model to obtain a real-time display three-dimensional model.
Optionally, the constructing a live-action three-dimensional model of a construction site according to the image data includes:
reconstructing a sparse point cloud according to the image data;
reconstructing dense point cloud according to the sparse point cloud;
constructing an initial three-dimensional model according to the dense point cloud;
calculating visual information of the image data;
and creating texture on the initial three-dimensional model according to the visual information to obtain a real three-dimensional model.
Optionally, after the step of constructing the live-action three-dimensional model of the construction site according to the image data, the method further includes:
stripping the geometric data of the live-action three-dimensional model;
and optimizing the geometric data, wherein the optimization mode comprises at least one of data root node merging, texture compression, texture splitting or triangulation network simplification.
Optionally, the acquiring a single transportation duration of each transportation vehicle includes:
acquiring the departure time of each transport vehicle at a soil sampling point;
acquiring the arrival time of each transport vehicle at a filling point;
determining the time length of single transportation according to the departure time and the arrival time;
the earth taking point corresponds to the position and is provided with a first FRID card punch, the filling point corresponds to the position and is provided with a second FRID card punch, and the transport vehicle is provided with an FRID identification card matched with the first FRID card punch and the second FRID card punch.
Optionally, the adjusting the transportation route of the transportation vehicle according to the current total filling volume, the real-time soil storage volume, the single transportation time length and the single transportation volume comprises:
comparing the current total filling square amount with a first difference value of the current total square amount required by the roadbed;
calculating a second difference value between the real-time soil storage amount and the first difference value;
and when the second difference value is smaller than a threshold value, adjusting the transportation route of the transportation vehicle according to the single transportation time length and the single transportation amount.
Optionally, when performing roadbed construction, the method further includes:
acquiring the shape of a current construction roadbed;
determining a road pressing path of the road roller according to the shape of the current construction roadbed;
controlling the road roller to perform road rolling operation on the current construction roadbed according to the road rolling path;
after the road roller finishes one-time road pressing, acquiring a real-time position of a grader and a first elevation corresponding to the real-time position;
after the bulldozer finishes one-time bulldozing, acquiring the real-time position of the grader and a second elevation corresponding to the real-time position;
and determining that the height of the real-time position does not meet the preset requirement according to the first elevation and the second elevation, and generating rectification prompt information.
Optionally, when performing roadbed construction, the method further includes:
acquiring real-time water content and filling area of filling soil;
controlling the real-time moving speed of a sprinkler and the water spraying amount of a water spraying opening on the sprinkler according to the real-time water containing amount;
the sprinkler is provided with positioning equipment, the positioning equipment is used for acquiring the real-time position of the sprinkler, and the real-time position is used for calculating the real-time moving speed.
The embodiment of the application discloses a terminal device, including:
a memory having a computer program stored therein;
a processor, which when executed by the processor causes the processor to implement the methods disclosed in the embodiments of the present application.
Embodiments of the present application disclose a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements a method disclosed in embodiments of the present application.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
the real-time display three-dimensional model is constructed according to the image data of the construction site, so that the current total filling volume of the roadbed construction site can be obtained from the real-time display three-dimensional model, the single transportation time length and the single transportation volume of each transport vehicle and the real-time soil storage volume of the corresponding soil taking point of each transport vehicle are obtained simultaneously, the transportation route of the transport vehicles is adjusted according to the current total filling volume, the real-time soil storage volume, the single transportation time length and the single transportation volume, the problem of construction stagnation caused by the fact that the soil does not exist in the soil taking site can be effectively reduced, and the construction efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a roadbed operation method according to a first embodiment of the present application;
fig. 2 is a flowchart of an implementation of step S120 provided in an embodiment of the present application;
fig. 3 is a flowchart illustrating an implementation of a roadbed operation method according to the second embodiment of the present application;
fig. 4 is a flowchart of an implementation of a roadbed operation method according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
In the embodiment of the application, the execution main body of the process is the terminal device corresponding to the roadbed operation supervision platform. The terminal devices include but are not limited to: the device comprises a server, a computer, a smart phone, a tablet computer and the like, and can execute the roadbed operation method disclosed by the application. Fig. 1 shows an implementation flowchart of an unmanned aerial vehicle mapping roadbed operation method based on artificial intelligence disclosed in the first embodiment of the present application, which is detailed as follows:
in S110, image data is acquired.
