CN116361996A - Unmanned aerial vehicle-based steel mesh frame modeling method, system and storage medium - Google Patents
Unmanned aerial vehicle-based steel mesh frame modeling method, system and storage medium Download PDFInfo
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 44
- 239000010959 steel Substances 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000010276 construction Methods 0.000 claims abstract description 166
- 238000005259 measurement Methods 0.000 claims abstract description 59
- 238000006243 chemical reaction Methods 0.000 claims abstract description 37
- 230000001960 triggered effect Effects 0.000 claims abstract description 12
- 238000012360 testing method Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 abstract description 9
- 238000004364 calculation method Methods 0.000 description 3
- 238000013102 re-test Methods 0.000 description 3
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011151 fibre-reinforced plastic Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
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- 238000012545 processing Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/12—Geometric CAD characterised by design entry means specially adapted for CAD, e.g. graphical user interfaces [GUI] specially adapted for CAD
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses a steel mesh frame modeling method, a system and a storage medium based on an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring photo information and CAD data information shot by an unmanned aerial vehicle; based on preset first software, obtaining an actual measurement three-dimensional model of the construction site according to a photo shot by the unmanned aerial vehicle; based on preset second software, obtaining a virtual three-dimensional model of the construction site according to the CAD data; obtaining a coordinate conversion coefficient between an actual measurement three-dimensional model of the construction site and a virtual three-dimensional model of the construction site based on a preset positioning point; extracting support coordinates in the actual measurement three-dimensional model and support coordinates of the virtual three-dimensional model; comparing the support coordinates in the actually measured three-dimensional model with the support coordinates of the virtual three-dimensional model based on the coordinate conversion coefficient to obtain support position deviation; judging whether the deviation of the support seat position is larger than a preset first deviation threshold value, and if so, triggering a prompt; if not, the prompt is not triggered. According to the invention, the network frame support is monitored by the unmanned aerial vehicle, so that the monitoring efficiency and accuracy are improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle monitoring, in particular to a steel mesh frame modeling method, a steel mesh frame modeling system and a storage medium based on unmanned aerial vehicles.
Background
The steel mesh frame structure construction technology is relatively mature in research, and the application range is mainly large-span roof, and the steel mesh frame structure construction technology has the characteristics of space stress, high rigidity, steel saving, good vibration resistance, small building height, attractive appearance and the like. At present, when the steel net frame structure is retested, retesting calculation is carried out by measuring staff through a total station or an RTK measuring instrument, and constructors need to climb to the folded net frame to retest, so that certain potential safety hazards exist.
Accordingly, there is a need for improvement in the art.
Disclosure of Invention
In view of the above problems, the invention aims to provide a steel mesh frame modeling method, a steel mesh frame modeling system and a steel mesh frame storage medium based on an unmanned aerial vehicle, which can save a great deal of human resources and improve monitoring efficiency and monitoring precision.
The first aspect of the invention provides a steel mesh frame modeling method based on an unmanned aerial vehicle, which comprises the following steps:
acquiring photo information and CAD data information shot by an unmanned aerial vehicle;
based on preset first software, obtaining an actual measurement three-dimensional model of the construction site according to a photo shot by the unmanned aerial vehicle;
based on preset second software, obtaining a virtual three-dimensional model of the construction site according to the CAD data;
obtaining a coordinate conversion coefficient between an actual measurement three-dimensional model of the construction site and a virtual three-dimensional model of the construction site based on a preset positioning point;
extracting support coordinates in the actual measurement three-dimensional model and support coordinates of the virtual three-dimensional model;
comparing the support coordinates in the actually measured three-dimensional model with the support coordinates of the virtual three-dimensional model based on the coordinate conversion coefficient to obtain support position deviation;
judging whether the deviation of the support seat position is larger than a preset first deviation threshold value, and if so, triggering a prompt; if not, the prompt is not triggered.
In this scheme, the step of building the actual measurement three-dimensional model of building site still includes:
comparing and analyzing the size between positioning points in the actually measured three-dimensional model of the construction site and the size between the positioning points of the construction site to obtain an error proportion;
judging whether the error proportion is larger than a preset error proportion threshold value, if so, determining that the actual measurement three-dimensional model of the corresponding construction site is unqualified; if not, the test result is qualified.
In this scheme, the actual measurement three-dimensional model of building site still includes: the locating point is required to be retested every time the application.
