CN115739438A - Unmanned aerial vehicle-based method and system for repairing appearance of outer facade of building - Google Patents
Unmanned aerial vehicle-based method and system for repairing appearance of outer facade of building Download PDFInfo
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- CN115739438A CN115739438A CN202211588234.3A CN202211588234A CN115739438A CN 115739438 A CN115739438 A CN 115739438A CN 202211588234 A CN202211588234 A CN 202211588234A CN 115739438 A CN115739438 A CN 115739438A
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Abstract
The invention relates to the technical field of image data processing, and discloses a building facade appearance restoration method and system based on an unmanned aerial vehicle, so that restoration efficiency and safety are improved. The method comprises the following steps: positioning the position area of each ceramic chip falling area on the target outer vertical surface according to the spatial coordinate information corresponding to each screened image frame and the pixel distribution condition of the ceramic chip falling area in the corresponding image frame; collecting the washed images of the ceramic chip falling areas in the process that the unmanned aerial vehicle carries the high-pressure water pipe and then carries out high-pressure water washing on the ceramic chip falling areas according to the second path; acquiring color and area information for repairing the values assigned to the ceramic chip falling areas in the image after washing manually, and calculating the pigment using amount corresponding to each color; in the spraying process after the unmanned aerial vehicle is loaded with the single-color spraying coatings with the corresponding colors, the corresponding spraying areas are aligned manually according to real-time image information, and the spraying start-stop operation is carried out remotely.
Description
Technical Field
The invention relates to the technical field of image data processing, in particular to a building facade appearance restoration method and system based on an unmanned aerial vehicle.
Background
In the surveying and mapping operation of a house, the applicant finds that the ceramic chips are easy to fall off due to the fact that the outer facades of part of buildings are eroded by wind and rain for a long time; especially buildings with long building years.
At present, most of the existing repairing modes are repaired manually after an operation platform is hung from a roof. However, such high-altitude operations are prone to create safety hazards for workers. The preparation cost before manual repair operation is high, and when the repair surfaces are scattered, the working efficiency is low; further improvements are desired.
Disclosure of Invention
The invention aims to disclose a building outer facade appearance repairing method and system based on an unmanned aerial vehicle, so as to improve repairing efficiency and safety.
In order to achieve the purpose, the invention discloses a building facade appearance repairing method based on an unmanned aerial vehicle, which comprises the following steps:
acquiring a series of image frames acquired by the unmanned aerial vehicle on the target outer facade of the building by a first planned path with a uniform focal length and a uniform field angle, and recording space coordinate information of the unmanned aerial vehicle corresponding to each frame of image;
judging whether a ceramic chip falling region exists in each image frame, and screening out the image frames with the ceramic chip falling region;
positioning the position area of each ceramic chip falling area on the target outer vertical surface according to the spatial coordinate information corresponding to each screened image frame and the pixel distribution condition of the ceramic chip falling area in the corresponding image frame;
planning grouping conditions of the falling areas of the ceramic chips according to the displacement point position of the water pump and the expansion range of the water outlet pipe, wherein the same group corresponds to the same water pump deployment point position; then planning a second path for carrying out high-pressure water washing on each ceramic chip falling region by the unmanned aerial vehicle according to the spatial distribution condition of each ceramic chip falling region and the arrangement sequence of the water pump deployment points;
collecting the washed images of the ceramic chip falling areas in the process that the unmanned aerial vehicle carries the high-pressure water pipe and then carries out high-pressure water washing on the ceramic chip falling areas according to the second path; in the process of switching to the next group, related operators are instructed to synchronously displace the deployment point positions of the water pumps;
acquiring colors and region information for repairing assigned to the ceramic chip falling regions in the washed images manually, calculating total spraying areas corresponding to the colors respectively, then calculating the use amount of various colors of pigments required by the target facade and planning third paths corresponding to the colors respectively for spraying repair;
after the unmanned aerial vehicle loads the monochromatic spraying coating with the corresponding color, the unmanned aerial vehicle reaches the corresponding spraying area according to the third path corresponding to the color, and then in the spraying process, the unmanned aerial vehicle manually aligns the corresponding spraying area according to real-time image information and remotely performs starting and stopping operation of spraying.
Preferably, at least two shapes and/or sizes of masking plates are arranged in the nozzle of the monochromatic spraying device, so that the nozzle can be aligned with a target spraying area by adjusting the shape and/or size of the spraying area.