In this embodiment, the image data includes panoramic data that unmanned aerial vehicle shot the job site. Wherein, unmanned aerial vehicle can adopt many rotors RTK unmanned aerial vehicle. When the unmanned aerial vehicle receives the aerial survey signal, the unmanned aerial vehicle captures panoramic data of a roadbed construction site at different distances, heights and angles of the construction site and sends the collected panoramic data to the terminal equipment. When can understand, be equipped with the collection layer on the terminal equipment, the collection layer provides data acquisition APP, and integrated unmanned aerial vehicle's SDK realizes task management, takes photo by plane navigation or flight path management, sets for the flight route through APP, including orthographic, banding, well style of calligraphy or holographic flight, provides quick convenient unmanned aerial vehicle data acquisition that carries on. After the APP acquires the image data, it may process the abnormal data, for example, fill in a small amount of missing data, delete a large amount of missing data, or delete data that is obviously abnormal. Specifically, the unmanned aerial vehicle can carry out image acquisition to the road bed job site at preset time intervals, also can carry out image acquisition to the road bed job site when being under construction, can also carry out image acquisition to the job site after being under construction every day.
And in S120, constructing a real-time display three-dimensional model of the roadbed construction site according to the image data.
In this embodiment, after acquiring the image data acquired by the unmanned aerial vehicle on the terminal device, as shown in fig. 2, constructing the real-time display three-dimensional model may include, but is not limited to, the following steps:
and S210, constructing a real scene three-dimensional model of the construction site according to the image data.
In this embodiment, the three-dimensional model reconstruction is a process of generating real-scene three-dimensional models of a construction site from image data shot by an unmanned aerial vehicle. Specifically, in the embodiment, the real-scene three-dimensional model is obtained by performing sparse point cloud reconstruction on the acquired image, performing dense point cloud reconstruction on the sparse point cloud data, then constructing the initial three-dimensional model according to the dense point cloud, then performing image visual information calculation, and finally creating texture on the initial three-dimensional model according to the visual information. In this embodiment, the reconstruction of the live-action three-dimensional model may automatically invoke three-dimensional model reconstruction software according to a project task mode, image data taken by the unmanned aerial vehicle is transmitted to the three-dimensional model reconstruction software through preset parameters for modeling, and after the modeling is completed, the image data is automatically classified according to project information.
In the present embodiment, the realistic three-dimensional model is generally in the OSGB format, which is a relatively heavy model and is not suitable for presentation on the Web, and therefore, the present embodiment performs weight reduction processing on the realistic three-dimensional model. The lightweight processing is to strip the geometric data of the real-scene three-dimensional model first and then optimize the geometric data to finally obtain the data format identified by the Web three-dimensional engine. In another embodiment, the optimization processing mode includes at least one of data root node merging, texture compression, texture splitting, or triangulation network simplification. Specifically, merging root nodes refers to merging root nodes of a certain adjacent spatial range into one root node, that is, thinning up generates a coarser LOD hierarchy. When the pyramid level is 1, it represents that every 4 root nodes are merged into 1, and the number of model root nodes is reduced by 1/4, which is about the original number, once merged. Texture compression is the encoding of fixed-size blocks of pixels into fixed-size blocks of bytes with some form of fixed-rate lossy vector quantization. The triangulation network simplification function is to realize the triangulation network simplification of all model objects or selected model objects in the image layer, reduce the occupation of the memory and meet the performance requirement of large amount of data.
