CN115371732A - High-precision measurement and data processing method for elevator shaft - Google Patents
High-precision measurement and data processing method for elevator shaft Download PDFInfo
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- CN115371732A CN115371732A CN202210991380.4A CN202210991380A CN115371732A CN 115371732 A CN115371732 A CN 115371732A CN 202210991380 A CN202210991380 A CN 202210991380A CN 115371732 A CN115371732 A CN 115371732A
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- aerial vehicle
- unmanned aerial
- data
- elevator shaft
- building
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a high-precision measurement and data processing method for an elevator shaft in the technical field of elevators, which comprises an unmanned aerial vehicle used in the elevator shaft and a computer system used for mapping, and comprises the following steps: controlling a power supply to turn on the unmanned aerial vehicle, connecting the unmanned aerial vehicle with a remote controller through signals, and then connecting the remote controller with a computer system through data; the unmanned aerial vehicle positioning system can carry out GPS positioning on the unmanned aerial vehicle and accurately obtain relevant building data information such as the position, the floor height, the altitude position and the like of the unmanned aerial vehicle in an elevator shaft, so that a user can control the unmanned aerial vehicle to carry out high-precision positioning to conveniently carry out measurement work.
Description
Technical Field
The invention relates to the technical field of elevators, in particular to a high-precision measurement and data processing method for an elevator shaft.
Background
Elevator means a permanent transportation device serving a number of specific floors in a building, the car of which travels on at least two rigid tracks running perpendicular to the horizontal or at an angle of inclination of less than 15 ° to the vertical, and a vertical lift elevator having a car which travels between at least two rigid guide rails running perpendicular or at an angle of inclination of less than 15 °. The size and the structural form of the car are convenient for passengers to get in or get out or load and unload goods. It is customary to use elevators as a generic term for vertical transport means in buildings, irrespective of their drive mode.
At present when installing the elevator, need measure the structure, position and the dimensional data of gathering inside building material of elevator well and building material and look over whether satisfy elevator installation demand, because the inside of elevator well is comparatively narrow and highly higher for measure the progress slowly, and still appear the error easily during the measurement, lead to the cost-push of elevator installation construction.
Disclosure of Invention
The present invention is directed to a method for high-precision measurement and data processing of an elevator shaft, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a high-precision measurement and data processing method for an elevator shaft comprises an unmanned aerial vehicle used in the elevator shaft and a computer system used for mapping, and comprises the following steps:
s1: controlling a power supply to turn on the unmanned aerial vehicle, carrying out signal connection on the unmanned aerial vehicle and a remote controller, and carrying out data connection on the remote controller and a computer system;
s2: the driving motor is controlled to be turned on to enable the rotor wing mechanism to rotate, so that the unmanned aerial vehicle is controlled to fly, and after the unmanned aerial vehicle flies for a certain height, the protective cover is stretched and opened to the outside of the rotor wing mechanism, so that the rotor wing mechanism is protected;
s3: 1) Controlling an unmanned aerial vehicle to enter the interior of an elevator shaft, opening a three-dimensional scanner and an Al identification camera, controlling the positions of the three-dimensional scanner and the Al identification camera by a user through driving a three-axis holder, so that the three-dimensional scanner can measure the structure, the position and the size of a building, acquiring data of building materials such as a constructional column, a ring beam, a shear wall, an air-entraining block and the like of the building by the Al identification camera for identification, simultaneously measuring the distance around the unmanned aerial vehicle and the inner wall of the elevator shaft by a horizontal distance measuring sensor in real time, and measuring the angle between the unmanned aerial vehicle and the horizontal plane by a gravity sensor in real time;
2) The horizontal distance measuring sensor and the gravity sensor transmit the acquired data to a positioning system in the computer system for analysis and processing, and the unmanned aerial vehicle is automatically adjusted to be positioned at a proper position through an automatic adjusting module according to the analysis and processing result;
s4: in the process that the unmanned aerial vehicle flies in the elevator shaft, the direction in the elevator shaft is transmitted to a positioning system in a computer system through a gyroscope sensor and an altimeter sensor in the unmanned aerial vehicle, and the position of the unmanned aerial vehicle is obtained in real time through a GPS module;
s5: taking the position of the unmanned aerial vehicle obtained by the GPS module in the S4 as a reference, transmitting data collected by the Al identification camera in the S3 to an identification software system for analysis, analyzing to obtain building material data such as constructional columns, ring beams, shear walls, air-entraining blocks, solid bricks, hollow bricks and the like of a building, sending the building material data to a building structure diagram library, respectively transmitting the collected data to a drawing software system, the identification software system and the building structure diagram library through a network for analysis by a three-dimensional scanner, analyzing to obtain data of the structure, the position and the size of the building, transmitting the analyzed data to the drawing software system for comparison and synthesis, and finally generating an elevator shaft three-dimensional diagram;
s6: the measured data and the three-dimensional structure chart obtained by the drawing system can be butted with BIM software for subsequent design modeling and rechecking measurement;
s7: after the measurement is finished, the unmanned aerial vehicle flies out of the elevator shaft, and when the unmanned aerial vehicle is close to the ground, the control protective cover resets, so that the unmanned aerial vehicle is buffered and reset when falling to the ground.