In this scheme, the method for obtaining the coordinate conversion coefficient between the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site based on the preset positioning point specifically includes:
setting any point in the positioning points as a coordinate origin;
setting the connecting line of any two points in the positioning points as a datum line to obtain an angle k of the datum line in a coordinate system of the actually measured three-dimensional model a And angle k of the virtual three-dimensional model coordinate system of the construction site b ；
According to the angle k of the datum line in the measured three-dimensional model coordinate system a And angle k of the virtual three-dimensional model coordinate system of the construction site b Obtaining a coordinate conversion coefficient k from an actual measurement three-dimensional model coordinate system of the construction site to a virtual three-dimensional model coordinate system of the construction site;
the coordinate conversion coefficient is a rotation angle, and the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are constructed in a one-to-one mode.
In this scheme, still include:
obtaining image information of the net rack support according to photo information shot by the unmanned aerial vehicle;
comparing and analyzing the image of the grid support with a preset image to obtain an image similarity value;
judging whether the image similarity value is larger than a preset image threshold value, if so, conforming to the corresponding grid support; if not, the test result is unqualified.
In this scheme, still include:
marking photos shot by the unmanned aerial vehicle according to time sequence;
obtaining the construction sequence of the grid support according to the sequence of the photos shot by the unmanned aerial vehicle;
judging whether the construction sequence of the grid support is within a preset construction sequence range of the grid support, if so, the construction sequence of the corresponding grid support is reasonable; if not, the method is unreasonable.
The invention provides a steel mesh frame modeling system based on an unmanned aerial vehicle, which comprises a memory and a processor, wherein a steel mesh frame modeling method program based on the unmanned aerial vehicle is stored in the memory, and the following steps are realized when the steel mesh frame modeling method program based on the unmanned aerial vehicle is executed by the processor:
acquiring photo information and CAD data information shot by an unmanned aerial vehicle;
based on preset first software, obtaining an actual measurement three-dimensional model of the construction site according to a photo shot by the unmanned aerial vehicle;
based on preset second software, obtaining a virtual three-dimensional model of the construction site according to the CAD data;
obtaining a coordinate conversion coefficient between an actual measurement three-dimensional model of the construction site and a virtual three-dimensional model of the construction site based on a preset positioning point;
extracting support coordinates in the actual measurement three-dimensional model and support coordinates of the virtual three-dimensional model;
comparing the support coordinates in the actually measured three-dimensional model with the support coordinates of the virtual three-dimensional model based on the coordinate conversion coefficient to obtain support position deviation;
judging whether the deviation of the support seat position is larger than a preset first deviation threshold value, and if so, triggering a prompt; if not, the prompt is not triggered.
In this scheme, the step of building the actual measurement three-dimensional model of building site still includes:
comparing and analyzing the size between positioning points in the actually measured three-dimensional model of the construction site and the size between the positioning points of the construction site to obtain an error proportion;
judging whether the error proportion is larger than a preset error proportion threshold value, if so, determining that the actual measurement three-dimensional model of the corresponding construction site is unqualified; if not, the test result is qualified.
In this scheme, the actual measurement three-dimensional model of building site still includes: the locating point is required to be retested every time the application.
In this scheme, the method for obtaining the coordinate conversion coefficient between the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site based on the preset positioning point specifically includes:
setting any point in the positioning points as a coordinate origin;
setting the connecting line of any two points in the positioning points as a datum line to obtain an angle k of the datum line in a coordinate system of the actually measured three-dimensional model a And angle k of the virtual three-dimensional model coordinate system of the construction site b ；
According to the angle k of the datum line in the measured three-dimensional model coordinate system a And angle k of the virtual three-dimensional model coordinate system of the construction site b Obtaining a coordinate conversion coefficient k from an actual measurement three-dimensional model coordinate system of the construction site to a virtual three-dimensional model coordinate system of the construction site;
the coordinate conversion coefficient is a rotation angle, and the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are constructed in a one-to-one mode.
In this scheme, still include:
obtaining image information of the net rack support according to photo information shot by the unmanned aerial vehicle;
comparing and analyzing the image of the grid support with a preset image to obtain an image similarity value;
judging whether the image similarity value is larger than a preset image threshold value, if so, conforming to the corresponding grid support; if not, the test result is unqualified.
In this scheme, still include:
marking photos shot by the unmanned aerial vehicle according to time sequence;
obtaining the construction sequence of the grid support according to the sequence of the photos shot by the unmanned aerial vehicle;
judging whether the construction sequence of the grid support is within a preset construction sequence range of the grid support, if so, the construction sequence of the corresponding grid support is reasonable; if not, the method is unreasonable.