And S220, performing AI identification on the image data to obtain constructor data, construction equipment data and two-dimensional code information of a construction site.
In this embodiment, artificial intelligence discernment carries out AI discernment to unmanned aerial vehicle panorama shooting's image, marks through the sample picture of gathering, then carries out AI training by the degree of depth machine learning technique, acquires artificial intelligence discernment's model. And then, artificial intelligence recognition is carried out on the image shot by the unmanned aerial vehicle panorama through the model, and constructors, construction equipment and two-dimensional code information on the image are accurately recognized.
In this embodiment, artificial intelligence training may be performed on safety behaviors such as safety helmets, safety clothing, aerial work safety belts, and the like, and the safety behaviors at the construction site, for example, whether safety helmets are correctly worn at the roadbed construction site, may be further recognized through a model obtained through the artificial intelligence training. Meanwhile, according to the identification result, construction personnel of the engineering construction project at each construction site can be counted, after artificial intelligent identification is carried out on the pictures shot by the unmanned aerial vehicle, the number of the construction personnel on each shot picture is obtained, correlation is carried out according to the shot construction sites and project information, and personnel data statistics of each construction site of the project are generated.
And step S230, constructing an engineering three-dimensional model according to the image data.
And S240, rendering the engineering three-dimensional model according to the constructor data, the construction equipment data and the two-dimensional code information.
In this embodiment, the identified data of the constructor, the data of the construction equipment and the two-dimensional code information can be displayed at the corresponding positions of the engineering three-dimensional model through different colors, so that the worker can visually distinguish different things.
And S250, superposing the real-scene three-dimensional model and the rendered engineering three-dimensional model to obtain a real-time display three-dimensional model.
In this embodiment, the rendered engineering construction result model and the realistic three-dimensional model can be automatically superimposed through the position information and the elevation information of the coordinate system of the three-dimensional model after the lightweight processing, and simultaneously, the lightweight 3D model component can be simultaneously superimposed in the realistic three-dimensional model to obtain the real-time display three-dimensional model, so that the progress condition of each engineering construction can be visually displayed through the real-time display three-dimensional model.
In S130, the current total filling amount is obtained from the real-time displayed three-dimensional model.
In this embodiment, after the real-time displayed three-dimensional model is obtained, the corresponding volume may be calculated by displaying the corresponding length, width, height, and the like of the three-dimensional model in the coordinate system in real time. Meanwhile, the elevation information of the markers around the roadbed can be set firstly, then the actual height of the upper markers of the three-dimensional model is displayed in real time and is measured, the actual height of the markers on the three-dimensional model is calculated, and then the actual height is compared with the elevation information set by the markers and calculated, so that the construction progress of the current roadbed is automatically calculated. In this embodiment, modeling measurement may be performed before excavation of the earth taking yard, modeling may be performed after excavation of the earth taking yard, and then the models are compared to obtain the current construction progress of the roadbed.
In S140, the single transportation time length and the single transportation amount of each transport vehicle are obtained, and the real-time soil storage amount of the soil taking point corresponding to each transport vehicle is obtained.
In this embodiment, a first FRID punch may be first arranged at a corresponding position of each earth-taking point, and a second FRID punch may be arranged at a corresponding position of each filling point. Meanwhile, an FRID identification card matched with the first FRID card punch and the second FRID card punch is arranged on each transport vehicle. When the vehicle starts from the soil taking point, the first FRID card punch on the soil taking point can automatically identify the FRID identification card on the transport vehicle, so that the starting time of the transport vehicle at the soil taking point is obtained; similarly, when the transport vehicle runs to the filling point, the second FRID card reader on the filling point can automatically identify the FRID identification card on the transport vehicle, so that the arrival time of the transport vehicle at the filling point is obtained. Then, the single transportation time length of each transportation vehicle can be calculated according to the departure time and the arrival time of each transportation.