Preferably, when unmanned aerial vehicle was by downward elevator well upward movement in S3, when being close elevator well the top, three-dimensional scanner and Al discernment camera were located unmanned aerial vehicle 'S below this moment, can control the upset motor and drive the mounting bracket and rotate, make three-axis cloud platform drive three-dimensional scanner and Al discernment camera motion unmanned aerial vehicle' S top come to carry out data acquisition to well the building material and the building structure of the top, and with data transmission to building structure gallery, thereby compare among drawing software system and the discernment software system and accomplish the three-dimensional structure picture of elevator well.
Preferably, when S3 horizontal range finding sensor test unmanned aerial vehicle and elevator well inner wall distance all around is less than appointed safe distance to and when gravity sensor measures the angle between unmanned aerial vehicle and the horizontal plane great, can with during the GPS module of measuring data transmission to positioning system, control unmanned aerial vehicle 'S position is carried out to after GPS module location to unmanned aerial vehicle' S position again, make unmanned aerial vehicle and elevator well inner wall distance all around keep safe distance, and make unmanned aerial vehicle and horizontal plane keep parallel to keep the stability of flight.
Preferably, in S4, the gyroscope sensor and the altimeter sensor respectively transmit the acquired data to the GPS module, and then the multi-angle azimuth data of the horizontal direction, the vertical direction, the pitching direction and the heading direction of the unmanned aerial vehicle in the elevator shaft can be obtained through the analysis of the GPS module, and the specific GPS positioning of the unmanned aerial vehicle in the shaft, the height of the floor, the altitude position and other relevant building data information are obtained.
Preferably, unmanned aerial vehicle includes the body, the equal fixedly connected with driving motor in four sides of body, driving motor's output fixedly connected with rotor mechanism.
Preferably, the surface of body is provided with upset scanning mechanism, upset scanning mechanism is including rotating mounting bracket and the upset motor of fixed connection at the body upper surface that is connected with the body surface, the inside fixedly connected with ring gear of mounting bracket, the output fixed connection gear of upset motor, and gear and ring gear intermeshing, the lower fixed surface of ring gear is connected with the fixed plate, the lower surface of fixed plate rotates and is connected with the triaxial cloud platform, the three-dimensional stereo scanner of inside fixedly connected with and the Al identification camera of triaxial cloud platform.
Preferably, the two ends of the body are provided with guard ring mechanisms, each guard ring mechanism comprises a fixed frame fixedly connected to the two ends of the body, a second connecting rod and a supporting plate, the second connecting rod and the supporting plate are respectively connected to the two ends of the body in a rotating mode, the second connecting rod and the supporting plate are arranged in an L-shaped mode, two bidirectional lead screws are connected to the two fixed frames in a rotating mode, moving blocks are connected to the circumferential surfaces of the bidirectional lead screws in a threaded mode, the first connecting rod is connected to the front side of each moving block in a rotating mode, the other end of the first connecting rod is connected with the upper end of the second connecting rod in a rotating mode, a third connecting rod is connected to the other end of the second connecting rod in a rotating mode, the other end of the third connecting rod is connected with the upper surface of the supporting plate in a rotating mode, a protective motor is fixedly connected to the outer side of each fixed frame, and the output end of the protective motor is fixedly connected with one end of the bidirectional lead screw.