A third aspect of the present invention provides a computer storage medium, in which a steel mesh frame modeling method program based on an unmanned aerial vehicle is stored, the method being implemented as steps of a steel mesh frame modeling method based on an unmanned aerial vehicle as described in any one of the above when the method program is executed by a processor.
The invention discloses a steel mesh frame modeling method, a system and a storage medium based on an unmanned aerial vehicle, which are used for monitoring a mesh frame support through the unmanned aerial vehicle, so that the monitoring process is automatically carried out, a large amount of manpower resources are saved, and the monitoring efficiency and the monitoring precision are improved.
Drawings
FIG. 1 shows a flow chart of a steel mesh frame modeling method based on an unmanned aerial vehicle of the present invention;
fig. 2 shows a block diagram of a steel mesh frame modeling system based on an unmanned aerial vehicle according to the invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Fig. 1 shows a flow chart of a steel mesh frame modeling method based on an unmanned aerial vehicle.
As shown in fig. 1, the invention discloses a steel mesh frame modeling method based on an unmanned aerial vehicle, which comprises the following steps:
s102, acquiring photo information and CAD data information shot by an unmanned aerial vehicle;
s104, obtaining an actual measurement three-dimensional model of the construction site according to a photo shot by the unmanned aerial vehicle based on preset first software;
s106, obtaining a virtual three-dimensional model of the construction site according to the CAD data based on the preset second software;
s108, obtaining a coordinate conversion coefficient between the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site based on a preset positioning point;
s110, extracting support coordinates in the actual measurement three-dimensional model and support coordinates of the virtual three-dimensional model;
s112, comparing the support coordinates in the actually measured three-dimensional model with the support coordinates of the virtual three-dimensional model based on the coordinate conversion coefficient to obtain support position deviation;
s114, judging whether the deviation of the support seat position is larger than a preset first deviation threshold value, and if so, triggering a prompt; if not, the prompt is not triggered.
It should be noted that, the preset first software can perform three-dimensional imaging according to photo information shot by the unmanned aerial vehicle, such as Smart 3D, and the preset second software can establish software of a three-dimensional model according to CAD data, such as Building Information Modeling (BIM) software. And configuring a plurality of measuring points in the peripheral range of the construction site and at positions needing to be monitored in the periphery, respectively making corresponding mark marks, and setting the marked measuring points as positioning points. Taking a photo shot by the unmanned aerial vehicle as a reference, determining a coordinate conversion coefficient k between an actual measurement three-dimensional model of the construction site and a virtual three-dimensional model of the construction site, and compacting the construction siteMeasuring the coordinate T of the support in the three-dimensional model, converting the coordinate T into the coordinate T' in the virtual three-dimensional model, and then combining the coordinate T with the real coordinate T of the corresponding support in the virtual three-dimensional model 0 And (3) carrying out difference value calculation to obtain a support position deviation delta T, wherein the formula is as follows: Δt= |t' -T 0 | a. The invention relates to a method for producing a fibre-reinforced plastic composite. The support position deviation comprises x-axis, y-axis and z-axis position deviations, for example, a first deviation threshold value is preset to be 2 cm, and when the coordinate deviations of corresponding support coordinates in the three directions of the x-axis, the y-axis and the z-axis are smaller than or equal to 2 cm, the support coordinates are normal, and prompt is not triggered.
According to an embodiment of the present invention, the step of constructing the measured three-dimensional model of the worksite further includes:
comparing and analyzing the size between positioning points in the actually measured three-dimensional model of the construction site and the size between the positioning points of the construction site to obtain an error proportion;
judging whether the error proportion is larger than a preset error proportion threshold value, if so, determining that the actual measurement three-dimensional model of the corresponding construction site is unqualified; if not, the test result is qualified.
It should be noted that, because the accuracy of shooting of the unmanned aerial vehicle and the external environment can both affect the accuracy of shooting a photo by the unmanned aerial vehicle, the shooting error of the unmanned aerial vehicle needs to be determined by the size between the positioning points, for example: the true distance between the locating point A and the locating point B on the construction site is L AB The distance between a locating point A and a locating point B in the actually measured three-dimensional model of the construction site obtained by the unmanned aerial vehicle is L AB ' the error ratio between the corresponding positioning points is Δl= |l AB ′-L AB If the preset error proportion threshold value is 1.5 cm, when the error proportion between corresponding positioning points is DeltaL less than or equal to 1.5 cm, the actual measurement three-dimensional model of the construction site obtained by the photo shot by the unmanned aerial vehicle is qualified; when the error ratio between the corresponding positioning points is delta L>When 1.5 cm, the actual measurement three-dimensional model of the construction site obtained by the photo shot by the unmanned aerial vehicle is unqualified, and the unmanned aerial vehicle precision is required to be adjusted or the unmanned aerial vehicle is required to be replaced for re-shooting.