Further, in a remote control interface of spraying, contour edge pixels corresponding to a target spraying area are estimated according to the shape and size of the mask plate and the distance measurement between the unmanned aerial vehicle and the target spraying area, and are marked so as to be used for manual observation to iteratively adjust the shape and size of the mask plate and/or adjust the distance between the unmanned aerial vehicle and the target spraying area.
In order to achieve the above object, the present invention further discloses a building facade appearance repair system based on an unmanned aerial vehicle, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the method corresponding to the above embodiment when executing the computer program.
The invention has the following beneficial effects:
the unmanned aerial vehicle is used for replacing manual operation with the cooperative flushing equipment and the spraying device, and the unmanned aerial vehicle is simple, practical, intelligent and reliable! In addition, in the remote control process, visual and visible humanized functions are conveniently expanded to realize the alignment of the spraying areas, so that the working efficiency and the repeated utilization rate of the spraying device can be greatly improved and the operation quality is ensured to meet the requirements through reasonable planning of the whole implementation process and fusion of related image processing technologies; meanwhile, the potential safety hazard of constructors is fundamentally eliminated.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a building facade appearance repair method based on an unmanned aerial vehicle according to an embodiment of the invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Example 1
The embodiment discloses a building facade appearance restoration method based on an unmanned aerial vehicle, as shown in fig. 1, including:
s1, acquiring a series of image frames acquired by the unmanned aerial vehicle through a planned first path to a target facade of a building at a uniform focal length and a uniform field angle, and recording space coordinate information of the unmanned aerial vehicle corresponding to each frame of image.
In this step, the drone optionally performs image acquisition, generally in parallel planes of the building facade, from left to right, in top to bottom order. The planned first path can be that the partial images of the outer vertical face are collected in odd rows at equal intervals in the sequence from left to right; even rows are collected at equal intervals in a right-to-left order. As an alternative, the planned first path may also be that the odd-numbered columns collect the partial images of the outer vertical surface at equal intervals in the sequence from bottom to top; the even columns are collected at equal intervals in the order from top to bottom.
And S2, judging whether the image frames have the ceramic chip falling areas or not, and screening the image frames with the ceramic chip falling areas.
The discrimination process in this step can perform two classifications on the input image frame based on the trained convolutional neural network model (i.e. there are no ceramic chip dropping region and there are two types of ceramic chip dropping regions, and the training of the specific convolutional neural network model based on the training set and the test set is the prior art in this field and is not described in detail).
In this step, the area in each frame of image may also be traversed based on the rectangular window, and whether a tile dropping area exists is determined according to the mean value and/or the variance of the pixel values of the rectangular window, and when the mean value and/or the variance of the pixel values in the rectangular window exceeds a set threshold, the tile dropping area is usually considered to exist.
And S3, positioning the position area of each ceramic chip falling area on the target outer vertical surface according to the spatial coordinate information corresponding to each screened image frame and the pixel distribution condition of the ceramic chip falling area in the corresponding image frame.
In this step, the RGB values of the pixels in the dropped area of the tile usually have an obvious difference from the non-dropped area, so that the RGB values of the pixels can be clustered, and then the pixel distribution of the dropped area of the tile can be obtained by fusing the adjacent pixels in the same cluster corresponding to the dropped area of the tile.
S4, planning grouping conditions of falling-off areas of the ceramic chips according to the position of the water pump capable of displacement and the telescopic range of the water outlet pipe, wherein the same group corresponds to the same water pump deployment position; and then planning a second path for carrying out high-pressure water washing on each ceramic chip falling region by the unmanned aerial vehicle according to the spatial distribution condition of each ceramic chip falling region and the arrangement sequence of the water pump deployment points.
In this step, a water pump is typically provided on the top floor of the building and is in communication with the water tank. When the building is over a certain range, the floor where the water pump can be deployed can be an equipment floor with a water tank and an escape floor; in this case, the point where the water pump is deployed includes multiple points (mainly height information of the corresponding floor) such as the roof, the middle equipment floor, and the escape floor. Wherein, in the regional process of washing that drops of the ceramic chip of group that corresponds same water pump deployment position, pull the wash pipe by unmanned aerial vehicle usually and wash according to the order from the top down to avoid producing the wash pipe section that is less than the ceramic chip regional that drops and produce the gravity that drops to unmanned aerial vehicle, and then just also avoid influencing the flight gesture of washing operation in-process unmanned aerial vehicle, ensure to wash the effect and tend to ideal target. In addition, through planning the second route, the work efficiency of unmanned aerial vehicle operation can be improved.