Preferably, the material of protection casing is the carbon fiber cover, and the shape of protection casing sets up to the C type.
Preferably, the inside fixedly connected with control panel, data transmission equipment, gravity sensor, gyroscope sensor, altimeter sensor and the power of body, the power respectively with control panel, data transmission equipment, gravity sensor, gyroscope sensor, altimeter sensor, triaxial cloud platform, three-dimensional scanner, al discernment camera and driving motor electric connection.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the positioning system is arranged, so that the unmanned aerial vehicle can be subjected to GPS positioning, and relevant building data information such as the position, the floor height, the altitude position and the like of the unmanned aerial vehicle in the elevator shaft can be accurately obtained, so that a user can conveniently control the unmanned aerial vehicle to perform high-precision positioning, and measurement can be conveniently performed.
2. According to the invention, the protective cover can protect the rotor wing mechanism to prevent the rotor wing mechanism from mistakenly colliding with the periphery inside the elevator shaft to cause damage, and the collected signals are transmitted to the automatic positioning module in the positioning system through the horizontal distance measuring sensor and the gravity sensor to be analyzed, so that the distance between the unmanned aerial vehicle and the periphery of the inner wall of the elevator shaft can be kept at a safe distance, the problem of collision between the unmanned aerial vehicle and the periphery of the inner wall of the elevator shaft is avoided, and the unmanned aerial vehicle is kept parallel to a horizontal plane to keep the flying stability.
3. According to the invention, through the overturning scanning mechanism, when the unmanned aerial vehicle moves upwards from the lower part to the elevator shaft and approaches to the uppermost part of the elevator shaft, the three-dimensional scanner and the Al identification camera are positioned below the unmanned aerial vehicle at the moment, and the overturning motor can be controlled to drive the mounting frame to rotate, so that the three-axis holder drives the three-dimensional scanner and the Al identification camera to move above the unmanned aerial vehicle to collect data of building materials and building structures at the uppermost part of the shaft, and thus the measurement operation of data in the elevator shaft is conveniently increased.
4. According to the invention, the three-dimensional scanner and the Al identification camera are carried by the unmanned aerial vehicle to measure the interior of the elevator shaft, the plane and horizontal error can be controlled within 10mm, the precision requirement of the national standard is completely met, the safety risk in the measurement process is greatly reduced, the life safety of personnel is ensured, the installation position layout of the guide rail support in the elevator shaft can be directly generated, the horizontal position and the support interval are included, the installation period is shortened, the BIM database can be introduced, the operation is carried out synchronously with the building design, the adaptability of the elevator design and the building is improved, and the construction cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is an attachment diagram of the drone of the present invention;
FIG. 3 is a block diagram of a system for unmanned aerial vehicle measurement of elevator hoistway data and unmanned aerial vehicle positioning of the present invention;
fig. 4 is a diagram of the unmanned aerial vehicle system architecture of the present invention;
fig. 5 is a schematic view of the overall structure of the drone of the present invention;
FIG. 6 is an enlarged view of a portion of FIG. 5 according to the present invention;
FIG. 7 is an enlarged view of a portion B of FIG. 5 in accordance with the present invention;
fig. 8 is a structural side view of the drone of the present invention;
fig. 9 is a top structural cross-sectional view of the drone of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a body; 2. a drive motor; 3. a rotor mechanism; 4. turning over the scanning mechanism; 5. a guard ring mechanism; 6. a control main board; 7. a data transmission device; 8. a gravity sensor; 9. a gyroscope sensor; 10. an altimeter sensor; 11. a power source; 12. a horizontal ranging sensor; 41. turning over a motor; 42. a gear; 43. a mounting frame; 44. a fixing plate; 45. a three-axis pan-tilt; 46. an Al identification camera; 47. a three-dimensional scanner; 48. a ring gear; 51. a fixed mount; 52. a bidirectional screw rod; 53. a protection motor; 54. a first link; 55. a second link; 56. a third link; 57. a support plate; 58. a shield.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, the present invention provides a technical solution:
a high-precision measurement and data processing method for an elevator shaft comprises an unmanned aerial vehicle used in the elevator shaft and a computer system used for mapping, and comprises the following steps:
s1: the control power supply 11 turns on the unmanned aerial vehicle, connects the unmanned aerial vehicle with the remote controller through signals, and then connects the remote controller with the computer system through data;
s2: the driving motor 2 is controlled to be opened to enable the rotor wing mechanism 3 to rotate, so that the unmanned aerial vehicle is controlled to fly, after the unmanned aerial vehicle flies for a certain height, the protection motor 53 drives the bidirectional screw rod 52 to rotate, the bidirectional screw rod 52 rotates to drive the moving block to move, the moving block drives the first connecting rod 54 to move, the first connecting rod 54 moves to extrude the second connecting rod 55, the second connecting rod 55 rotates on the surface of the body 1 and drives the third connecting rod 56 to move, the third connecting rod 56 pulls the supporting plate 57 upwards to rotate on the surface of the body 1, the supporting plate 57 drives the protective cover 58 to move to the periphery of the rotor wing mechanism 3 to protect the rotor wing mechanism 3, and the protective cover 58 is stretched to the outside of the rotor wing mechanism 3 to protect the rotor wing mechanism 3;
s3: 1) Controlling the unmanned aerial vehicle to enter the interior of the elevator shaft, opening the three-dimensional scanner 47 and the Al recognition camera 46, and controlling the positions of the three-dimensional scanner 47 and the Al recognition camera 46 by driving the three-axis holder 45 by a user, so that the three-dimensional scanner 47 can measure the structure, the position and the size of a building, the Al recognition camera 46 collects data of building materials such as a constructional column, a ring beam, a shear wall, an air-entrapping block and the like of the building for recognition, meanwhile, the horizontal distance measuring sensor 12 measures the distance between the unmanned aerial vehicle and the periphery of the inner wall of the elevator shaft in real time, and the gravity sensor 8 measures the angle between the unmanned aerial vehicle and the horizontal plane in real time;
2) The horizontal distance measuring sensor 12 and the gravity sensor 8 transmit the acquired data to a positioning system in a computer system for analysis and processing, when the horizontal distance measuring sensor 12 tests that the distance between the unmanned aerial vehicle and the periphery of the inner wall of the elevator shaft is smaller than a specified safety distance, and when the gravity sensor 8 measures that the angle between the unmanned aerial vehicle and the horizontal plane is larger, the measured data can be transmitted to a GPS module in the positioning system, and the position of the unmanned aerial vehicle is controlled after the unmanned aerial vehicle is positioned to the position of the unmanned aerial vehicle through the GPS module, so that the distance between the unmanned aerial vehicle and the periphery of the inner wall of the elevator shaft is kept at a safe distance, the problem that the unmanned aerial vehicle collides with the periphery of the inner wall of the elevator shaft is avoided, and the unmanned aerial vehicle is kept parallel to the horizontal plane to keep the stability of flight;
s4: in the flight process of the unmanned aerial vehicle in the elevator shaft, the position in the elevator shaft is conveyed to a positioning system in a computer system through a gyroscope sensor 9 and an altimeter sensor 10 in the unmanned aerial vehicle, the position of the unmanned aerial vehicle is obtained in real time through a GPS module, the gyroscope sensor 9 and the altimeter sensor 10 transmit the collected data to the GPS module respectively, and then multi-angle position data of the unmanned aerial vehicle in the elevator shaft, such as horizontal, vertical, pitching and heading, and specific GPS positioning of the unmanned aerial vehicle in the shaft, building height, altitude position and other relevant building data information can be obtained through GPS module analysis, so that a user can conveniently control the unmanned aerial vehicle to perform high-precision positioning to facilitate measurement work;