According to an embodiment of the present invention, the measured three-dimensional model of the worksite further includes: the locating point is required to be retested every time the application.
When needing to be explained, the external environment of unmanned aerial vehicle flight at every turn is different, operating personnel is different, flying speed is different etc. can all influence unmanned aerial vehicle accuracy of shooing, consequently need to carry out retest through the setpoint to the photo of shooing at every turn unmanned aerial vehicle to ensure that the accuracy of shooting the photo reaches the requirement.
According to the embodiment of the invention, the method for obtaining the coordinate conversion coefficient between the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site based on the preset positioning point specifically comprises the following steps:
setting any point in the positioning points as a coordinate origin;
setting the connecting line of any two points in the positioning points as a datum line to obtain an angle k of the datum line in a coordinate system of the actually measured three-dimensional model a And angle k of the virtual three-dimensional model coordinate system of the construction site b ；
According to the angle k of the datum line in the measured three-dimensional model coordinate system a And an angle k in the virtual three-dimensional model coordinate system b Obtaining a coordinate conversion coefficient k from an actual measurement three-dimensional model coordinate system of the construction site to a virtual three-dimensional model coordinate system of the construction site;
the coordinate conversion coefficient is a rotation angle, and the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are constructed in a one-to-one mode.
It should be noted that, the measured three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are set to the same locating point as the origin of coordinates, where when the connecting lines of any two points in the locating point belong to the same plane, the coordinate conversion coefficient k=k from the measured three-dimensional model coordinate system of the corresponding construction site to the virtual three-dimensional model coordinate system of the construction site b -k a If the connecting line of any two points in the positioning points does not belong to the same plane, firstly adjusting the datum line in the virtual three-dimensional model coordinate system to be the same plane as the datum line in the actually measured three-dimensional model coordinate system, and recording the rotation angle as k b ' coordinate conversion coefficient k= { k corresponding to actual measurement three-dimensional model coordinate system of construction site to virtual three-dimensional model coordinate system of construction site b ′，(k b -k a ) A positive number is adjusted counterclockwise, and a negative number is clockwiseAnd (3) needle adjustment, wherein the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are constructed according to one-to-one construction site.
According to an embodiment of the present invention, further comprising:
obtaining image information of the net rack support according to photo information shot by the unmanned aerial vehicle;
comparing and analyzing the image of the grid support with a preset image to obtain an image similarity value;
judging whether the image similarity value is larger than a preset image threshold value, if so, conforming to the corresponding grid support; if not, the test result is unqualified.
The color, the size, the rust, the crack and the like of the grid support are determined through the image information of the grid support, and the preset image is a standard qualified grid support image. If the preset image threshold is 95, when the image similarity value is smaller than or equal to 95, the corresponding grid support is unqualified, warning is triggered, and the warning is transmitted to the corresponding construction end through wireless transmission to be processed.
According to an embodiment of the present invention, further comprising:
marking photos shot by the unmanned aerial vehicle according to time sequence;
obtaining the construction sequence of the grid support according to the sequence of the photos shot by the unmanned aerial vehicle;
judging whether the construction sequence of the grid support is within a preset construction sequence range of the grid support, if so, the construction sequence of the corresponding grid support is reasonable; if not, the method is unreasonable.
The grid support is numbered according to the construction sequence, the number of the first construction is numbered preferentially, the grid supports which can be constructed simultaneously are set to be the same number, the grid supports which are constructed in different sequences are set to be different construction sequences, and the construction sequence of the preset grid support comprises all reasonable construction sequence methods of the grid support.
According to an embodiment of the present invention, further comprising:
obtaining an operation image of a site constructor according to photo information shot by the unmanned aerial vehicle;
comparing and analyzing the operation image of the site constructor with a first drawing library of the operation specification of a preset person to obtain a first similarity value;
judging whether the first similar value is larger than a preset first standard threshold value, if so, displaying normally, and if not, triggering a prompt.
It should be noted that, the first gallery of the preset personnel operation specification includes image information of normal construction of the site constructor, if the first similarity value is smaller than or equal to a preset first specification threshold, it is indicated that the operation of the corresponding site constructor is not normal, construction damage may be caused to the grid support, if the first specification threshold is 80, when the first similarity value is greater than 80, it is indicated that the operation of the corresponding constructor meets the requirement, and the unmanned aerial vehicle shooting display is normal.