In this embodiment, when the transportation duration of each transport vehicle is counted, the service duration, the model, or the type of each transport vehicle may also be obtained, and the single transportation volume of each transport vehicle may be determined according to the service duration, the model, or the type of the transport vehicle. For example, when the service time of the transportation vehicle is long, it may be determined that the single transportation volume of the transportation vehicle is less than the rated transportation volume in consideration of the safety of the transportation vehicle. When the service time of the transport vehicle is short, the single transportation volume of the transport vehicle can be determined to be equal to the rated transportation volume.
In this embodiment, for each geodetic point, the total soil mass stored at that geodetic point may be analyzed by modeling the geodetic point prior to mining. During mining, the soil amount carried away each time is counted, and the real-time soil storage amount of the soil sampling point can be obtained through analysis by combining the total stored soil amount. And in the process of mining, the real-time soil storage amount of the current soil sampling point is modeled and analyzed according to the panoramic image acquired by the unmanned aerial vehicle in real time.
In S150, the transportation route of the transportation vehicle is adjusted according to the current total filling volume, the real-time soil storage volume, the single transportation time length, and the single transportation volume.
In this embodiment, the transport route of the transport vehicle may be adjusted according to the length of a single transport and the square amount of a single transport by comparing a first difference between the total square amount of the current filling and the total square amount required by the current roadbed, calculating a second difference between the real-time soil storage amount of the soil sampling point and the first difference, and when the second difference is smaller than a threshold value. For example, transport vehicle A may travel from pick point B1 to fill point C1. When the second difference value corresponding to the real-time soil storage amount of the soil sampling point B1 and the first difference value is smaller than the threshold value, it indicates that the real-time soil storage amount of the soil sampling point B1 cannot meet the current required amount of the filling point C1, and at this time, if the transport vehicle still takes soil from the soil sampling point B1, a situation that the construction is stopped due to insufficient soil supply occurs. In order to reduce the occurrence of such situations, when the real-time soil storage amount of the soil taking point B1 is determined not to meet the currently required amount of the filling point C1, the transportation route of the transportation vehicle a is adjusted, that is, the transportation vehicle a is controlled to take soil from other soil taking points, so as to meet the demand of the filling point C1.
In this embodiment, when the transportation duration of the transportation vehicle is counted, the transportation routes of the transportation vehicle can be counted, and the transportation route with the shortest transportation duration is recommended to the manager and other drivers of the transportation vehicle, so that the manager can adjust the transportation-specified transportation route, and meanwhile, the other drivers of the transportation vehicle can adjust the transportation route of the manager. The recommendation mode can be pushed in modes of small programs, short messages, APP and the like, and is convenient to check.
In this embodiment, as shown in fig. 3, when performing roadbed construction, the method further includes, but is not limited to, the following steps:
s310, acquiring the shape of the current construction roadbed;
step S320, determining a road pressing path of the road roller according to the current construction roadbed shape;
step S330, controlling the road roller to perform road rolling operation on the current construction roadbed according to the road rolling path;
step S340, after the road roller finishes one-time road rolling, acquiring a real-time position of the grader and a first elevation corresponding to the real-time position;
s350, after the bulldozer finishes one-time bulldozing, acquiring the real-time position of the grader and a second elevation corresponding to the real-time position;
and S360, determining that the height of the real-time position does not meet a preset requirement according to the first elevation and the second elevation, and generating rectification prompt information.
In this embodiment, a road rolling operation may be completed by obtaining a current construction roadbed shape, determining a road rolling path of the road roller according to the current construction roadbed shape, and then controlling the road roller according to the road rolling path to perform a road rolling operation on the current construction roadbed, for example, determining a plurality of target coordinates of the road roller on the road rolling path, so that when the road roller is in operation, the road roller is controlled to move along the plurality of target coordinates in a certain sequence. And when the road roller presses one layer, controlling the land leveler to completely walk around the construction site once, and acquiring all coordinates and elevations. And after the bulldozer is leveled for the first time, controlling the grader to work again, and acquiring all coordinates and elevations again. And finally, judging whether the construction meets the standard according to the current leveled soil layer height, if not, generating rectification prompt information to prompt field constructors to carry out field correction through the rectification prompt information. After the rectification information is obtained, the road roller or the bulldozer can be automatically controlled to work again, so that the current construction roadbed meets the standard.