s5: taking the position of the unmanned aerial vehicle obtained by the GPS module in S4 as a reference, transmitting the data collected by the Al identification camera 46 in S3 to an identification software system for analysis, analyzing to obtain building material data such as a constructional column, a ring beam, a shear wall, an air adding block, a solid brick, a hollow brick and the like of a building, sending the building material data to a building structure drawing library, respectively transmitting the collected data to a drawing software system, an identification software system and the building structure drawing library through a network for analysis by a three-dimensional scanner 47, analyzing to obtain the data of the structure, the position and the size of the building, transmitting the analyzed data to the drawing software system for comparison and synthesis, controlling the turning-on and turning-over motor 41 to be turned on when the unmanned aerial vehicle moves upwards from a lower part to an uppermost part of an elevator shaft and the three-dimensional scanner 47 and the Al identification camera 46 are positioned below the unmanned aerial vehicle at the moment, the overturning motor 41 drives the gear 42 to rotate, the gear 42 is meshed with the gear ring 48, the mounting rack 43 is rotated, so that the three-axis holder 45 below the fixing plate 44 is driven to rotate above, the three-axis holder 45 drives the three-dimensional scanner 47 and the Al recognition camera 46 to move above the unmanned aerial vehicle to collect data of the uppermost building material and the uppermost building structure of the hoistway, the data are transmitted to a building structure drawing library, a drawing software system and a recognition software system to be compared so as to complete a three-dimensional structure drawing of the hoistway, and finally a three-dimensional drawing of the hoistway is generated, the three-dimensional scanner and the Al recognition camera are carried by the unmanned aerial vehicle to measure the interior of the hoistway, the plane and horizontal errors can be controlled within 10mm, the accuracy requirement of national standards is completely met, the safety risk in the measuring process is greatly reduced, and the life safety of personnel is guaranteed, and the arrangement diagram of the installation positions of the guide rail brackets in the elevator shaft is directly generated, the arrangement diagram comprises the horizontal positions and the bracket intervals, the installation period is shortened, the three-dimensional diagram of the elevator shaft can be led into a BIM database and is synchronously carried out with the design of the building, the adaptability of the elevator design and the building is improved, and therefore the construction cost is reduced;
s6: the measured data and the three-dimensional structure chart obtained by the drawing system can be butted with BIM software for subsequent design modeling and rechecking measurement;
s7: after the measurement is completed, the unmanned aerial vehicle flies out of the elevator shaft, and when the unmanned aerial vehicle approaches the ground, the control protective cover 58 resets, so that the unmanned aerial vehicle is buffered and reset when falling to the ground.
Wherein, unmanned aerial vehicle includes body 1, the equal fixedly connected with driving motor 2 in four sides of body 1, and driving motor 2's output fixedly connected with rotor mechanism 3 opens driving motor 2 work through remote controller control, and driving motor 2 drives rotor mechanism 3 and rotates for body 1 can fly and carry out measurement work.
Wherein, the surface of body 1 is provided with upset scanning mechanism 4, upset scanning mechanism 4 is including rotating mounting bracket 43 that is connected with body 1 surface and the upset motor 41 of fixed connection at body 1 upper surface, the inside fixedly connected with ring gear 48 of mounting bracket 43, the output fixedly connected with gear 42 of upset motor 41, and gear 42 and ring gear 48 intermeshing, the lower fixed surface of ring gear 48 is connected with fixed plate 44, the lower surface of fixed plate 44 rotates and is connected with triaxial cloud platform 45, the inside fixedly connected with three-dimensional scanner 47 and the Al discernment camera 46 of triaxial cloud platform 45, triaxial cloud platform 45 drives three-dimensional scanner 47 and Al discernment camera 46 and carries out the triaxial rotation and carry out the measurement data collection to elevator well inside during the measurement, when unmanned aerial vehicle is by down to elevator well upward movement, when being close to elevator well the top, three-dimensional scanner 47 and Al discernment camera 46 are located the below of elevator well this moment, this moment can control to open upset motor 41 and open, upset motor 41 drives gear 42 and rotates, gear 42 and ring gear meshing, make mounting bracket 43 rotate, thereby drive the three-dimensional cloud platform 45 and the three-axis cloud platform discernment camera 47 that unmanned aerial vehicle drives elevator well and carry out the measurement to three-dimensional camera 46 and carry out the measurement to three-dimensional stereo camera and the measurement.