According to an embodiment of the present invention, further comprising:
according to photo information shot by the unmanned aerial vehicle, constructor number information of different construction sections is obtained;
judging whether the number of constructors in different construction sections is smaller than or equal to a preset number threshold, and if not, triggering a prompt; and if not, displaying that the display is normal.
When the number of workers in the same construction site is excessive, a concentrated load may be applied to the scaffold or the like at the site, and a safety accident may be caused.
According to an embodiment of the present invention, further comprising:
according to photo information shot by the unmanned aerial vehicle, wearing image information of constructors is obtained;
comparing and analyzing the wearing image of the site constructor with a second gallery of preset personnel operation specification to obtain a second similar value;
judging whether the second similarity value is larger than a preset second standard threshold value, if so, displaying normally, and if not, triggering a prompt.
It should be noted that, when the on-site constructor works at high altitude, the protection tools such as a safety helmet, a safety belt, a pair of protection shoes are required to be worn, the second drawing library of the preset personnel operation specification contains the operation personnel wearing protection tool specification image, if the preset second specification threshold value is 80, when the second similarity value is more than 80, the corresponding constructor wearing specification is illustrated, and if not, the operator wearing specification is not.
Fig. 2 shows a block diagram of a steel mesh frame modeling system based on an unmanned aerial vehicle according to the invention.
As shown in fig. 2, a second aspect of the present invention provides a steel mesh frame modeling system 2 based on an unmanned aerial vehicle, including a memory 21 and a processor 22, where the memory stores a steel mesh frame modeling method program based on the unmanned aerial vehicle, and when the steel mesh frame modeling method program based on the unmanned aerial vehicle is executed by the processor, the following steps are implemented:
acquiring photo information and CAD data information shot by an unmanned aerial vehicle;
based on preset first software, obtaining an actual measurement three-dimensional model of the construction site according to a photo shot by the unmanned aerial vehicle;
based on preset second software, obtaining a virtual three-dimensional model of the construction site according to the CAD data;
obtaining a coordinate conversion coefficient between an actual measurement three-dimensional model of the construction site and a virtual three-dimensional model of the construction site based on a preset positioning point;
extracting support coordinates in the actual measurement three-dimensional model and support coordinates of the virtual three-dimensional model;
comparing the support coordinates in the actually measured three-dimensional model with the support coordinates of the virtual three-dimensional model based on the coordinate conversion coefficient to obtain support position deviation;
judging whether the deviation of the support seat position is larger than a preset first deviation threshold value, and if so, triggering a prompt; if not, the prompt is not triggered.
It should be noted that, the preset first software can perform three-dimensional imaging according to photo information shot by the unmanned aerial vehicle, such as Smart 3D, and the preset second software can establish software of a three-dimensional model according to CAD data, such as Building Information Modeling (BIM) software. And configuring a plurality of measuring points in the peripheral range of the construction site and at positions needing to be monitored in the periphery, respectively making corresponding mark marks, and setting the marked measuring points as positioning points. The photo shot by the unmanned aerial vehicle takes the locating point as the locating pointDetermining a coordinate conversion coefficient k between the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site according to the standard, and converting the support coordinate T in the actual measurement three-dimensional model of the construction site into the coordinate T in the virtual three-dimensional model ′ Then the three-dimensional model is matched with the real coordinate T of the corresponding support in the virtual three-dimensional model 0 And (3) carrying out difference value calculation to obtain a support position deviation delta T, wherein the formula is as follows: Δt= |t ′ -T 0 | a. The invention relates to a method for producing a fibre-reinforced plastic composite. The support position deviation comprises x-axis, y-axis and z-axis position deviations, for example, a first deviation threshold value is preset to be 2 cm, and when the coordinate deviations of corresponding support coordinates in the three directions of the x-axis, the y-axis and the z-axis are smaller than or equal to 2 cm, the support coordinates are normal, and prompt is not triggered.
According to an embodiment of the present invention, the step of constructing the measured three-dimensional model of the worksite further includes:
comparing and analyzing the size between positioning points in the actually measured three-dimensional model of the construction site and the size between the positioning points of the construction site to obtain an error proportion;
judging whether the error proportion is larger than a preset error proportion threshold value, if so, determining that the actual measurement three-dimensional model of the corresponding construction site is unqualified; if not, the test result is qualified.