In this embodiment, as shown in fig. 4, when performing roadbed construction, the method further includes, but is not limited to, the following steps:
s410, acquiring the real-time water content and the filling area of the filling soil;
step S420, controlling a real-time moving speed of the sprinkler and a water spraying amount of a water spraying opening on the sprinkler according to the real-time water content.
In this embodiment, be equipped with positioning device on the watering lorry, positioning device is used for acquireing the real-time position of watering lorry, and real-time position is used for calculating real-time moving speed. When the real-time movement speed is too fast, the deceleration can be prompted by a message to maintain the water content of the filling location at a suitable location. Meanwhile, intelligent flow monitoring equipment is installed on each sprinkler and used for monitoring the flow of the water spraying ports. When the ash layer on the construction site is too large, the flow of the water spray nozzle can be increased, and the water content of the filling soil is increased.
Fig. 5 shows a schematic structural diagram of a terminal device disclosed in an embodiment of the present application. As shown in fig. 5, the terminal device 500 of this embodiment includes: a memory 510 and a processor 520, the memory 510 having stored therein a computer program 511; the computer program 511, when executed by the processor 520, causes the processor 520 to carry out the steps of any of the various methods described above.
The terminal device 500 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 520, a memory 510. Those skilled in the art will appreciate that fig. 5 is only an example of the terminal device 500, and does not constitute a limitation to the terminal device 500, and may include more or less components than those shown, or combine some components, or different components, such as an input/output device, a network access device, and the like.
The processor 520 may be a Central Processing Unit (CPU), and the processor 520 may be other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 510 may in some embodiments be an internal storage unit of the terminal device 500, such as a hard disk or a memory of the terminal device 500. The memory 510 may also be an external storage device of the terminal device 500 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the terminal device 500. Further, the memory 510 may also include both an internal storage unit and an external storage device of the terminal device 500. The memory 510 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 510 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the above method embodiments.
The embodiment of the application discloses a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps of the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments disclosed in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An unmanned aerial vehicle surveying and mapping roadbed operation method based on artificial intelligence is characterized by comprising the following steps:
acquiring image data, wherein the image data comprises panoramic data shot by an unmanned aerial vehicle on a construction site;
constructing a real-time display three-dimensional model of a roadbed construction site according to the image data;
acquiring the total amount of the current filling from the real-time display three-dimensional model;
acquiring the single transportation time length and the single transportation amount of each transport vehicle;
acquiring the real-time soil storage amount of the soil taking point corresponding to each transport vehicle;
and adjusting the transportation route of the transport vehicle according to the current total filling amount, the real-time soil storage amount, the single transportation time and the single transportation volume.
2. The method for unmanned aerial vehicle surveying and mapping roadbed operation based on artificial intelligence, according to the claim 1, wherein the constructing a real-time display three-dimensional model of roadbed construction site according to the image data comprises:
constructing a real scene three-dimensional model of a construction site according to the image data;
AI identification is carried out on the image data to obtain constructor data, construction equipment data and two-dimension code information of a construction site;
constructing an engineering three-dimensional model according to the image data;
rendering the engineering three-dimensional model according to the constructor data, the construction equipment data and the two-dimensional code information;
and superposing the real-scene three-dimensional model and the rendered engineering three-dimensional model to obtain a real-time display three-dimensional model.
3. The method of claim 2, wherein the constructing a live-action three-dimensional model of the construction site according to the image data comprises:
reconstructing a sparse point cloud according to the image data;
reconstructing dense point cloud according to the sparse point cloud;
constructing an initial three-dimensional model according to the dense point cloud;
calculating visual information of the image data;
and creating texture on the initial three-dimensional model according to the visual information to obtain a real three-dimensional model.