Wherein, the two ends of the body 1 are provided with the guard ring mechanisms 5, the guard ring mechanisms 5 comprise fixing frames 51 fixedly connected with the two ends of the body 1, and second connecting rods 55 and supporting plates 57 respectively rotatably connected with the two ends of the body 1, the shape of the second connecting rods 55 is set to be L-shaped, the insides of the two fixing frames 51 are both rotatably connected with two-way screw rods 52, the circumferential surfaces of the two-way screw rods 52 are both in threaded connection with moving blocks, the front surfaces of the moving blocks are rotatably connected with first connecting rods 54, the other ends of the first connecting rods 54 are rotatably connected with the upper ends of the second connecting rods 55, the other ends of the second connecting rods 55 are rotatably connected with third connecting rods 56, the other ends of the third connecting rods 56 are rotatably connected with the upper surfaces of the supporting plates 57, the upper surfaces of the supporting plates 57 are fixedly connected with protective covers 58, the outer sides of the fixing frames 51 are fixedly connected with the guard motors 53, and the output ends of the guard motors 53 are fixedly connected with one ends of the two-way screw rods 52, when the guard ring needs to be used, when the body 1 flies upwards for a certain height, the guard motor 53 is turned on to work, the guard motor 53 drives the bidirectional screw rod 52 to rotate, the bidirectional screw rod 52 rotates to drive the moving block to move, the moving block drives the first connecting rod 54 to move, the first connecting rod 54 moves to extrude the second connecting rod 55, the second connecting rod 55 rotates on the surface of the body 1 and drives the third connecting rod 56 to move, the third connecting rod 56 pulls the support plate 57 upwards to rotate on the surface of the body 1, the support plate 57 drives the protective cover 58 to move to the periphery of the rotor wing mechanism 3 to protect the rotor wing mechanism 3, the problem that the rotor wing mechanism 3 is damaged in an elevator hoistway to cause damage to the body 1 and cause economic loss can be effectively prevented, when the unmanned aerial vehicle exits the elevator hoistway, can control protection casing 58 and reset, protection casing 58 downstream and protection casing 58 and ground contact and cushion when unmanned aerial vehicle lands, thereby prevent that unmanned resetting from not cushioning and causing three-dimensional scanner 47 and Al recognition camera 46 to take place the problem of damaging, and receive through closing protection casing 58, thereby can protect the terse nature of the fuselage of bottom when elevator well inside flight can not shelter from three-dimensional scanner and Al recognition camera, thereby the accurate nature of the data acquisition of assurance, and there is not protruding structure in the below can not be bumped by elevator well inner structure mistake, the possibility of the inflation has been reduced to take place.
Wherein, the material of protection casing 58 is the carbon fiber cover, and the shape of protection casing 58 sets up to the C type, conveniently protects the rotor to thereby come to cushion unmanned aerial vehicle when not having man-machine to reset and protect unmanned aerial vehicle's life.
Wherein, the inside fixedly connected with control panel of body 1, data transmission equipment 7, gravity sensor 8, gyroscope sensor 9, altimeter sensor 10 and power 11, power 11 respectively with control panel, data transmission equipment 7, gravity sensor 8, gyroscope sensor 9, altimeter sensor 10, triaxial cloud platform 45, three-dimensional scanner 47, al discerns camera 46 and driving motor 2 electric connection, conveniently carry out unmanned aerial vehicle and fix a position and protect the operation when carrying out measurement work.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. A high-precision measurement and data processing method for an elevator shaft is characterized by comprising the following steps: including unmanned aerial vehicle and the computer system that is used for the survey and drawing that uses in the elevator well, the step is as follows:
s1: the control power supply (11) turns on the unmanned aerial vehicle, the unmanned aerial vehicle is in signal connection with the remote controller, and then the remote controller is in data connection with the computer system;
s2: the driving motor (2) is controlled to be turned on to enable the rotor wing mechanism (3) to rotate, so that the unmanned aerial vehicle is controlled to fly, and after the unmanned aerial vehicle flies for a certain height, the protection cover (58) is stretched and opened to the outside of the rotor wing mechanism (3) to protect the rotor wing mechanism (3);