It should be noted that, because the accuracy of shooting of the unmanned aerial vehicle and the external environment can both affect the accuracy of shooting a photo by the unmanned aerial vehicle, the shooting error of the unmanned aerial vehicle needs to be determined by the size between the positioning points, for example: the true distance between the locating point A and the locating point B on the construction site is L AB The distance between a locating point A and a locating point B in the actually measured three-dimensional model of the construction site obtained by the unmanned aerial vehicle is L AB ' the error ratio between the corresponding positioning points is Δl= |l AB ′-L AB If the preset error proportion threshold value is 1.5 cm, when the error proportion between corresponding positioning points is DeltaL less than or equal to 1.5 cm, the actual measurement three-dimensional model of the construction site obtained by the photo shot by the unmanned aerial vehicle is qualified; when the error ratio between the corresponding positioning points is delta L>When 1.5 cm, the actual measurement three-dimensional model of the construction site obtained by the photo shot by the unmanned aerial vehicle is unqualified, and the unmanned aerial vehicle precision is required to be adjusted or the unmanned aerial vehicle is required to be replaced for re-shooting.
According to an embodiment of the present invention, the measured three-dimensional model of the worksite further includes: the locating point is required to be retested every time the application.
When needing to be explained, the external environment of unmanned aerial vehicle flight at every turn is different, operating personnel is different, flying speed is different etc. can all influence unmanned aerial vehicle accuracy of shooing, consequently need to carry out retest through the setpoint to the photo of shooing at every turn unmanned aerial vehicle to ensure that the accuracy of shooting the photo reaches the requirement.
According to the embodiment of the invention, the method for obtaining the coordinate conversion coefficient between the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site based on the preset positioning point specifically comprises the following steps:
setting any point in the positioning points as a coordinate origin;
setting the connecting line of any two points in the positioning points as a datum line to obtain an angle k of the datum line in a coordinate system of the actually measured three-dimensional model a And angle k of the virtual three-dimensional model coordinate system of the construction site b ；
According to the angle k of the datum line in the measured three-dimensional model coordinate system a And an angle k in the virtual three-dimensional model coordinate system b Obtaining a coordinate conversion coefficient k from an actual measurement three-dimensional model coordinate system of the construction site to a virtual three-dimensional model coordinate system of the construction site;
the coordinate conversion coefficient is a rotation angle, and the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are constructed in a one-to-one mode.
It should be noted that, the measured three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are set to the same locating point as the origin of coordinates, where when the connecting lines of any two points in the locating point belong to the same plane, the coordinate conversion coefficient k=k from the measured three-dimensional model coordinate system of the corresponding construction site to the virtual three-dimensional model coordinate system of the construction site b -k a If the connecting line of any two points in the positioning points does not belong to the same plane, firstly adjusting the datum line in the virtual three-dimensional model coordinate system to be the same plane as the datum line in the actually measured three-dimensional model coordinate system, and recording the rotation angle as k b ' virtual three-dimensional model corresponding to actual measurement three-dimensional model coordinate system of construction site to construction siteCoordinate conversion coefficient k= { k of coordinate system b ′，(k b -k a ) And the real three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are constructed according to one-to-one construction site.
According to an embodiment of the present invention, further comprising:
obtaining image information of the net rack support according to photo information shot by the unmanned aerial vehicle;
comparing and analyzing the image of the grid support with a preset image to obtain an image similarity value;
judging whether the image similarity value is larger than a preset image threshold value, if so, conforming to the corresponding grid support; if not, the test result is unqualified.
The color, the size, the rust, the crack and the like of the grid support are determined through the image information of the grid support, and the preset image is a standard qualified grid support image. If the preset image threshold is 95, when the image similarity value is smaller than or equal to 95, the corresponding grid support is unqualified, warning is triggered, and the warning is transmitted to the corresponding construction end through wireless transmission to be processed.
According to an embodiment of the present invention, further comprising:
marking photos shot by the unmanned aerial vehicle according to time sequence;
obtaining the construction sequence of the grid support according to the sequence of the photos shot by the unmanned aerial vehicle;
judging whether the construction sequence of the grid support is within a preset construction sequence range of the grid support, if so, the construction sequence of the corresponding grid support is reasonable; if not, the method is unreasonable.
The grid support is numbered according to the construction sequence, the number of the first construction is numbered preferentially, the grid supports which can be constructed simultaneously are set to be the same number, the grid supports which are constructed in different sequences are set to be different construction sequences, and the construction sequence of the preset grid support comprises all reasonable construction sequence methods of the grid support.