4. The method of claim 1, wherein after the step of constructing a three-dimensional model of the construction site from the image data, the method further comprises:
stripping the geometric data of the live-action three-dimensional model;
and optimizing the geometric data, wherein the optimizing mode comprises at least one of data root node merging, texture compression, texture splitting or triangulation simplification.
5. The method of claim 1, wherein the obtaining a single transport duration for each transport vehicle comprises:
acquiring the departure time of each transport vehicle at a soil sampling point;
acquiring the arrival time of each transport vehicle at a filling point;
determining the time length of single transportation according to the departure time and the arrival time;
the earth taking point corresponds to the position and is provided with a first FRID card punch, the filling point corresponds to the position and is provided with a second FRID card punch, and the transport vehicle is provided with an FRID identification card matched with the first FRID card punch and the second FRID card punch.
6. The method of claim 1, wherein the adjusting the transportation route of the transportation vehicle according to the total amount of the current fill, the real-time soil storage amount, the single transportation duration and the single transportation amount comprises:
comparing the current total filling square amount with a first difference value of the current total square amount required by the roadbed;
calculating a second difference value between the real-time soil storage amount and the first difference value;
and when the second difference value is smaller than a threshold value, adjusting the transportation route of the transportation vehicle according to the single transportation time length and the single transportation amount.
7. The method of claim 1, wherein during the roadbed construction, the method further comprises:
acquiring the shape of a current construction roadbed;
determining a road pressing path of the road roller according to the shape of the current construction roadbed;
controlling the road roller to perform road rolling operation on the current construction roadbed according to the road rolling path;
after the road roller finishes one-time road pressing, acquiring a real-time position of a grader and a first elevation corresponding to the real-time position;
after the bulldozer finishes one-time bulldozing, acquiring the real-time position of the grader and a second elevation corresponding to the real-time position;
and determining that the height of the real-time position does not meet the preset requirement according to the first elevation and the second elevation, and generating rectification prompt information.
8. The method of claim 1, wherein during the roadbed construction, the method further comprises:
acquiring real-time water content and filling area of filling soil;
controlling the real-time moving speed of a sprinkler and the water spraying amount of a water spraying opening on the sprinkler according to the real-time water content;
the system comprises a sprinkler, a positioning device, a speed sensor and a speed sensor, wherein the sprinkler is provided with the positioning device, the positioning device is used for acquiring the real-time position of the sprinkler, and the real-time position is used for calculating the real-time moving speed.
9. A terminal device, comprising:
a memory having a computer program stored therein;
a processor, which when executed by the processor causes the processor to carry out the method of any one of claims 1 to 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
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| CN109557934A (en) * | 2018-09-20 | 2019-04-02 | 中建科技有限公司深圳分公司 | A kind of control method and device of the unmanned plane cruise based on assembled architecture platform |
| US20200364930A1 (en) * | 2019-05-15 | 2020-11-19 | Electronic Theatre Controls, Inc. | Venue survey using unmanned aerial vehicle |
| CN113112057A (en) * | 2021-03-29 | 2021-07-13 | 广东省建筑工程监理有限公司 | Method for managing polluted site and repairing earth volume by combining unmanned aerial vehicle aerial survey and BIM technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557934A (en) * | 2018-09-20 | 2019-04-02 | 中建科技有限公司深圳分公司 | A kind of control method and device of the unmanned plane cruise based on assembled architecture platform |
| US20200364930A1 (en) * | 2019-05-15 | 2020-11-19 | Electronic Theatre Controls, Inc. | Venue survey using unmanned aerial vehicle |
| CN113112057A (en) * | 2021-03-29 | 2021-07-13 | 广东省建筑工程监理有限公司 | Method for managing polluted site and repairing earth volume by combining unmanned aerial vehicle aerial survey and BIM technology |
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