s3: 1) Controlling an unmanned aerial vehicle to enter the interior of an elevator shaft, opening a three-dimensional scanner (47) and an Al identification camera (46), controlling the positions of the three-dimensional scanner (47) and the Al identification camera (46) by a user through driving a three-axis pan-tilt (45), enabling the three-dimensional scanner (47) to measure the structure, the position and the size of a building, acquiring data of building materials such as a constructional column, a ring beam, a shear wall and an air-entraining block of the building by the Al identification camera (46) for identification, simultaneously measuring the distances around the unmanned aerial vehicle and the inner wall of the elevator shaft by a horizontal distance measuring sensor (12) in real time, and measuring the angle between the unmanned aerial vehicle and the horizontal plane by a gravity sensor (8) in real time;
2) The horizontal distance measuring sensor (12) and the gravity sensor (8) transmit the acquired data to a positioning system in a computer system for analysis and processing, and automatically adjust the unmanned aerial vehicle to be positioned at a proper position through an automatic adjusting module according to the analysis and processing result;
s4: in the process that the unmanned aerial vehicle flies in the elevator shaft, the position in the elevator shaft is transmitted to a positioning system in a computer system through a gyroscope sensor (9) and an altimeter sensor (10) in the unmanned aerial vehicle, and the position of the unmanned aerial vehicle is obtained in real time through a GPS module;
s5: taking the position of the unmanned aerial vehicle obtained by the GPS module in S4 as a reference, transmitting data collected by the Al identification camera (46) in S3 to an identification software system for analysis, analyzing to obtain building material data such as a constructional column, a ring beam, a shear wall, an air-entraining block and the like of a building, sending the building material data to a building structure diagram library, respectively sending the collected data to a drawing software system, an identification software system and the building structure diagram library for analysis by a three-dimensional scanner (47), analyzing to obtain data of the structure, the position and the size of the building, transmitting the analyzed data to the drawing software system for comparison and synthesis, and finally generating an elevator shaft three-dimensional diagram;
s6: the measured data and the three-dimensional structure chart obtained by the drawing system can be butted with BIM software for subsequent design modeling and rechecking measurement;
s7: after the measurement is finished, the unmanned aerial vehicle flies out of the elevator shaft, and when the unmanned aerial vehicle approaches the ground, the control protective cover (58) resets, so that the unmanned aerial vehicle is buffered and reset when falling to the ground.
2. A method for high-precision measurement and data processing of an elevator shaft according to claim 1, characterized in that: in S3, when unmanned aerial vehicle was by downward elevator well upward movement, when being close elevator well the top, three-dimensional scanner (47) and Al discernment camera (46) were located unmanned aerial vehicle 'S below this moment, can control upset motor (41) and drive mounting bracket (43) and rotate, make three-axis cloud platform (45) drive three-dimensional scanner (47) and Al discernment camera (46) motion unmanned aerial vehicle' S top come to carry out data acquisition to the building material and the building structure of well the top, and with data transfer to building structure drawing storehouse, thereby compare among drawing software system and the discernment software system and accomplish the three-dimensional structure chart of elevator well.
3. The method for high-precision measurement and data processing of an elevator shaft according to claim 1, wherein: s3 when horizontal range finding sensor (12) test unmanned aerial vehicle and elevator well inner wall distance all around is less than appointed safe distance, and when gravity sensor (8) measure the angle between unmanned aerial vehicle and the horizontal plane great, can with during the GPS module among the measured data transmission positioning system, through GPS module location again to unmanned aerial vehicle 'S position back automatic regulating module control unmanned aerial vehicle' S position, make unmanned aerial vehicle and elevator well inner wall distance all around keep safe distance, and make unmanned aerial vehicle and horizontal plane keep parallel to keep the stability of flight.
4. The method for high-precision measurement and data processing of an elevator shaft according to claim 1, wherein: in S4, the gyroscope sensor (9) and the altimeter sensor (10) transmit acquired data to the GPS module respectively, and multi-angle azimuth data of the horizontal direction, the vertical direction, the pitching direction and the heading direction of the unmanned aerial vehicle in the elevator shaft can be obtained through analysis of the GPS module, and relevant building data information such as the specific GPS positioning, the floor height and the altitude position of the unmanned aerial vehicle in the shaft can be obtained.