According to an embodiment of the present invention, further comprising:
obtaining an operation image of a site constructor according to photo information shot by the unmanned aerial vehicle;
comparing and analyzing the operation image of the site constructor with a first drawing library of the operation specification of a preset person to obtain a first similarity value;
judging whether the first similar value is larger than a preset first standard threshold value, if so, displaying normally, and if not, triggering a prompt.
It should be noted that, the first gallery of the preset personnel operation specification includes image information of normal construction of the site constructor, if the first similarity value is smaller than or equal to a preset first specification threshold, it is indicated that the operation of the corresponding site constructor is not normal, construction damage may be caused to the grid support, if the first specification threshold is 80, when the first similarity value is greater than 80, it is indicated that the operation of the corresponding constructor meets the requirement, and the unmanned aerial vehicle shooting display is normal.
According to an embodiment of the present invention, further comprising:
according to photo information shot by the unmanned aerial vehicle, constructor number information of different construction sections is obtained;
judging whether the number of constructors in different construction sections is smaller than or equal to a preset number threshold, and if not, triggering a prompt; and if not, displaying that the display is normal.
When the number of workers in the same construction site is excessive, a concentrated load may be applied to the scaffold or the like at the site, and a safety accident may be caused.
According to an embodiment of the present invention, further comprising:
according to photo information shot by the unmanned aerial vehicle, wearing image information of constructors is obtained;
comparing and analyzing the wearing image of the site constructor with a second gallery of preset personnel operation specification to obtain a second similar value;
judging whether the second similarity value is larger than a preset second standard threshold value, if so, displaying normally, and if not, triggering a prompt.
It should be noted that, when the on-site constructor works at high altitude, the protection tools such as a safety helmet, a safety belt, a pair of protection shoes are required to be worn, the second drawing library of the preset personnel operation specification contains the operation personnel wearing protection tool specification image, if the preset second specification threshold value is 80, when the second similarity value is more than 80, the corresponding constructor wearing specification is illustrated, and if not, the operator wearing specification is not.
A third aspect of the present invention provides a computer storage medium, in which a steel mesh frame modeling method program based on an unmanned aerial vehicle is stored, the method being implemented as steps of a steel mesh frame modeling method based on an unmanned aerial vehicle as described in any one of the above when the method program is executed by a processor.
The invention discloses a steel mesh frame modeling method, a system and a storage medium based on an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring photo information and CAD data information shot by an unmanned aerial vehicle; based on preset first software, obtaining an actual measurement three-dimensional model of the construction site according to a photo shot by the unmanned aerial vehicle; based on preset second software, obtaining a virtual three-dimensional model of the construction site according to the CAD data; obtaining a coordinate conversion coefficient between an actual measurement three-dimensional model of the construction site and a virtual three-dimensional model of the construction site based on a preset positioning point; extracting support coordinates in the actual measurement three-dimensional model and support coordinates of the virtual three-dimensional model; comparing the support coordinates in the actually measured three-dimensional model with the support coordinates of the virtual three-dimensional model based on the coordinate conversion coefficient to obtain support position deviation; judging whether the deviation of the support seat position is larger than a preset first deviation threshold value, and if so, triggering a prompt; if not, the prompt is not triggered. According to the invention, the network frame support is monitored by the unmanned aerial vehicle, so that the monitoring efficiency and accuracy are improved.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
Claims (10)
1. The steel mesh frame modeling method based on the unmanned aerial vehicle is characterized by comprising the following steps of:
acquiring photo information and CAD data information shot by an unmanned aerial vehicle;
based on preset first software, obtaining an actual measurement three-dimensional model of the construction site according to a photo shot by the unmanned aerial vehicle;
based on preset second software, obtaining a virtual three-dimensional model of the construction site according to the CAD data;
obtaining a coordinate conversion coefficient between an actual measurement three-dimensional model of the construction site and a virtual three-dimensional model of the construction site based on a preset positioning point;
extracting support coordinates in the actual measurement three-dimensional model and support coordinates of the virtual three-dimensional model;
comparing the support coordinates in the actually measured three-dimensional model with the support coordinates of the virtual three-dimensional model based on the coordinate conversion coefficient to obtain support position deviation;
judging whether the deviation of the support seat position is larger than a preset first deviation threshold value, and if so, triggering a prompt; if not, the prompt is not triggered.