S5, collecting washed images of the ceramic chip falling areas in the process of washing the ceramic chip falling areas by high-pressure water according to a second path after the unmanned aerial vehicle carries a high-pressure water pipe; and in the process of switching to the next group, relevant operators are instructed to synchronously displace the deployment point positions of the water pumps.
In the step, because potential energy of water falling exists on one hand and the driving force of the water pump also exists on the other hand in the flushing process, the formed high-pressure water can flush the ceramic chips which are not firmly adhered and have cracks or gaps with the wall surface, so that the potential safety hazard of subsequent ceramic chip falling is reduced. Therefore, in this embodiment, the image acquisition is required to be performed again on the ceramic chip falling region after the high-pressure water washing so as to facilitate the precise processing of the subsequent steps.
And S6, acquiring colors and region information for repairing assigned to the ceramic chip falling regions in the washed image manually, calculating total spraying areas corresponding to the colors respectively, calculating the use amount of pigments of various colors required by the target outer vertical surface, and planning third paths corresponding to the colors respectively and used for spraying repair.
The region information described in this step refers to the region corresponding to the original dropped ceramic chip, and the user can draw a standard ceramic chip unit (one ceramic chip unit corresponds to the repair area corresponding to the single-time spraying of the monochromatic spraying device described in the subsequent step) in the corresponding control interface to fill the area information so as to achieve the visual effect before the ceramic chip is dropped. In this embodiment, the actual application condition that most of the single tiles correspond to a single color is taken, and the color assigned for repairing the single region is also single.
In this step, the amount of each color pigment can be calculated in combination with the amount of each spraying and the number of times of spraying per spraying area. In a special case, when the color of the pigment required by the integral spraying of the outer vertical surface is unique and the deployment point of the water pump corresponding to the second path is also unique, the third path can adopt the second path; on the contrary, if the color of the pigment required by the integral spraying of the outer vertical surface is not unique or at least two water pump deployment points corresponding to the second path are required, path planning needs to be performed independently based on each color, so that the operation efficiency is improved.
And S7, after the unmanned aerial vehicle is loaded with the single-color spraying paint with the corresponding color, the third path corresponding to the color reaches the corresponding spraying area, and then in the spraying process, the corresponding spraying area is manually aligned according to real-time image information and the starting and stopping operation of spraying is remotely carried out.
In this step, at least two types of masks of different shapes and/or sizes are provided in the nozzle of the monochromatic spraying device, so that the nozzle can be aligned with the target spraying area by adjusting the shape and/or size of the spraying area. Preferably, in a remote control interface of spraying, contour edge pixels corresponding to a target spraying area are estimated according to the shape and size of the mask plate and the distance measurement between the unmanned aerial vehicle and the target spraying area, and are marked so as to be observed manually to adjust the shape and size of the mask plate in an iterative manner and/or adjust the distance between the unmanned aerial vehicle and the target spraying area. The ranging is a functional module which is always provided for the unmanned aerial vehicle, and the distance between the nozzle and the target spraying area can be accurately obtained according to the distance between the unmanned aerial vehicle and the target spraying area and the deployment position (fixed known constant) of the nozzle on the unmanned aerial vehicle, so that the alignment operation with the target spraying area is assisted to be completed.
In this embodiment, the main execution body of the above steps is a control host, and the control host, the unmanned aerial vehicle and the monochromatic spraying device are all provided with a data interaction channel, and a display is provided to present the remote control interface of the above spraying.
Further, the remote start-stop instruction for the target monochromatic painting device is created and sent in the remote control interface of the painting, and the remote start-stop instruction is relayed through the wireless communication transceiver module of the unmanned aerial vehicle in the sending process. Therefore, the unmanned aerial vehicle can be used for reliably obtaining the remote control communication quality to ensure that the spraying instruction is reliably received by the single-color spraying device in real time. Furthermore, the control host can be used for instructing the unmanned aerial vehicle to execute anti-shake treatment in the spraying process so as to keep the flight attitude unchanged.
In the embodiment, when multiple colors are needed to be sprayed, the single-color spraying device can be used again by being disassembled, assembled and cleaned and then being reloaded with the pigment corresponding to the new color, so that the resource utilization rate is improved and the cost is saved.