5. An elevator shaft high-precision measurement and data processing method according to any one of claims 1-4, characterized in that: unmanned aerial vehicle includes body (1), equal fixedly connected with driving motor (2) in four sides of body (1), the output fixedly connected with rotor mechanism (3) of driving motor (2).
6. An elevator shaft high-precision measurement and data processing method according to claim 5, characterized in that: the surface of body (1) is provided with upset scanning mechanism (4), upset scanning mechanism (4) are including rotating mounting bracket (43) and the upset motor (41) of fixed connection at body (1) upper surface that are connected with body (1) surface, the inside fixedly connected with ring gear (48) of mounting bracket (43), the output fixed connection gear (42) of upset motor (41), and gear (42) and ring gear (48) intermeshing, the lower fixed surface of ring gear (48) is connected with fixed plate (44), the lower surface of fixed plate (44) rotates and is connected with triaxial cloud platform (45), the inside fixedly connected with three-dimensional scanner (47) and the Al discernment camera (46) of triaxial cloud platform (45).
7. An elevator shaft high-precision measurement and data processing method according to claim 5, characterized in that: the protection ring mechanism comprises fixing frames (51) fixedly connected to two ends of the body (1), second connecting rods (55) and supporting plates (57) which are respectively connected to two ends of the body (1) in a rotating mode, the second connecting rods (55) are arranged in an L-shaped mode, two bidirectional screw rods (52) are connected to the two fixing frames (51) in a rotating mode, the circumferential surfaces of the bidirectional screw rods (52) are connected with moving blocks in a threaded mode, the front surfaces of the moving blocks are connected with first connecting rods (54) in a rotating mode, the other ends of the first connecting rods (54) are connected with the upper end of each second connecting rod (55) in a rotating mode, the other ends of the second connecting rods (55) are connected with third connecting rods (56) in a rotating mode, the other ends of the third connecting rods (56) are connected with the upper surface of the supporting plates (57) in a rotating mode, protective covers (58) are fixedly connected to the upper surfaces of the supporting plates (57), protection motors (53) are fixedly connected to the outer sides of the fixing frames (51), and the output ends of the protection motors (53) are fixedly connected with one ends of the bidirectional screw rods (52).
8. An elevator shaft high-precision measurement and data processing method according to claim 7, characterized in that: the material of protection casing (58) is the carbon fiber cover, and the shape of protection casing (58) sets up to the C type.
9. An elevator shaft high-precision measuring and data processing method according to claim 5, characterized in that: the utility model discloses a three-dimensional scanner, including body (1), the inside fixedly connected with control panel, data transmission equipment (7), gravity sensor (8), gyroscope sensor (9), altimeter sensor (10) and power (11), power (11) respectively with control panel, data transmission equipment (7), gravity sensor (8), gyroscope sensor (9), altimeter sensor (10), triaxial cloud platform (45), three-dimensional scanner (47), al discernment camera (46) and driving motor (2) electric connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210991380.4A CN115371732A (en) | 2022-08-18 | 2022-08-18 | High-precision measurement and data processing method for elevator shaft |
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| CN202210991380.4A CN115371732A (en) | 2022-08-18 | 2022-08-18 | High-precision measurement and data processing method for elevator shaft |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116182813A (en) * | 2023-03-09 | 2023-05-30 | 菏泽市政工程设计研究院有限责任公司 | Building site survey and drawing device under special environment |
| CN116659419A (en) * | 2023-07-28 | 2023-08-29 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Elevator guide rail parameter measuring device and method |
-
2022
- 2022-08-18 CN CN202210991380.4A patent/CN115371732A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116182813A (en) * | 2023-03-09 | 2023-05-30 | 菏泽市政工程设计研究院有限责任公司 | Building site survey and drawing device under special environment |
| CN116182813B (en) * | 2023-03-09 | 2024-02-06 | 菏泽市政工程设计研究院有限责任公司 | Building site survey and drawing device under special environment |
| CN116659419A (en) * | 2023-07-28 | 2023-08-29 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Elevator guide rail parameter measuring device and method |
| CN116659419B (en) * | 2023-07-28 | 2023-10-20 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Elevator guide rail parameter measuring device and method |
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