2. The unmanned aerial vehicle-based steel mesh frame modeling method of claim 1, wherein the step of constructing the measured three-dimensional model of the worksite further comprises:
comparing and analyzing the size between positioning points in the actually measured three-dimensional model of the construction site and the size between the positioning points of the construction site to obtain an error proportion;
judging whether the error proportion is larger than a preset error proportion threshold value, if so, determining that the actual measurement three-dimensional model of the corresponding construction site is unqualified; if not, the test result is qualified.
3. The unmanned aerial vehicle-based steel mesh frame modeling method of claim 1, wherein the measured three-dimensional model of the worksite further comprises: the locating point is required to be retested every time the application.
4. The unmanned aerial vehicle-based steel mesh frame modeling method according to claim 1, wherein the method for obtaining the coordinate conversion coefficient between the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site based on the preset positioning points specifically comprises the following steps:
setting any point in the positioning points as a coordinate origin;
setting the connecting line of any two points in the positioning points as a datum line to obtain an angle k of the datum line in a coordinate system of the actually measured three-dimensional model a And angle k of the virtual three-dimensional model coordinate system of the construction site b ；
According to the angle k of the datum line in the measured three-dimensional model coordinate system a And angle k of the virtual three-dimensional model coordinate system of the construction site b Obtaining a coordinate conversion coefficient k from an actual measurement three-dimensional model coordinate system of the construction site to a virtual three-dimensional model coordinate system of the construction site;
the coordinate conversion coefficient is a rotation angle, and the actual measurement three-dimensional model of the construction site and the virtual three-dimensional model of the construction site are constructed in a one-to-one mode.
5. The unmanned aerial vehicle-based steel mesh frame modeling method of claim 1, further comprising:
obtaining image information of the net rack support according to photo information shot by the unmanned aerial vehicle;
comparing and analyzing the image of the grid support with a preset image to obtain an image similarity value;
judging whether the image similarity value is larger than a preset image threshold value, if so, conforming to the corresponding grid support; if not, the test result is unqualified.
6. The unmanned aerial vehicle-based steel mesh frame modeling method of claim 1, further comprising:
marking photos shot by the unmanned aerial vehicle according to time sequence;
obtaining the construction sequence of the grid support according to the sequence of the photos shot by the unmanned aerial vehicle;
judging whether the construction sequence of the grid support is within a preset construction sequence range of the grid support, if so, the construction sequence of the corresponding grid support is reasonable; if not, the method is unreasonable.
7. The steel mesh frame modeling system based on the unmanned aerial vehicle is characterized by comprising a memory and a processor, wherein a steel mesh frame modeling method program based on the unmanned aerial vehicle is stored in the memory, and the following steps are realized when the steel mesh frame modeling method program based on the unmanned aerial vehicle is executed by the processor:
acquiring photo information and CAD data information shot by an unmanned aerial vehicle;
based on preset first software, obtaining an actual measurement three-dimensional model of the construction site according to a photo shot by the unmanned aerial vehicle;
based on preset second software, obtaining a virtual three-dimensional model of the construction site according to the CAD data;
obtaining a coordinate conversion coefficient between an actual measurement three-dimensional model of the construction site and a virtual three-dimensional model of the construction site based on a preset positioning point;
extracting support coordinates in the actual measurement three-dimensional model and support coordinates of the virtual three-dimensional model;
comparing the support coordinates in the actually measured three-dimensional model with the support coordinates of the virtual three-dimensional model based on the coordinate conversion coefficient to obtain support position deviation;
judging whether the deviation of the support seat position is larger than a preset first deviation threshold value, and if so, triggering a prompt; if not, the prompt is not triggered.
8. The unmanned aerial vehicle-based steel mesh frame modeling system of claim 7, wherein the step of constructing the measured three-dimensional model of the worksite further comprises:
comparing and analyzing the size between positioning points in the actually measured three-dimensional model of the construction site and the size between the positioning points of the construction site to obtain an error proportion;
judging whether the error proportion is larger than a preset error proportion threshold value, if so, determining that the actual measurement three-dimensional model of the corresponding construction site is unqualified; if not, the test result is qualified.
9. The unmanned aerial vehicle-based steel mesh frame modeling system of claim 7, wherein the measured three-dimensional model of the worksite further comprises: the locating point is required to be retested every time the application.
10. A computer storage medium, characterized in that a steel mesh frame modeling method program based on an unmanned aerial vehicle is stored in the computer readable storage medium, and when the steel mesh frame modeling method program based on the unmanned aerial vehicle is executed by a processor, the steps of a steel mesh frame modeling method based on the unmanned aerial vehicle are realized.
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