Example 2
Corresponding to the above embodiments, the present embodiment discloses a building facade appearance repair system based on an unmanned aerial vehicle, which includes a memory, a processor, and a computer program stored on the memory and capable of running on the processor, wherein the processor implements the method corresponding to the above embodiments when executing the computer program.
In summary, the method and the system for repairing the appearance of the exterior facade of the building based on the unmanned aerial vehicle, which are respectively disclosed by the embodiments of the invention, at least have the following beneficial effects:
the unmanned aerial vehicle is used for replacing manual operation with the cooperative flushing equipment and the spraying device, and the unmanned aerial vehicle is simple, practical, intelligent and reliable! In addition, in the remote control process, visual and visible humanized functions are conveniently expanded to realize the alignment of the spraying area, so that the working efficiency and the repeated utilization rate of the spraying device can be greatly improved and the operation quality is ensured to meet the requirements through the reasonable planning of the whole implementation process and the fusion of related image processing technologies; meanwhile, the potential safety hazard of constructors is fundamentally eliminated.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a building facade outward appearance restoration method based on unmanned aerial vehicle which characterized in that includes:
acquiring a series of image frames acquired by the unmanned aerial vehicle on the target outer facade of the building by a first planned path with a uniform focal length and a uniform field angle, and recording space coordinate information of the unmanned aerial vehicle corresponding to each frame of image;
judging whether a ceramic chip falling region exists in each image frame, and screening out the image frames with the ceramic chip falling region;
positioning the position area of each ceramic chip falling area on the target outer vertical surface according to the spatial coordinate information corresponding to each screened image frame and the pixel distribution condition of the ceramic chip falling area in the corresponding image frame;
planning grouping conditions of the falling-off areas of the ceramic chips according to the position of the water pump capable of displacement and the telescopic range of the water outlet pipe, wherein the same group corresponds to the same water pump arrangement position; then planning a second path for carrying out high-pressure water washing on each ceramic chip falling region by the unmanned aerial vehicle according to the spatial distribution condition of each ceramic chip falling region and the arrangement sequence of the water pump deployment points;
collecting the washed images of the falling areas of the ceramic chips in the process of washing the falling areas of the ceramic chips by the unmanned aerial vehicle with the high-pressure water pipe according to the second path; in the process of switching to the next group, related operators are instructed to synchronously displace the deployment point positions of the water pumps;
acquiring colors and region information for repairing assigned values of the ceramic chip falling regions in the washed images manually, calculating total spraying areas corresponding to the colors respectively, then calculating the use amounts of pigments of various colors required by the target outer vertical surface, and planning third paths corresponding to the colors respectively and used for spraying repair;
after the unmanned aerial vehicle is loaded with the single-color spraying coating with the corresponding color, the third path corresponding to the color reaches the corresponding spraying area, and then in the spraying process, the corresponding spraying area is manually aligned according to real-time image information, and the starting and stopping operation of spraying is remotely carried out.
2. The unmanned aerial vehicle-based building facade appearance restoration method according to claim 1, wherein at least two types of masks with shapes and/or sizes are arranged in the nozzle of the monochromatic painting device so as to align with the target painting area by adjusting the shapes and/or sizes of the painting area.
3. The unmanned-aerial-vehicle-based building facade appearance restoration method according to claim 2, wherein in a spraying remote control interface, contour edge pixels corresponding to a target spraying area are estimated according to the shape and size of the mask plate and the distance measurement between the unmanned aerial vehicle and the target spraying area, and are marked for manual observation to iteratively adjust the shape and size of the mask plate and/or adjust the distance between the unmanned aerial vehicle and the target spraying area.
4. The unmanned aerial vehicle-based method for repairing the appearance of the exterior facade of the building according to claim 3, wherein a remote start-stop instruction for the target monochromatic painting device is created and sent in a remote control interface of the painting, and the remote start-stop instruction is relayed through a wireless communication transceiver module of the unmanned aerial vehicle during the sending process.
5. The unmanned aerial vehicle-based method of facade appearance restoration according to any one of claims 1 to 4, further comprising: and instructing the unmanned aerial vehicle to execute anti-shake treatment in the spraying process so as to keep the flight attitude unchanged.
6. An unmanned aerial vehicle-based building facade appearance repair system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the method of any of the preceding claims 1 to 5.
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Cited By (1)
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| CN117115243A (en) * | 2023-10-23 | 2023-11-24 | 北京科技大学 | Building group outer facade window positioning method and device based on street view picture |
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